Ejemplo n.º 1
0
 private void getNextTurn()
 {
     //Determine the robot's next turn
     if (_nextAbsoluteDirection - _robotDirection == 1 || _nextAbsoluteDirection - _robotDirection == -3)
     {
         _nextDirective = StatusByteCode.Right;
     }
     else if (_nextAbsoluteDirection - _robotDirection == -1 || _nextAbsoluteDirection - _robotDirection == 3)
     {
         _nextDirective = StatusByteCode.Left;
     }
     else if (_nextAbsoluteDirection - _robotDirection == 2 || _nextAbsoluteDirection - _robotDirection == -2)
     {
         _nextDirective = StatusByteCode.Turn;
     }
     else
     {
         _nextDirective = StatusByteCode.Forward;
     }
 }
Ejemplo n.º 2
0
        private void com_SerialDataEvent(object sender, SerialDataEventArgs e)
        {
            if (!_robotControlIsEnabled)
                return;

            _receivedByte = e.DataByte.ToStatusByteCode();

            if (_receivedByte == StatusByteCode.Acknowledged)
            {
                if (_sentDirectiveIsUnacknowledged)
                {
                    if (_done == true)
                        DisableRobotControl();

                    if (_nextDirective == StatusByteCode.Back)
                    {
                        Data.nav.currentPos = new NodeConnection(Data.nav.currentPos.From, true);
                        _halfway = true;
                    }
                    else
                    {
                        _halfway = false;
                        _robotDirection = _nextAbsoluteDirection;
                        Data.nav.currentPos = _nextNodeConnection;
                    }

                    _i++; //Advance to next item in path
                    _sentDirectiveIsUnacknowledged = false;
                }
                else
                {
                    return;
                }
            }
            else if (_receivedByte == StatusByteCode.NotAcknowledged)
            {
                //Resend directives
                Data.com.SendByte((byte)_nextDirective);
            }
            else if (_sentDirectiveIsUnacknowledged == false)
            {
                if (_receivedByte == StatusByteCode.Enquiry)
                {
                    if (_i > 0 && Data.challenge == Challenge.FindPath && (!_halfway && _nextDirective != StatusByteCode.Turn) && !Data.nav.fullPath[_i].FromPoint)
                        return;

                    if (Data.nav.fullPath.Count != 0)
                    {
                        getNextDirective();
                        Data.com.SendByte((byte)_nextDirective);
                    }
                    else
                    {
                        Data.com.SendByte((byte)StatusByteCode.Unknown);
                    }

                    if (Data.challenge == Challenge.FindPath)
                    {
                        if (_done == true)
                            Data.com.SendByte((byte)StatusByteCode.Done);

                        if (_continue == true)
                            Data.com.SendByte((byte)StatusByteCode.Continue);

                        _continue = false;
                    }

                    if (Data.challenge == Challenge.FindTreasure)
                    {
                        if (_done == true)
                            DisableRobotControl();
                    }

                    _sentDirectiveIsUnacknowledged = true;
                }
                else if (_receivedByte == StatusByteCode.MineDetected)
                {
                    if (_i == 0)
                        return;

                    //Detected mine, add to list
                    if (Data.challenge == Challenge.FindTreasure)
                    {
                        if (!treasureSearchList.Remove(Data.nav.currentPos))
                            treasureSearchList.Remove(Data.nav.currentPos.Flipped);
                        Data.nav.visited.Add(Data.nav.currentPos);
                    }

                    Data.nav.mines.Add(Data.nav.fullPath[_i - 1]);

                    _i = 0;
                    Data.nav.recalculatePath();
                    Data.com.SendByte((byte)StatusByteCode.Acknowledged);
                    _halfway = true;
                }
                else if (_receivedByte == StatusByteCode.Halfway)
                {
                    if (Data.challenge == Challenge.FindTreasure)
                    {
                        if (!treasureSearchList.Remove(Data.nav.currentPos))
                            treasureSearchList.Remove(Data.nav.currentPos.Flipped);
                        Data.nav.visited.Add(Data.nav.currentPos);
                    }

                    _halfway = true;
                    Data.com.SendByte((byte)StatusByteCode.Acknowledged);
                }
            }
            else
            {
                //Invalid bytecode or out of sync
                return;
            }

            Data.vis.DrawField();
            Data.db.UpdateProperty("MineCount");
            Data.db.UpdateProperty("CurrentPosText");
        }
Ejemplo n.º 3
0
        private void getNextDirective()
        {
            //Robot asks for new directions

            if (Data.challenge == Challenge.FindTreasure && _i == Data.nav.fullPath.Count)
            {
                if (treasureSearchList.Count == 0)
                {
                    _done = true;
                    _nextDirective = StatusByteCode.Done;
                    return;
                }

                _i = 0;
                Data.nav.getNextAxis();
            }

            if (Data.nav.fullPath.Count > 0 && Data.nav.fullPath.Count > _i)
            {
                _nextNodeConnection = Data.nav.fullPath[_i];
            }

            if (((Data.nav.fullPath.Count - 1) == _i || Data.nav.fullPath.Count == 0) && Data.challenge != Challenge.FindTreasure)
            {
                _done = true;
            }
            else if (Data.nav.fullPath[_i].FromPoint == true)
            {
                //TargetCP visited
                _nextDirective = StatusByteCode.Turn;
                _nextAbsoluteDirection = (Direction)(((int)_robotDirection + 2) % 4);

                if (Data.challenge == Challenge.FindPath)
                {
                    if (Data.nav.targetCPs != null)
                        Data.nav.targetCPs.RemoveAt(Data.nav.currentPath);
                }
                return;
            }

            getNextDirection();

            if (_robotDirection == Direction.Unknown)
                GetInitialRobotDirection();

            getNextTurn();
        }
Ejemplo n.º 4
0
 public void ResetRobotControl()
 {
     _done = false;
     _halfway = false;
     _robotControlIsEnabled = false;
     _sentDirectiveIsUnacknowledged = false;
     _nextAbsoluteDirection = Direction.Unknown; //next direction in terms of the XY grid
     _robotDirection = Direction.Unknown; //current direction the robot is pointing in
     _nextDirective = StatusByteCode.Unknown; //next directive to be sent to robot
     _i = 0;
     Data.nav.currentPath = 0;
 }