public void DrawTeam()
{
//XyDataSeries<double, double> lidarPts = new XyDataSeries<double, double>();
ObjectsPolygonSeries.Clear();
foreach (var r in TeamMatesDisplayDictionary)
{
//Affichage des robots
RobotGhostSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Ghost, TeamMatesDisplayDictionary[r.Key].GetRobotGhostPolygon());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Speed, TeamMatesDisplayDictionary[r.Key].GetRobotSpeedArrow());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Destination, TeamMatesDisplayDictionary[r.Key].GetRobotDestinationArrow());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.WayPoint, TeamMatesDisplayDictionary[r.Key].GetRobotWaypointArrow());
//On trace le robot en dernier pour l'avoir en couche de dessus
RobotShapesSeries.AddOrUpdatePolygonExtended(r.Key, TeamMatesDisplayDictionary[r.Key].GetRobotPolygon());
AddOrUpdateTextAnnotation(r.Key.ToString(), r.Value.robotName, TeamMatesDisplayDictionary[r.Key].GetRobotLocation().X, TeamMatesDisplayDictionary[r.Key].GetRobotLocation().Y);
AddOrUpdateTextAnnotation(r.Key.ToString() + "Role", r.Value.robotRole.ToString(), TeamMatesDisplayDictionary[r.Key].GetRobotLocation().X, TeamMatesDisplayDictionary[r.Key].GetRobotLocation().Y - 1.4);
AddOrUpdateTextAnnotation(r.Key.ToString() + "Console", r.Value.DisplayMessage.ToString(), TeamMatesDisplayDictionary[r.Key].GetRobotLocation().X, TeamMatesDisplayDictionary[r.Key].GetRobotLocation().Y - 1.9);
////Rendering des objets Lidar
//foreach (var polygonObject in TeamMatesDisplayDictionary[r.Key].GetRobotLidarObjects())
// ObjectsPolygonSeries.AddOrUpdatePolygonExtended(ObjectsPolygonSeries.Count(), polygonObject);
}
foreach (var r in OpponentDisplayDictionary)
{
//Affichage des robots adverses
PolygonSeries.AddOrUpdatePolygonExtended(r.Key, OpponentDisplayDictionary[r.Key].GetRobotPolygon());
}
}
public void DrawGhost()
{
XyDataSeries <double, double> lidarPts = new XyDataSeries <double, double>();
ObjectsPolygonSeries.Clear();
//Affichage du robot
PolygonSeries.AddOrUpdatePolygonExtended(4, GhostDisplay.GetRobotPolygon());
PolygonSeries.AddOrUpdatePolygonExtended(5, GhostDisplay.GetRobotSpeedArrow());
PolygonSeries.AddOrUpdatePolygonExtended(6, GhostDisplay.GetRobotDestinationArrow());
PolygonSeries.AddOrUpdatePolygonExtended(7, GhostDisplay.GetRobotWaypointArrow());
//Rendering des points Lidar
lidarPts.AcceptsUnsortedData = true;
var lidarData = GhostDisplay.GetRobotLidarPoints();
lidarPts.Append(lidarData.XValues, lidarData.YValues);
//Rendering des objets Lidar
foreach (var polygonObject in GhostDisplay.GetRobotLidarObjects())
{
ObjectsPolygonSeries.AddOrUpdatePolygonExtended(ObjectsPolygonSeries.Count(), polygonObject);
}
//Affichage des points lidar
LidarPoints.DataSeries = lidarPts;
}
public void UpdateWorldMapDisplay()
{
DrawBalls();
DrawTeam();
PolygonSeries.RedrawAll();
RobotGhostSeries.RedrawAll();
RobotShapesSeries.RedrawAll();
ObjectsPolygonSeries.RedrawAll();
BallPolygon.RedrawAll();
}
private void TimerAffichage_Tick(object sender, EventArgs e)
{
DrawBall();
DrawRobot();
DrawGhost();
DrawLidar();
PolygonSeries.RedrawAll();
ObjectsPolygonSeries.RedrawAll();
BallPolygon.RedrawAll();
}
private void TimerAffichage_Tick(object sender, EventArgs e)
{
DrawBall();
DrawTeam();
//DrawLidar();
if (TeamMatesDisplayDictionary.Count == 1) //Cas d'un affichage de robot unique (localWorldMap)
{
DrawHeatMap(TeamMatesDisplayDictionary.First().Key);
}
PolygonSeries.RedrawAll();
ObjectsPolygonSeries.RedrawAll();
BallPolygon.RedrawAll();
}
public void DrawTeam()
{
XyDataSeries <double, double> lidarPts = new XyDataSeries <double, double>();
ObjectsPolygonSeries.Clear();
foreach (var r in TeamMatesDisplayDictionary)
{
//Affichage des robots
PolygonSeries.AddOrUpdatePolygonExtended(r.Key, TeamMatesDisplayDictionary[r.Key].GetRobotPolygon());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Speed, TeamMatesDisplayDictionary[r.Key].GetRobotSpeedArrow());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Destination, TeamMatesDisplayDictionary[r.Key].GetRobotDestinationArrow());
PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.WayPoint, TeamMatesDisplayDictionary[r.Key].GetRobotWaypointArrow());
//Rendering des points Lidar
lidarPts.AcceptsUnsortedData = true;
var lidarData = TeamMatesDisplayDictionary[r.Key].GetRobotLidarPoints();
lidarPts.Append(lidarData.XValues, lidarData.YValues);
//Rendering des objets Lidar
foreach (var polygonObject in TeamMatesDisplayDictionary[r.Key].GetRobotLidarObjects())
{
ObjectsPolygonSeries.AddOrUpdatePolygonExtended(ObjectsPolygonSeries.Count(), polygonObject);
}
}
foreach (var r in OpponentDisplayDictionary)
{
//Affichage des robots
PolygonSeries.AddOrUpdatePolygonExtended(r.Key, OpponentDisplayDictionary[r.Key].GetRobotPolygon());
//PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Speed, OpponentDisplayDictionary[r.Key].GetRobotSpeedArrow());
//PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.Destination, TeamMatesDictionary[r.Key].GetRobotDestinationArrow());
//PolygonSeries.AddOrUpdatePolygonExtended(r.Key + (int)Caracteristique.WayPoint, TeamMatesDictionary[r.Key].GetRobotWaypointArrow());
}
//Affichage des points lidar
LidarPoints.DataSeries = lidarPts;
}
