yichael_smartbow/Assets/BowArrow/Scripts/Bluetooth/ShootCheck.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using ArduinoBluetoothAPI;
using System.Linq;
using BestHTTP.WebSocket;

public class ShootCheck : MonoBehaviour
{
    [SerializeField] Text text;
    CMD cmd = new CMD();
    bool locked = false;
    float maxAcc = 0;
    Queue<float> keyAccList = new Queue<float>();
    Queue<string> keyTimeList = new Queue<string>();
    public float shootSpeed;
    public static ShootCheck ins; 
    [SerializeField] InputField ipInputField = default;
    WebSocket webSocket;
    void Start()
    {
        ins = this;
        BluetoothDispatcher.shoot = OnDataReceived;   
    } 

 //用户输入时的变化
    public void ChangedValue(string value)
    {
        ipInputField.ActivateInputField();
        Debug.Log("输入了"+value);
    }
    public void EndValue(string value)
    {
        Debug.Log("最终内容"+value);
    }
//socket
    public void StartSocket() 
    {
//socket
        string ipStr = ipInputField.text;//ipInputField.GetComponentInChildren<Text>();
        string serverIP = ipStr;
        //serverIP = "172.16.20.57";
        string address = "ws://" + serverIP + ":8088/Ble/";
        webSocket = new WebSocket(new Uri(address));
#if !UNITY_WEBGL
        webSocket.StartPingThread = true;
#endif

        // Subscribe to the WS events
        webSocket.OnOpen += OnOpen;
        webSocket.OnMessage += OnMessageRecv;
        webSocket.OnBinary += OnBinaryRecv;
        webSocket.OnClosed += OnClosed;
        webSocket.OnError += OnError;
        // Debug.Log("OnOpen: ");
        // Start connecting to the server
        webSocket.Open();
    }

    public void Destroy() 
    {
        if (webSocket != null) 
        {
            webSocket.Close();
            webSocket = null;
        }
    }

    void OnOpen(WebSocket ws) 
    {
        Debug.Log("OnOpen: ");
        webSocket.Send("unity");
    }

    void OnMessageRecv(WebSocket ws, string message)
    {
        Debug.LogFormat("OnMessageRecv: msg={0}", message);
    }

    void OnBinaryRecv(WebSocket ws, byte[] data) 
    {
        Debug.LogFormat("OnBinaryRecv: len={0}", data.Length);
    }

    void OnClosed(WebSocket ws, UInt16 code, string message) 
    {
        Debug.LogFormat("OnClosed: code={0}, msg={1}", code, message);
        webSocket = null;
    }

    void OnError(WebSocket ws, Exception ex)  
    {
        string errorMsg = string.Empty;
#if !UNITY_WEBGL || UNITY_EDITOR
            if (ws.InternalRequest.Response != null)
            {
                errorMsg = string.Format("Status Code from Server: {0} and Message: {1}", ws.InternalRequest.Response.StatusCode, ws.InternalRequest.Response.Message);
            }
#endif
        Debug.LogFormat("OnError: error occured: {0}\n", (ex != null ? ex.Message : "Unknown Error " + errorMsg));
        webSocket = null;
    }
//socket


    [SerializeField] InputField ArmBowInputField = default;

    public void SetShootBackTime() 
    {
        ArmBow.ins.shootBackTime=int.Parse(ArmBowInputField.text);
    }
    public void OnBluetoothReady(BluetoothShoot bluetoothShoot) {
        bluetoothShoot.WriteData(JsonUtility.ToJson(cmd).Replace("\"", ""));
        // bluetoothShoot.WriteData("T");
    }

    public void OnDataReceived(byte[] bytes) {
        if (bytes.Length == 2) 
        {
            DeviceBatteryView.ins.RenderBattery(2, bytes[0]);
            return;
        }   
        string str1 = "byte=";
        if (webSocket != null)
        { 
            for (int i = 0; i < bytes.Length-1; i++)
            {
                str1+= bytes[i];
            }
             
            // webSocket.Send(str2);    
        } 

         string str2 = "";

        for (int i = 0; i < (bytes.Length-2)/6; i++)
        {
            float acc = ToAcceleratedSpeed(bytes[i * 6 + 5], bytes[i * 6 + 6]);

            string t = "（采样时间："+(int)bytes[i * 6 + 3] + "分"+ (int)bytes[i * 6 + 4]+"秒"+ TwoByteToInt(bytes[i * 6 + 1], bytes[i * 6 + 2])+"毫秒)" ;
            str2 += "加速度："+acc+t+"\n";
              
            if (ins.check(acc,t) && ArmBow.ins) 
            {
                ArmBow.ins.ADS_fire();  
            }
        }   

        if (webSocket != null)
        { 
            string str3 = str1+"\n"+str2;
            webSocket.Send(str3);    
        } 
    }

    float ToAcceleratedSpeed(byte b1, byte b2)
    {
        int value = TwoByteToInt(b1, b2);
        return (float)value / 32768 * LoginMgr.myUserInfo.deviceAccValue;
    }
    
    int TwoByteToInt(byte b1, byte b2)
    {
        ushort twoByte = (ushort)(b1 * 256 + b2);
        short shortNum = (short)twoByte;
        return (int)shortNum;
    }

    bool check(float acc,string t)
    {
        DebugLine.show(acc); //这个不需要注释，静态函数内置判断
        if (locked) 
        {
            return false;
        }
        if (acc > cmd.getAcc()) 
        {
            if (acc > maxAcc)
            {
                maxAcc = acc;
            }
            if (acc > 15.9f) {
                double p1 = -1.188748333;
                double p2 = 0.033890372;
                double p3 = 3.408473747;
                float x = (keyAccList.Count + 1) * 2; //单位毫秒
                double y = 1.0 / (p1+p2*Mathf.Pow(x, 0.5f)*Mathf.Log(x)+p3/Mathf.Pow(x, 0.5f));
                acc = (float) y;
            }
            keyAccList.Enqueue(acc);
            keyTimeList.Enqueue(t);
            return false;
        } 
        else if (acc < cmd.getAcc() && maxAcc != 0) {
            //积分求初速度
            shootSpeed = 0;
            float lasKeytAcc = 0;
            int keyAccIndex = 0;
            float timeInterval = 0.002f;
            foreach (var keyAcc in keyAccList)
            {
                if (keyAccIndex > 0)
                {
                    shootSpeed += keyAcc * timeInterval;
                    shootSpeed -= (keyAcc - lasKeytAcc) * timeInterval / 2;
                }
                else if (keyAccIndex == 0 && keyAccList.Count == 1) 
                {
                    shootSpeed = keyAcc * timeInterval;
                }
                lasKeytAcc = keyAcc;
                keyAccIndex++;
            }
            //加速度acc的单位是g,最后需要乘上
            shootSpeed *= 9.80665f;
            //积分出来的值还是太小，需要一个倍率
            shootSpeed *= 20;
            string strShootSpeed = "初速度: " + shootSpeed + " 帧数: " + keyAccList.Count + "\n";
            Debug.LogWarning(strShootSpeed);
            
            
            string str1 = strShootSpeed + "检测到射出的数据：\n";
            for (int i=0;i<keyAccList.Count;i++)
            {
                float keyAcc = keyAccList.ElementAt(i);
                string time = keyTimeList.ElementAt(i);
             
                str1 += "加速度："+keyAcc+time+"\n"; 
            }
            Debug.LogWarning(str1);
            if (webSocket != null)
            { 
                webSocket.Send(str1);    
            }
            //本轮计算结束
            keyAccList.Clear();
            keyTimeList.Clear();
            
            maxAcc = 0;
            Dolock();
            Invoke("Unlock", 1.8f);
            return true;
        }

        return false;
    }

    void Dolock() 
    {
        locked = true;
    }

    void Unlock()
    {
        locked = false;
    }
    
    void Log(string text)
    {
        if (this.text)
        {
            this.text.text = text;
        } else {
            Debug.Log(text);
        }
    }
}

[Serializable]
class CMD {
    // public string ax = "y";
    // public int a = 6000;
    // public int r = 2;
    public string a = "y";
    public int a1 = 3;
    public int a2 = -3;
    public int r = 2;

    public float getAcc() {
        return a1;
    }
}