// Paquet reçu
private async void PacketReceived(object sender, NXTPacketReceivedEventArgs e)
{
UpdateBuffer(iaVehicule.Buffer);
if (CoopEnabled)
{
if (!iaCoop.ComputeMove())
{
iaVehicule.SendNextAction(radioButton1.Checked);
remoteVehicule.SendNextAction(radioButton1.Checked);
if (radioButton1.Checked)
{
await Task.Delay((int)numericUpDown1.Value);
PacketReceived(sender, e);
}
}
}
else
{
Console.WriteLine("Réponse reçue ! (Autonome)");
if (button1.Text == "Pause")
{
if (!iaVehicule.SendNextAction(radioButton1.Checked))
{
await Task.Delay(TimeSpan.FromMilliseconds((int)numericUpDown1.Value));
if (simulation1.CalculatePath())
{
UpdateBuffer(iaVehicule.Buffer);
if (radioButton1.Checked)
{
await Task.Delay(TimeSpan.FromMilliseconds((int)numericUpDown1.Value));
}
PacketReceived(sender, e);
}
else
{
iaVehicule.Circuit.FillColor(Microsoft.Xna.Framework.Color.White);
ButtonDisable();
}
}
else
{
if (radioButton1.Checked)
{
await Task.Delay(TimeSpan.FromMilliseconds((int)numericUpDown1.Value));
PacketReceived(sender, e);
}
else
{
iaVehicule.NxtHelper.WaitForData(new EventHandler <NXTPacketReceivedEventArgs>(PacketReceived));
}
}
}
}
}
// --------------------------------------------------------------------------
// EVENTS / ASYNC CALLS
// --------------------------------------------------------------------------
// Bouton "Lancer"/"Pause"
private void Button10_Click(object sender, EventArgs e)
{
UpdateBuffer(vehicule.Buffer);
if (button10.Text == "Pause")
{
button10.Text = "Lancer";
}
else
{
vehicule.SendNextAction(checkBox2.Checked);
if (checkBox2.Checked)
{
PacketReceived(this, new NXTPacketReceivedEventArgs(new byte[] { }));
}
else
{
vehicule.NxtHelper.WaitForData(new EventHandler <NXTPacketReceivedEventArgs>(PacketReceived));
}
button10.Text = "Pause";
}
}
