public bool RunTrajectory(Trajectory traj)
{
TrajectoryRunning = traj;
TimeSpan estimatedDuration = traj.GetDuration(this);
Stopwatch sw = Stopwatch.StartNew();
TrajectoryCutOff = false;
TrajectoryFailed = false;
foreach (IAction action in traj.ConvertToActions(this))
{
if (!Execution.Shutdown)
{
action.Executer();
if (TrajectoryCutOff || TrajectoryFailed)
{
break;
}
if (action is ActionAvance || action is ActionRecule)
{
Historique.Log("Noeud atteint " + TrajectoryRunning.Points[0].X.ToString("0") + ":" + TrajectoryRunning.Points[0].Y.ToString("0"), TypeLog.PathFinding);
TrajectoryRunning.RemovePoint(0);
}
}
}
if (!Execution.Shutdown)
{
TrajectoryRunning = null;
if (!TrajectoryCutOff && !TrajectoryFailed)
{
Historique.Log("Trajectoire parcourue en " + (sw.ElapsedMilliseconds / 1000.0).ToString("0.0") + "s (durée théorique : " + (estimatedDuration.TotalSeconds).ToString("0.0") + "s)", TypeLog.PathFinding);
return(true);
}
if (TrajectoryFailed)
{
Historique.Log("Echec du parcours de la trajectoire (dérapage, blocage...)", TypeLog.PathFinding);
return(false);
}
}
return(false);
}
