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

using System;
using UnityEngine;
using UnityEngine.UI;

public class ShootCheck : MonoBehaviour
{
    float[] accList = new float[30];
    int dataCount = 0;
    float gravity = 0;
    float maxAcc = 0;
    bool hasReachShootThreshold = false;
    bool locked = false;
    int hitCount = 0;
    float rangeAcc; //最新几帧的平均值
    [SerializeField] Text text;
    public float shootSpeed;
    public static ShootCheck ins; 

    void Start()
    {
        ins = this;
        BluetoothDispatcher.shoot = OnDataReceived;
    } 

    void OnDestroy()
    {
        ins = null;
    }

    float[] ays = new float[4];
    public void OnDataReceived(byte[] bytes) {
        Debug.Log("射击模块数据长度" + bytes.Length);
        ays[0] = ToAcceleratedSpeed(bytes[7], bytes[8]);
        ays[1] = ToAcceleratedSpeed(bytes[17], bytes[18]);
        ays[2] = ToAcceleratedSpeed(bytes[27], bytes[28]);
        ays[3] = ToAcceleratedSpeed(bytes[37], bytes[38]);
        foreach (float ay in ays)
        {
            try 
            {
                if (ins.check(ay))
                {
                    if (ArmBow.ins != null)
                    {
                        ArmBow.ins.ADS_fire();        
                    }
                }
            } 
            catch (Exception e)
            {
                Debug.Log(e.Message);
            }      
        }
    }

    float ToAcceleratedSpeed(byte b1, byte b2)
    {
        int value = TwoByteToInt(b1, b2);
        return (float)value / 32768 * 16;
    }
    
    int TwoByteToInt(byte b1, byte b2)
    {
        ushort twoByte = (ushort)(b1 * 256 + b2);
        short shortNum = (short)twoByte;
        return (int)shortNum;
    }

    int validFrameCount = 0;
    bool check(float acc)
    {
        DebugLine.show(acc);
        DebugLine.showSteady(gravity);
        for (int i = accList.Length - 1; i > 0; i--)
        {
            accList[i] = accList[i - 1];
        }
        accList[0] = acc;
        dataCount++;
        if (locked) 
        {
            return false;
        }
        if (hasReachShootThreshold) {
            validFrameCount++;
            if (acc <= gravity) {
                hitCount++;
                shootSpeed = maxAcc - gravity;
                Log("第" + hitCount + "次识别射箭\n过滤正轴重力" + gravity.ToString("#0.000") + "后\n所得最大加速度峰值" + (maxAcc - gravity).ToString("#0.000") + "\n有效帧数" + validFrameCount);
                maxAcc = 0;
                validFrameCount = 0;
                hasReachShootThreshold = false;
                Dolock();
                Invoke("Unlock", 0.8f);
                return true;
            } else if (acc > maxAcc) {
                maxAcc = acc;
            }
            if (validFrameCount > 20)
            {
                maxAcc = 0;
                validFrameCount = 0;
                hasReachShootThreshold = false;
                Log("不符合短时间爆发加速");
            }
            // if (this.isSteady()) {
            //     hitCount++;
            //     shootSpeed = integral / 16f;
            //     Log("第" + hitCount + "次识别射箭\n振幅：" + integral);
            //     integral = 0;
            //     validFrameCount = 0;
            //     hasReachShootThreshold = false;
            //     return true;
            // } else {
            //     integral += Mathf.Abs(acc - gravity);
            // }
            return false;
        }
        if (dataCount > steadyFrameCount)
        {
            if (isSteady())
            {
                gravity = Mathf.Clamp(rangeAcc, -0.981f, 0.981f);
            } 
            if (acc - gravity > 2)
            {
                hasReachShootThreshold = true;
                maxAcc = acc;

                // integral += Mathf.Abs(acc - gravity);
            }
        }
        return false;
    }

    // float integral = 0;

    int steadyFrameCount = 6;
    bool isSteady() {
        float totalAcc = 0;
        for (int i = 0; i < steadyFrameCount; i++)
        {
            totalAcc += accList[i];
        }
        rangeAcc = totalAcc / steadyFrameCount;
        float squareAcc = 0;
        for (int i = 0; i < steadyFrameCount; i++)
        {
            squareAcc += (float) Mathf.Pow(accList[i] - rangeAcc, 2);
        }
        squareAcc /= steadyFrameCount;
        return squareAcc < 0.00012;
    }

    void Dolock() 
    {
        this.locked = true;
    }

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