public void UpdateListAffichage()
{
// Update Robots
listAffichageArduino.Items.Clear();
//foreach (ArduinoBotIA Robot in _Follower.ListArduino)
for (int i = 0; i < _Follower.ListArduino.Count; i++)
{
ArduinoBotIA Robot = _Follower.ListArduino[i];
if (_ArduinoManager != null)
{
ArduinoBotComm RobotComm = _ArduinoManager.getArduinoBotById(Robot.ID);
ListViewItem master = new ListViewItem(Robot.ID + "");
if (RobotComm != null)
{
master.SubItems.Add(RobotComm.Connected + "");
master.SubItems.Add(RobotComm.stateComm + "");
}
else
{
master.SubItems.Add("N/A");
master.SubItems.Add("N/A");
}
master.SubItems.Add(Robot.LastAction + "");
master.SubItems.Add(Robot.Position.X + "");
master.SubItems.Add(Robot.Position.Y + "");
master.SubItems.Add(Robot.Angle + "");
listAffichageArduino.Items.Add(master);
}
}
// Update Cubes
listAffichageCubes.Items.Clear();
for (int i = 0; i < _Follower.TrackMaker.Cubes.Count; i++)
{
Objectif cube = _Follower.TrackMaker.Cubes[i];
ListViewItem master = new ListViewItem(cube.id + "");
master.SubItems.Add(cube.idZone + "");
master.SubItems.Add(cube.Done + "");
if (cube.Robot != null)
{
master.SubItems.Add(cube.Robot.ID + "");
}
else
{
master.SubItems.Add("N/A");
}
master.SubItems.Add(cube.position.X + "");
master.SubItems.Add(cube.position.Y + "");
listAffichageCubes.Items.Add(master);
}
// Update Zones
listAffichageZones.Items.Clear();
for (int i = 0; i < _Follower.TrackMaker.ZonesDepose.Count; i++)
{
Zone zone = _Follower.TrackMaker.ZonesDepose[i];
ListViewItem master = new ListViewItem(zone.id + "");
master.SubItems.Add("A : " + zone.position.A.ToString() + " B : " + zone.position.B.ToString() + " C : " + zone.position.C.ToString() + " D : " + zone.position.D.ToString());
master.SubItems.Add(UtilsMath.CentreRectangle(zone.position).ToString());
listAffichageZones.Items.Add(master);
}
}
public void UpdateImageDebug()
{
if (_Follower.TrackMaker != null && _Follower.TrackMaker.ZoneTravail.B.X != 0)
{
List <PolyligneDessin> ListePoly = new List <PolyligneDessin>(); // Liste envoyé a l'image
Bitmap bitmap = new Bitmap(_Follower.TrackMaker.ZoneTravail.B.X, _Follower.TrackMaker.ZoneTravail.B.Y);
//dessinerTrack(bitmap, tr);
// Dessiner Cubes
// foreach (Objectif obstacle in _Follower.TrackMaker.Cubes)
for (int i = 0; i < _Follower.TrackMaker.Cubes.Count; i++)
{
Objectif obstacle = _Follower.TrackMaker.Cubes[i];
PolyligneDessin p = new PolyligneDessin(Color.LimeGreen);
for (int x = obstacle.position.X - 5; x <= obstacle.position.X + 5; x++)
{
for (int y = obstacle.position.Y - 5; y <= obstacle.position.Y + 5; y++)
{
p.addPoint(new PointDessin(x, y));
}
}
ListePoly.Add(p);
dessinerPoint(bitmap, obstacle.position, Brushes.Gray);
}
foreach (QuadrillageCoord q in _Follower.TrackMaker.CreerAstarQuadriallage().CalculerQuadrillage())
{
PolyligneDessin p = new PolyligneDessin(Color.Gray);
p.addPoint(new PointDessin(q.A.X, q.A.Y));
p.addPoint(new PointDessin(q.B.X, q.B.Y));
ListePoly.Add(p);
dessinerLigne(bitmap, q.A, q.B, Color.Gray, 1);
}
for (int i = 0; i < _Follower.TrackMaker.ZonesDepose.Count; i++)
{
Zone z = _Follower.TrackMaker.ZonesDepose[i];
PositionElement pos = UtilsMath.CentreRectangle(z.position);
PolyligneDessin p = new PolyligneDessin(Color.Pink);
for (int x = pos.X - 5; x <= pos.X + 5; x++)
{
for (int y = pos.Y - 5; y <= pos.Y + 5; y++)
{
p.addPoint(new PointDessin(x, y));
}
}
ListePoly.Add(p);
dessinerPoint(bitmap, pos, Brushes.Pink);
}
for (int ab = 0; ab < _Follower.ListArduino.Count; ab++)
//foreach (ArduinoBotIA robot in _Follower.ListArduino)
{
ArduinoBotIA robot = _Follower.ListArduino[ab];
PolyligneDessin p = new PolyligneDessin(Color.Purple);
PositionElement pos = robot.Position;
for (int x = pos.X - 5; x <= pos.X + 5; x++)
{
for (int y = pos.Y - 5; y <= pos.Y + 5; y++)
{
p.addPoint(new PointDessin(x, y));
}
}
ListePoly.Add(p);
dessinerPoint(bitmap, pos, Brushes.Turquoise);
if (robot.Trace != null)
{
dessinerTrack(bitmap, robot.Trace, _Follower.TrackMaker.CreerAstarQuadriallage());
PolyligneDessin p2 = new PolyligneDessin(Color.Red);
for (int i = 0; i < robot.Trace.Positions.Count; i++)
{
p.addPoint(new PointDessin(robot.Trace.Positions[i].X, robot.Trace.Positions[i].Y));
}
ListePoly.Add(p2);
}
}
imageDebug.Image = bitmap;
if (DrawPolylineEvent != null)
{
DrawPolylineEventArgs args = new DrawPolylineEventArgs(ListePoly);
DrawPolylineEvent(this, args);
}
}
}
