// Updates the robot table in GUI with new data
public void updateRobotTable()
{
foreach (Robot robot in Program.robotList)
{
AForge.DoublePoint position = robot.getPosition();
int[] motorSignal = robot.getMotorSignals();
this.robotTable.Rows[robot.getID()].Cells[0].Value = robot.getID();
this.robotTable.Rows[robot.getID()].Cells[1].Value = robot.getDetected();
this.robotTable.Rows[robot.getID()].Cells[2].Value = robot.isBlocked();
this.robotTable.Rows[robot.getID()].Cells[3].Value = "(" + position.X + ", " + position.Y + ")";
this.robotTable.Rows[robot.getID()].Cells[4].Value = robot.getHeading();
this.robotTable.Rows[robot.getID()].Cells[5].Value = robot.getSpeed();
this.robotTable.Rows[robot.getID()].Cells[6].Value = String.Join(", ", motorSignal);
List <Robot> neighbors = robot.getNeighbors();
string neighborsTemp = "None";
if (neighbors.Count != 0)
{
neighborsTemp = "";
foreach (Robot neighbor in neighbors)
{
neighborsTemp += neighbor.getID().ToString() + ", ";
}
}
this.robotTable.Rows[robot.getID()].Cells[7].Value = neighborsTemp;
}
}
public override void calculateNextMove(AForge.DoublePoint robotPosition, double speed, AForge.DoublePoint heading, List <Robot> neighbors, out double referenceSpeed, out AForge.DoublePoint referenceHeading)
{
if (collisionArea != null)
{
calculateNextMove(collisionArea, robotPosition, speed, heading, neighbors, out referenceSpeed, out referenceHeading);
}
else
{
throw new Exception("CollisionArea is null");
}
}
public override void paintStrategy(Graphics g, AForge.DoublePoint scaling)
{
if (collisionArea != null)
{
Rectangle paintRectangle = new Rectangle((int)(scaling.X * collisionArea.getX()),
(int)(scaling.Y * collisionArea.getY()),
(int)(scaling.X * collisionArea.getWidth()), (int)(scaling.Y * collisionArea.getHeight()));
g.FillRectangle(new SolidBrush(Color.FromArgb(50, 255, 0, 0)), paintRectangle);
}
if (robotPosition != null && corner1 != null && corner2 != null)
{
g.DrawLine(new Pen(new SolidBrush(Color.Black), 2),
new Point((int)(scaling.X * robotPosition.X), (int)(scaling.Y * robotPosition.Y)),
new Point((int)(scaling.X * corner1.X), (int)(scaling.Y * corner1.Y)));
g.DrawLine(new Pen(new SolidBrush(Color.Black), 2), new Point((int)(scaling.X * robotPosition.X), (int)(scaling.Y * robotPosition.Y)),
new Point((int)(scaling.X * corner2.X), (int)(scaling.Y * corner2.Y)));
}
}
/*
* This function firstly applies the rendevouz, and when the robots are in a certain range from each other the flocking strategy
*/
public override void calculateNextMove(AForge.DoublePoint robotPosition, double speed, AForge.DoublePoint heading, List <Robot> neighbors, out double referenceSpeed, out AForge.DoublePoint referenceHeading)
{
bool startFlocking = false;
double distance;
for (int i = 0; i < neighbors.Count; i++)
{
distance = robotPosition.DistanceTo(neighbors[i].getPosition());
if (distance < startFlockingRange)
{
startFlocking = true;
}
}
if (startFlocking)
{
flockingStrategy.calculateNextMove(robotPosition, speed, heading, neighbors, out referenceSpeed, out referenceHeading);
}
else
{
rendevouzStrategy.calculateNextMove(robotPosition, speed, heading, neighbors, out referenceSpeed, out referenceHeading);
}
}
public void calculateNextMove(CollisionArea collisionArea, AForge.DoublePoint robotPosition, double speed, AForge.DoublePoint heading, List <Robot> neighbors, out double referenceSpeed, out AForge.DoublePoint referenceHeading)
{
bool go = true;
if (ControlStrategy.isAtHeading(collisionArea, robotPosition, heading))
{
int distance = collisionArea.distance2Middle(robotPosition);
if (queue.Count == 0)
{
foreach (Robot neighbor in neighbors)
{
if (ControlStrategy.isAtHeading(collisionArea, neighbor.getPosition(), neighbor.getHeading()))
{
if (distance > collisionArea.distance2Robot(neighbor))
{
queue.Add(neighbor.getID());
go = false;
}
}
}
}
else
{
foreach (Robot neighbor in neighbors)
{
if (ControlStrategy.isAtHeading(collisionArea, neighbor.getPosition(), neighbor.getHeading()))
{
foreach (int ID in queue)
{
if (ID == neighbor.getID())
{
go = false;
break;
}
}
}
}
}
foreach (Robot neighbor in neighbors)
{
if (collisionArea.intersects(neighbor.getPosition()))
{
go = false;
break;
}
}
}
else
{
queue.Clear();
}
if (go)
{
referenceSpeed = speed;
referenceHeading = heading;
}
else
{
stopStrategy.calculateNextMove(collisionArea.getNearestPoint(robotPosition), Program.robotRadius, robotPosition, speed, heading, neighbors, out referenceSpeed, out referenceHeading);
}
corner1 = collisionArea.getHeadingEdges(robotPosition, heading)[0];
corner2 = collisionArea.getHeadingEdges(robotPosition, heading)[1];
this.robotPosition = robotPosition;
}
public static bool isPointInRectangle(AForge.DoublePoint p, RectangleF rect) => isPointInRectangle(p.X, p.Y, rect);
public override void paintStrategy(Graphics g, AForge.DoublePoint scaling)
{
}