void test()
{
List <Communication> list_com = new List <Communication>();
Communication_Trame test_trame = new Communication_Trame();
Structures_Echange.Logger_Debug Logger = new Structures_Echange.Logger_Debug();
for (int i = 0; i < 30; i++)
{
list_com = Logger.Send_Logger("test " + i.ToString(), Logger_Debug_Color.Color_Black);
Lecteurs_Messages.Received_Messages.AddRange(list_com);
}
for (int i = 0; i < 30; i++)
{
list_com = Logger.Send_Logger("test " + i.ToString(), Logger_Debug_Color.Color_Blue);
Lecteurs_Messages.Received_Messages.AddRange(list_com);
}
for (int i = 0; i < 30; i++)
{
list_com = Logger.Send_Logger("test " + i.ToString(), Logger_Debug_Color.Color_Red);
Lecteurs_Messages.Received_Messages.AddRange(list_com);
}
}
private void Interprete_Trame(Communication_Trame input_trame)
{
switch (input_trame.Instruction)
{
case Com_Instruction.REPONSE_ROBOT_POSITION:
Decodage_Position_Robot(input_trame);
break;
case Com_Instruction.REPONSE_INFO:
Decodage_Infos_Cartes(input_trame);
break;
case Com_Instruction.LOGGER_DEBUG:
Decodage_Logger(input_trame);
break;
case Com_Instruction.GRAPHIQUES_ADD_DATA:
Decodage_Graphique(input_trame);
break;
case Com_Instruction.GRAPHIQUES_CLEAR:
Graph1.Clear();
break;
default:
break;
}
}
private void Decodage_Graphique(Communication_Trame input_trame)
{
Graphiques Datas = new Graphiques();
//Transforme la trame en Message utile
Graphiques.Com_Graphique_Datas received_message = Datas.Trame_To_Data(input_trame);
string csv_output = "";
for (int data_in = 0; data_in < received_message.nb_datas_to_send; data_in++)
{
//Graph1.Add_Data(received_message.Datas[data_in].Data, received_message.Datas[data_in].Channel);
csv_output += received_message.Datas[data_in].Data.ToString() + ",";
}
try
{
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"graph_data.txt", true))
{
file.WriteLine(csv_output);
}
}
catch (Exception)
{
throw;
}
}
private void Decodage_Position_Robot(Communication_Trame input_trame)
{
Structures_Echange.Com_Position_Robot position = new Structures_Echange.Com_Position_Robot();
//Transforme la trame en Message utile
Com_Position_Robot_Data received_message = position.Trame_To_Data(input_trame);
switch (received_message.Numero_Robot)
{
case Com_Position_Robot_Identification.Gros_Robot:
if (Gros_Robot != null)
{
Gros_Robot.GetComponent <Robot_Position>().Real_Position.x = (float)(received_message.Position_X) / 10 / 1000;
Gros_Robot.GetComponent <Robot_Position>().Real_Position.y = (float)(received_message.Position_Y) / 10 / 1000;
Gros_Robot.GetComponent <Robot_Position>().Orientation = (float)(received_message.Angle) / 100;
}
break;
case Com_Position_Robot_Identification.Petit_Robot:
if (Petit_Robot != null)
{
Petit_Robot.GetComponent <Robot_Position>().Real_Position.x = (float)(received_message.Position_X) / 10 / 1000;
Petit_Robot.GetComponent <Robot_Position>().Real_Position.y = (float)(received_message.Position_Y) / 10 / 1000;
Petit_Robot.GetComponent <Robot_Position>().Orientation = (float)(received_message.Angle) / 100;
}
break;
default:
break;
}
}
Communication_Trame Byte_To_Trame(byte[] input)
{
Communication_Trame trame = new Communication_Trame();
int size = Marshal.SizeOf(trame);
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.Copy(input, 0, ptr, size);
trame = (Communication_Trame)Marshal.PtrToStructure(ptr, trame.GetType());
Marshal.FreeHGlobal(ptr);
return(trame);
}
private void Decodage_Logger(Communication_Trame input_trame)
{
if (LogMessages.Count >= Max_Log_Message_Number)
{
Destroy(LogMessages[0].textobject.gameObject);
LogMessages.RemoveAt(0);
}
Structures_Echange.Logger_Debug Logger = new Structures_Echange.Logger_Debug();
//Transforme la trame en Message utile
Logger_Debug_Data received_message = Logger.Trame_To_Data(input_trame);
string recieved_log = "[" + DateTime.Now.ToLongTimeString() + ":" + DateTime.Now.Millisecond.ToString() + "] ";
recieved_log += new string(received_message.Text, 0, received_message.Nombre_Carateres);
Logger_Debug_Color color = received_message.Color;
//Crée un nouveau message de Log
Log_Message newLogMessage = new Log_Message();
newLogMessage.text = recieved_log;
newLogMessage.messageType = received_message.Color;
//Crée le gameObject associé
GameObject newgameobject = Instantiate(Log_Message_Prefab, Fenetre_Logger.transform);
newLogMessage.textobject = newgameobject.GetComponent <Text>();
newLogMessage.textobject.text = newLogMessage.text;
switch (received_message.Color)
{
default:
case Logger_Debug_Color.Color_Black:
newLogMessage.textobject.color = Color.black;
break;
case Logger_Debug_Color.Color_Blue:
newLogMessage.textobject.color = Color.blue;
break;
case Logger_Debug_Color.Color_Red:
newLogMessage.textobject.color = Color.red;
break;
}
//Ajoute ce log à la liste
LogMessages.Add(newLogMessage);
}
private void Decodage_Infos_Cartes(Communication_Trame input_trame)
{
Structures_Echange.Infos_Carte info_carte = new Structures_Echange.Infos_Carte();
//Transforme la trame en Message utile
Structures_Echange.Infos_Carte.Com_Reponse_Info received_message = info_carte.Trame_To_Data(input_trame);
//La mise à jour de la position du Robot, est faite, uniquement par la carte numéro 1
if (received_message.Numero_Carte == 1)
{
//Mise à jour de la position du Robot
switch (received_message.PositionRobot.Numero_Robot)
{
case Com_Position_Robot_Identification.Gros_Robot:
if (Gros_Robot != null)
{
Gros_Robot.GetComponent <Robot_Position>().Real_Position.x = (float)(received_message.PositionRobot.Position_X) / 10 / 1000;
Gros_Robot.GetComponent <Robot_Position>().Real_Position.y = (float)(received_message.PositionRobot.Position_Y) / 10 / 1000;
Gros_Robot.GetComponent <Robot_Position>().Orientation = (float)(received_message.PositionRobot.Angle) / 100;
}
//Mise à jour des infos de la carte
Carte_MultiFct_Tabs_Conteneur_GR.GetComponent <Cartes_MultiFct_Panel>().Update_Infos(received_message);
break;
case Com_Position_Robot_Identification.Petit_Robot:
if (Petit_Robot != null)
{
Petit_Robot.GetComponent <Robot_Position>().Real_Position.x = (float)(received_message.PositionRobot.Position_X) / 10 / 1000;
Petit_Robot.GetComponent <Robot_Position>().Real_Position.y = (float)(received_message.PositionRobot.Position_Y) / 10 / 1000;
Petit_Robot.GetComponent <Robot_Position>().Orientation = (float)(received_message.PositionRobot.Angle) / 100;
}
//Mise à jour des infos de la carte
Carte_MultiFct_Tabs_Conteneur_PR.GetComponent <Cartes_MultiFct_Panel>().Update_Infos(received_message);
break;
default:
break;
}
}
}
public Communication()
{
Trame_Data = new Communication_Trame();
}
public Communication_Message()
{
Trame = new Communication_Trame();
Heure = DateTime.Now;
}
