public HistoLigne(IDRobot robot, DateTime heure, String message, TypeLog type = TypeLog.Strat)
{
ID = idActuel++;
Robot = robot;
Message = message;
Heure = heure;
Type = type;
}
public HistoLigne(IDRobot robot, DateTime heure, String message, TypeLog type = TypeLog.Strat)
{
ID = idActuel++;
Robot = robot;
Message = message;
Heure = heure;
Type = type;
}
private void checkedListBoxRobots_ItemCheck(object sender, ItemCheckEventArgs e)
{
if (!Execution.DesignMode)
{
String robotString = (String)checkedListBoxRobots.Items[e.Index];
IDRobot robot = (IDRobot)Enum.Parse(typeof(IDRobot), robotString);
dicRobotsAutorises[robot] = (e.NewValue == CheckState.Checked);
}
}
public Robot(IDRobot id, string name)
{
IDRobot = id;
Name = name;
SpeedConfig = new SpeedConfig(500, 1000, 1000, 500, 1000, 1000);
AsserStats = new AsserStats();
IsSpeedAdvAdaptable = true;
foreach (MotorID moteur in Enum.GetValues(typeof(MotorID)))
{
MotorState.Add(moteur, false);
}
foreach (SensorOnOffID o in Enum.GetValues(typeof(SensorOnOffID)))
{
SensorsOnOffValue.Add(o, false);
}
foreach (ActuatorOnOffID o in Enum.GetValues(typeof(ActuatorOnOffID)))
{
ActuatorOnOffState.Add(o, false);
}
foreach (SensorColorID o in Enum.GetValues(typeof(SensorColorID)))
{
SensorsColorValue.Add(o, Color.Black);
}
AnalogicPinsValue = new Dictionary <Board, List <double> >();
AnalogicPinsValue.Add(Board.RecIO, new List <double>());
AnalogicPinsValue.Add(Board.RecMove, new List <double>());
for (int i = 0; i < 9; i++)
{
AnalogicPinsValue[Board.RecIO].Add(0);
AnalogicPinsValue[Board.RecMove].Add(0);
}
NumericPinsValue = new Dictionary <Board, List <Byte> >();
NumericPinsValue.Add(Board.RecIO, new List <byte>());
NumericPinsValue.Add(Board.RecMove, new List <byte>());
for (int i = 0; i < 3 * 2; i++)
{
NumericPinsValue[Board.RecIO].Add(0);
NumericPinsValue[Board.RecMove].Add(0);
}
BatterieVoltage = 0;
Graph = null;
TrajectoryFailed = false;
TrajectoryCutOff = false;
TrajectoryRunning = null;
}
public RobotSimu(IDRobot idRobot) : base(idRobot, "Robot Simu")
{
_highResolutionAsservissement = true;
_rand = new Random();
_linkAsserv = ThreadManager.CreateThread(link => Asservissement());
_linkLogPositions = ThreadManager.CreateThread(link => LogPosition());
_lockMove = new Semaphore(1, 1);
_sensMove = SensAR.Avant;
_inRecalibration = false;
_asserChrono = null;
_currentPolarPoint = -1;
BatterieVoltage = 25;
}
public RobotSimu(IDRobot idRobot)
{
AngleTotalParcouru = 0;
DistanceTotaleParcourue = 0;
IDRobot = idRobot;
timerDeplacement = new System.Timers.Timer(IntervalleRafraichissementPosition);
timerDeplacement.Elapsed += new ElapsedEventHandler(timerDeplacement_Elapsed);
timerDeplacement.Start();
timerPositions = new System.Timers.Timer(100);
timerPositions.Elapsed += new ElapsedEventHandler(timerPositions_Elapsed);
timerPositions.Start();
SemDeplacement = new Semaphore(1, 1);
SensDep = SensAR.Avant;
Entraxe = 306.11;
Nom = "GrosRobot";
RecallageEnCours = false;
Rand = new Random(DateTime.Now.Millisecond);
}
public RobotReel(IDRobot idRobot, Carte carte)
{
AngleTotalParcouru = 0;
DistanceTotaleParcourue = 0;
Carte = carte;
IDRobot = idRobot;
ServomoteursConnectes = new List<byte>();
CapteurActive = new Dictionary<CapteurOnOffID, bool>();
foreach (FonctionIO fonction in Enum.GetValues(typeof(FonctionIO)))
SemaphoresIO.Add(fonction, new Semaphore(0, int.MaxValue));
foreach (FonctionMove fonction in Enum.GetValues(typeof(FonctionMove)))
SemaphoresMove.Add(fonction, new Semaphore(0, int.MaxValue));
foreach (CapteurOnOffID fonction in Enum.GetValues(typeof(CapteurOnOffID)))
{
SemaphoresCapteurs.Add(fonction, new Semaphore(0, int.MaxValue));
CapteurActive.Add(fonction, false);
}
}
public Historique(IDRobot robot)
{
Robot = robot;
actions = new List<IAction>();
HistoriqueLignes = new List<HistoLigne>();
}
public Historique(IDRobot robot)
{
Robot = robot;
actions = new List <IAction>();
HistoriqueLignes = new List <HistoLigne>();
}
public RobotReel(IDRobot id, Board asserBoard) : base(id, "Robot")
{
AsserEnable = true;
AsservBoard = asserBoard;
_asserConnection = Connections.UDPBoardConnection[AsservBoard];
_positionReceived = false;
_lockFrame = new Dictionary <UdpFrameFunction, Semaphore>();
foreach (UdpFrameFunction o in Enum.GetValues(typeof(UdpFrameFunction)))
{
_lockFrame.Add(o, new Semaphore(0, int.MaxValue));
}
_lockMotor = new Dictionary <MotorID, Semaphore>();
foreach (MotorID o in Enum.GetValues(typeof(MotorID)))
{
_lockMotor.Add(o, new Semaphore(0, int.MaxValue));
}
_lockSensorOnOff = new Dictionary <SensorOnOffID, Semaphore>();
foreach (SensorOnOffID o in Enum.GetValues(typeof(SensorOnOffID)))
{
_lockSensorOnOff.Add(o, new Semaphore(0, int.MaxValue));
}
_lockSensorColor = new Dictionary <SensorColorID, Semaphore>();
foreach (SensorColorID o in Enum.GetValues(typeof(SensorColorID)))
{
_lockSensorColor.Add(o, new Semaphore(0, int.MaxValue));
}
_boardSensorColor = new Dictionary <SensorColorID, Board>();
_boardSensorColor.Add(SensorColorID.BuoyRight, Board.RecMove);
_boardSensorColor.Add(SensorColorID.BuoyLeft, Board.RecIO);
_boardSensorOnOff = new Dictionary <SensorOnOffID, Board>();
_boardSensorOnOff.Add(SensorOnOffID.StartTrigger, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorLeftBack, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorLeftFront, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorRightBack, Board.RecIO);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorRightFront, Board.RecIO);
_boardSensorOnOff.Add(SensorOnOffID.PresenceBuoyRight, Board.RecIO);
_boardActuatorOnOff = new Dictionary <ActuatorOnOffID, Board>();
_boardActuatorOnOff.Add(ActuatorOnOffID.PowerSensorColorBuoyRight, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumLeftBack, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumLeftFront, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumLeftBack, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumLeftFront, Board.RecIO);
_boardActuatorOnOff.Add(ActuatorOnOffID.PowerSensorColorBuoyLeft, Board.RecIO);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumRightBack, Board.RecIO);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumRightFront, Board.RecIO);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumRightBack, Board.RecIO);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumRightFront, Board.RecMove);
// Petit robot
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumLeft, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumRight, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.OpenVacuumBack, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumLeft, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumRight, Board.RecMove);
_boardActuatorOnOff.Add(ActuatorOnOffID.MakeVacuumBack, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorLeft, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorRight, Board.RecMove);
_boardSensorOnOff.Add(SensorOnOffID.PressureSensorBack, Board.RecMove);
_boardMotor = new Dictionary <MotorID, Board>();
_boardMotor.Add(MotorID.ElevatorLeft, Board.RecIO);
_boardMotor.Add(MotorID.ElevatorRight, Board.RecIO);
SpeedConfig.ParamChange += SpeedConfig_ParamChange;
}