public async Task <ActionResult <IncomingUserTask> > Get(int Id)
{
try
{
var result = await taskrepository.GetTaskAsync(Id);
if (result == null || GetUsedId() != result.UserId)
{
return(BadRequest());
}
TaskNumber taskNumber = new TaskNumber(result.Number, result.TaskDate);
return(Ok(
new IncomingUserTask()
{
Comment = result.Comment,
Date = result.Date,
Status = result.Status,
TaskNumber = taskNumber.ToString()
}));
}
catch (Exception)
{
return(StatusCode(StatusCodes.Status500InternalServerError, "Repository failure"));
}
}
public void Task16c()
{
const int TaskNumber = 16;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1:
uMTasks.SleepAGN(0.61F); // 0.4 + TaskNumber*0.01 secondes .. ou n'importe quoi d'autre
break;
case
2:
uPiaget.GoState(1000);
break;
case
1000: uPiaget.GoState(1); break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch
} // end void Task16c
public void Task01c()
{
const int TaskNumber = 1;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
//-----------------------------------------------------------------
case
1: uMTasks.SleepAGN(0.8F);
break;
case
2:
if (uPanel.Choix[uPanel.NCMusique].Etat)
{
System.Media.SystemSounds.Beep.Play();
}
uPiaget.GoNext();
break;
case
3: uPiaget.GoState(1);
break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
//-------------------------------------------------------------------
/*
* case
*
* 1:
* uMTasks.SleepAGN(0.41F); // 0.4 + TaskNumber*0.01 secondes .. ou n'importe quoi d'autre
* break;
* case
*
* 2:
* uPiaget.GoState(1000);
* break;
* case
*
*
*
*
*
* 1000: uPiaget.GoState(1); break;
* default:
* {
* uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString();// uPanel.MessageErreur.Length;
* } break;
*/
} // end switch
} // end void Task01c
{ /*
* Faire un pas - move a little bit
*/
public void Task02c()
{
const int TaskNumber = 2;
uMTasks.ActiveTask = TaskNumber;
//------------------------------------------------------------------------------------------
int i;
bool SG, SD;
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1:
if (uMTasks.Work[TaskNumber].TaskStatus == uMTasks.tPhase.Demandee)
{
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.EnAction;
if (uPanel.Choix[uPanel.NCStepSound].Etat)
{
System.Media.SystemSounds.Beep.Play();
}
uMTasks.Work[TaskNumber].StateNo = 10;
}
break;
case
10:
uMTasks.Work[TaskNumber].StateNo = 20;
break;
case
20:
SG = uMouv.SensGauche;
SD = uMouv.SensDroit;
if (uPanel.InverseSensLineaire)
{
SG = !SG;
SD = !SD;
}
uTasks.V2Duree = uPanel.DeltaTPas / 2;
uMTasks.Work[TaskNumber].StateNo = 30;
break;
case
30:
uMTasks.SleepAGN(uTasks.V2Duree);
break;
case
31:
uMTasks.Work[TaskNumber].StateNo = 40;
break;
case
40:
uMTasks.SleepAGN(uTasks.V2Duree);
break;
case
41:
uMTasks.Work[TaskNumber].StateNo = 60;
break;
case
60:
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.Faite;
uMTasks.Work[TaskNumber].StateNo = 1;
break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
}//end switch
//------------------------------------------------------------------------------------------
/* code origine
* void Task02() // (* Faire un pas *)
* {
* extern bool InteractionSouhaitee;
* int const TaskNumber=2;
* int i;
* bool SG,SD;
* ActiveTask=TaskNumber;
* switch ( Work[TaskNumber].StateNo ){
* case
* 1:
* if (Work[TaskNumber].TaskStatus==Demandee)
* {
* Work[TaskNumber].TaskStatus=EnAction;
* if ( Choix[NCStepSound].Etat ) Beep();
* Work[TaskNumber].StateNo=10;
* }
* break; case
* 10:
* Work[TaskNumber].StateNo=20;
* break; case
* 20: {
* // PasGauche,SensGauche,
* // PasDroit,SensDroit
* SG=SensGauche;
* SD=SensDroit;
* if (InverseSensLineaire)
* {SG=!SG;
* SD=!SD;}
*
* V2Duree=DeltaTPas / 2;
* Work[TaskNumber].StateNo=30;
* }
* break; case
*
* 30: SleepAGN(V2Duree);
* break; case
*
* 31:
* //**** if Choix[NCStepSound].etat then NoSound;
* Work[TaskNumber].StateNo=40;
* // Work[TaskNumber].StateNo=41;
* break; case
* 40: SleepAGN(V2Duree);
* break; case
*
* 41:
* //**** if (!( VarEtat[NVEArret].etat))
* Work[TaskNumber].StateNo=60;
* break; case
*
* 60:
* Work[TaskNumber].TaskStatus=Faite;
* Work[TaskNumber].StateNo=1;
*
* break;
* default :
* {
* MessageErreur="Task"+IntToStr(TaskNumber)+" - Line missing: "+IntToStr(Work[TaskNumber].StateNo);
* };
* }
* } // Task02
*/
} // end void Task02c
public void Task06c()
{
const int TaskNumber = 6;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1:
//uMTasks.SleepAGN(0.61F); // 0.4 + TaskNumber*0.01 secondes .. ou n'importe quoi d'autre
uMTasks.Work[TaskNumber].StateNo = 2;
break;
case
2:
if ((!uPanel.Choix[uPanel.NCSimulation].Etat) && (uPanel.SupportPhysiqueES) && (uPanel.Choix[uPanel.NCBeckhoff].Etat))
{
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.Demandee;
uMTasks.Work[TaskNumber].StateNo = 3;
}
else
{
if (uMTasks.Work[TaskNumber].TaskStatus == uMTasks.tPhase.Faite)
{
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.EnAction;
ThBeck.BeckhoffDelegate beckhoff_off = new ThBeck.BeckhoffDelegate(ThBeck.Beckhoff);
beckhoff_off.BeginInvoke("BC9020_OFF", null, null); //retour: uMTasks.tPhase.Suspendue!
uMTasks.Work[TaskNumber].StateNo = 3;
}
else
{
uMTasks.Work[TaskNumber].StateNo = 4;
}
}
break;
case
3:
switch (uMTasks.Work[TaskNumber].TaskStatus)
{
case
uMTasks.tPhase.Demandee: uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.EnAction;
ThBeck.BeckhoffDelegate beckhoff = new ThBeck.BeckhoffDelegate(ThBeck.Beckhoff);
beckhoff.BeginInvoke("BC9020_ON", null, null);
break;
case
uMTasks.tPhase.Faite: //uMTasks.Work[TaskNumber].StateNo = 20;
uPiaget.GoNext();
break;
case
uMTasks.tPhase.EnAction: uMTasks.Work[TaskNumber].StateNo = 3;
break;
case
uMTasks.tPhase.Suspendue:
// uPiaget.GoNext();
uMTasks.Work[TaskNumber].StateNo = 4;
break;
// default: ;
}
break;
case
4:
uPiaget.GoState(1000);
break;
case
1000: uPiaget.GoState(1); break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch
} // end void Task06c
private void RefreshTaskScheduler()
{
txtCollState.Text = EnableColl ? "已启动" : "已停止";
txtCollCycle.Text = CollCycle.ToString();
txtTasksNum.Text = TaskNumber.ToString();
}
{ /*
* Mouvements PTP - move point to point
*/
public void Task04c()
{
const int TaskNumber = 4;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
//-----------------------------------------------------------------------------------------------
case
1:
if (uMTasks.Work[TaskNumber].TaskStatus == uMTasks.tPhase.Demandee)
{
uMTasks.Work[TaskNumber].StateNo = 15;
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.EnAction;
uTasks.V4MouvementGalilFait = false;
}
break;
case
15: //--------------------------------------------------------------------------------
if (uPanel.Mouvement.NPas > 0)
{ // (* demande de pas et calcul de durée *)
uMouv.CalculerImpulsions(ref uMouv.PasGauche, ref uMouv.SensGauche, ref uMouv.PasDroit, ref uMouv.SensDroit);
if ((!uPanel.Choix[uPanel.NCSimulation].Etat) && (uPanel.Mouvement.NPas > 0))
{
switch (uPanel.ServoCommande)
{
case uPanel.tServoCommande.ServoGalilEthernet:
#if (!SimulationOnly)
uGalil.LancerMouvementGalil(uPanel.Mouvement);
#endif
uTasks.V4MouvementGalilFait = false;
break;
} // fin switch (uPanel.ServoCommande)
}
} // fin if Mouvement.NPas>0
uMTasks.Work[TaskNumber].StateNo = 20;
break;
case
20://--------------------------------------------------------------------------------
if ((uPanel.Mouvement.Etat == uPanel.tEtat.Fait) || (uPanel.Mouvement.NPas == 0))
{
uMTasks.Work[TaskNumber].StateNo = 50; //(* fin *)
}
else
{
uMouv.CalculerImpulsions(ref uMouv.PasGauche, ref uMouv.SensGauche, ref uMouv.PasDroit, ref uMouv.SensDroit);
//(* Writeln(' mouv.NoPasCourant ', Mouvement.NoPasCourant:8,
// Mouvement.NPas:8); *)
uMTasks.Work[TaskNumber].StateNo = 30;
} //(* if *)
break;
case
30: //-----------------------------------------------------------------------------
if (!(uMTasks.Work[uPanel.NTPas].TaskStatus == uMTasks.tPhase.EnAction)) //(*;PasEnCours *) then (* prˆt pour un step? *)
{
uMTasks.Work[uPanel.NTPas].TaskStatus = uMTasks.tPhase.Demandee;
// (* writeln(DemandeDUnPas, PasFait, NStepsMouvementPTP:6); *)
uPanel.DeltaTPas = uPanel.DeltaT;
uMTasks.Work[TaskNumber].StateNo = 40;
}
break;
case
40: //---------------------------------------------------------------------------
if (uMTasks.Work[uPanel.NTPas].TaskStatus == uMTasks.tPhase.Faite) // (*;PasFait*) then
{
uMTasks.Work[TaskNumber].StateNo = 20; // (* step termin‚ *)
}
break;
case
50: //---------------------------------------------------------------------------
// (* attente de fin *)
if (uPanel.Mouvement.NPas > 0)
{
uMTasks.Work[TaskNumber].StateNo = 60; //(* 55 ou 59 *)
}
else
{
uMTasks.Work[TaskNumber].StateNo = 150;
}
break;
case
55: //-------------------------------------------------------------------------
//***** if (MouvementFaitN(MoteurGauche))
uMTasks.Work[TaskNumber].StateNo = 59; //(*** Attention, tester autre axe si *)
// (*rotation … gauche de rayon 15 cm environ...*)
break;
case
60: //------------------------------------------------------------------------
//-- uTasks.V4WaitingForEndOfMotion = true;
// MessageErreur=" Waiting for end of motion ";
uTasks.V8TimeOut = false;
if (uGalil.TesterFinMouvementDApresErreur)
{
uPiaget.GoState(79);
}
else
{
uPiaget.GoState(150);
}
break;
case
79: //------------------------------------------------------------------------
uTasks.V8Compteur = 0;
uPiaget.GoNext();
break;
case
80://------------------------------------------------------------------------
switch (uPanel.ServoCommande)
{
case uPanel.tServoCommande.ServoGalilEthernet:
#if (!SimulationOnly)
if (uPanel.Choix[uPanel.NCSimulation].Etat == false)
{
uPiaget.LireErreurGalil();
}
#endif
break;
} // end case uPanel.ServoCommande ********************
if (uPanel.ModeRHYorOPYlow)
{
uTasks.V8ErreurMaxTemp = uTasks.V8ErreurMax;
}
else
{
uTasks.V8ErreurMaxTemp = uTasks.V8ErreurMaxOPY;
}
if ((Math.Abs(uTasks.V8ErreurGauche) + Math.Abs(uTasks.V8ErreurDroite)) < uTasks.V8ErreurMaxTemp) // uPanel.ModeRHYorOPYlow
{
uPanel.MessageErreur = " Erreurs gauche: " +
uTasks.V8ErreurGauche + " et droite :" +
uTasks.V8ErreurDroite;
uPiaget.WriteErreurGalil();
uPiaget.GoState(260);
} // ex 180
else
{
uPiaget.GoState(82);
}
break;
case
82: //----------------------------------------------------------------------
uMTasks.SleepAGN(uTasks.V8Duree / uTasks.V8NCycles);
break;
case
83: //----------------------------------------------------------------------
uTasks.V8Compteur++;
if (uTasks.V8Compteur >= uTasks.V8NCycles)
{
uPiaget.GoState(120);
}
else
{
uPiaget.GoState(80);
}
break;
case
120: //----------------------------------------------------------------------
uTasks.V8TimeOut = true;
uTasks.V8Compteur = 0;
if (uPanel.ServoCommande == uPanel.tServoCommande.ServoGalilEthernet)
{
#if (!SimulationOnly)
uGalil.ExecuterCommandeGalil("AB" + uTasks.ACR); // Abort
uTasks.warningAnsiString();
uGalil.ResetPositionGalil();
#endif
// UtiliserCoordonneesAbsolues=false; // suite en relatif
}
uPiaget.GoState(260); // ex 180
break;
case
150: //----------------------------------------------------------------------
uMTasks.SleepAGN(uPanel.Mouvement.NPas * 0.00015); //(********* Attente pour essais ... ******)
break;
case
151: //----------------------------------------------------------------------
uPiaget.GoState(260); // ex 180
break;
case
260://----------------------------------------------------------------------
uTasks.V4WaitingForEndOfMotion = false;
uTasks.V4MouvementGalilFait = true;
if (uMouv.IndicePileMouvement > 0)
{
//uMouv.PrendreMouvementSurPile(ref uPanel.Mouvement, ref uMouv.IndicePileMouvement);
uMouv.PrendreMouvementSurPile();
uMTasks.Work[TaskNumber].StateNo = 15;
}
else
{
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.Faite;
uMTasks.Work[TaskNumber].StateNo = 1;
} //(* if *)
break;
//-----------------------------------------------------------------------------------------------
/*
* case
* 1:
* uMTasks.SleepAGN(0.61F); // 0.4 + TaskNumber*0.01 secondes .. ou n'importe quoi d'autre
* break;
* case
*
* 2:
* uPiaget.uPiaget.GoState(1000);
* break;
* case
* 1000: uPiaget.uPiaget.GoState(1); break;
*/
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch (uMTasks.Work[TaskNumber].StateNo)
} // end void Task04c
public string toString()
{
return("Task " + TaskNumber.ToString());
}
/*
* Lire clavier - read keyboard
*/
public void Task03c()
{
const int TaskNumber = 3;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1: uMTasks.SleepAGN(0.03F); // s
break;
case
2:
// extern void ToggleEtatSI(int NS);
if ((uPanel.CarLu == 'd') || (uPanel.CarLu == 'D'))
{
; // ToggleEtatSI(1);//{SignauxIn[NSDemarrer].EtatVF = true ;}
}
if (uPanel.CarLu == 'l')
{
uParam.LireParametres();
}
if (uPanel.CarLu == 'n')
{
uPanel.LireFichierReserve = true;
uParam.LireParametres();
}
;
if (uPanel.CarLu == 'h')
{
uParam.SauverParametres();
}
// if (CarLu=='r'){Initialise=false;}
if (uPanel.CarLu == 's')
{
uPanel.Choix[uPanel.NCSimulation].Etat = !uPanel.Choix[uPanel.NCSimulation].Etat;
FPiaget.CheckSupportPhysiqueES();
}
if (uPanel.CarLu == 'a')
{
uPanel.Choix[uPanel.NCMusique].Etat = !uPanel.Choix[uPanel.NCMusique].Etat;
}
if ((uPanel.CarLu == 'y') || (uPanel.CarLu == 'Y'))
{
uMTasks.Work[uPanel.NTVision].TaskStatus = uMTasks.tPhase.Demandee;
}
if (uPanel.CarLu == 'z')
{
uPanel.Choix[uPanel.NCStepSound].Etat = !uPanel.Choix[uPanel.NCStepSound].Etat;
}
if (uPanel.CarLu == 'b')
{
uPanel.Choix[uPanel.NCVisionContinue].Etat = !uPanel.Choix[uPanel.NCVisionContinue].Etat;
}
if ((uPanel.CarLu == 'c') || (uPanel.CarLu == 'C'))
{
uPanel.Choix[uPanel.NCCalibration].Etat = !uPanel.Choix[uPanel.NCCalibration].Etat;
}
if ((uPanel.CarLu == '+') || (uPanel.CarLu == '-'))
{
uPanel.DeltaTPas = 1.5F;
uMouv.PasGauche = true; uMouv.SensGauche = (uPanel.CarLu == '+');
uMouv.PasDroit = true; uMouv.SensDroit = (uPanel.CarLu == '+');
uMTasks.Work[uPanel.NTPas].TaskStatus = uMTasks.tPhase.Demandee;
}
uPiaget.GoNext();
break;
case
3:
if (uPanel.Done1)
{
if ((uPanel.CarLu != 'q') && (uPanel.CarLu != ','))
{
uPanel.Done1 = false;
/* if (FPiaget.ActiveForm != null) tBControl.Text = "";*/
}// Form1->MControl->Lines->Text = " ";
}
if (uPanel.CarLu == 'q')
{
if (uPanel.Done1 == true)
{
FPiaget.ActiveForm.Close(); // Controls["BQuit"];
}
else
{
uPanel.Done1 = true;
///*if (FPiaget.ActiveForm != null) */FPiaget.ActiveForm.Controls["*/tBControl"].Text = "Voulez-vous vraiment quitter (q) ?";
}
}
uPiaget.GoNext();
break;
case
4:
if ((uPanel.CarLu == '*') || (uPanel.CarLu == '/'))
{
uPanel.Mouvement.NPas = 50;
uPanel.Mouvement.VitesseMaxM = uPanel.VitesseMaxCourante;
uPanel.Mouvement.Etat = uPanel.tEtat.AFaire;
if (uPanel.CarLu == '*')
{
uPanel.Mouvement.IncrGauche = 1;
uPanel.Mouvement.IncrDroit = 1;
}
else
{
uPanel.Mouvement.IncrGauche = -1;
uPanel.Mouvement.IncrDroit = -1;
} // (* if *)
uMTasks.Work[uPanel.NTMouvementPTP].TaskStatus = uMTasks.tPhase.Demandee;
} // (* '*', '/' *)
uPiaget.GoNext();
break;
case
5: /*
* Deplacement relatif
*/
switch (uPanel.CarLu)
{
case
't': // (* avance 10 cm *)
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.ds = uPanel.CalibrationDs; //(*DistancePourCalibration*)
}
else
{
uMouv.P0RobotFutur.ds = 10;
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.MDMds, uMouv.P0RobotFutur);
// (* t *)
break;
//Code 016.02.24
/*case
*
* 'T': // (* pivote … gauche de 22.5 degr‚s autour du bord gauche *)
* uMouv.P0RobotFutur.RayonTrajectoire=-15; //(* cm; <> DemiEcartRouesExt*);
* if (uPanel.Choix[uPanel.NCCalibration].Etat)
* uMouv.P0RobotFutur.AngleTrajectoire = uPanel.CalibrationAngle;
* else
* uMouv.P0RobotFutur.AngleTrajectoire=23 ; // (* 45 div 2 *)
* uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
* break;*/
case
'T': // (* pivote … gauche de 22.5 degr‚s autour du bord gauche *)
uMouv.P0RobotFutur.RayonTrajectoire = 15; //(* cm; <> DemiEcartRouesExt*);
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.AngleTrajectoire = -uPanel.CalibrationAngle;
}
else
{
uMouv.P0RobotFutur.AngleTrajectoire = -23; // (* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
break;
case
'v': // (* recule 10 cm *)
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.ds = -uPanel.CalibrationDs;
}
else
{
uMouv.P0RobotFutur.ds = -10;
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.MDMds, uMouv.P0RobotFutur);
// (* V *)
break;
/* case
* 'V': // (* pivote arriŠre droite de 22.5 degr‚s autour du bord droit *)
* uMouv.P0RobotFutur.RayonTrajectoire = 15; //(* cm; <> DemiEcartRouesExt*);
* if (uPanel.Choix[uPanel.NCCalibration].Etat)
* uMouv.P0RobotFutur.AngleTrajectoire = uPanel.CalibrationAngle;
* else
* uMouv.P0RobotFutur.AngleTrajectoire = 23; // (* 45 div 2 *)
* uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
* // (* V *)
* break; */
case
'V': // (* pivote arriŠre droite de 22.5 degr‚s autour du bord droit *)
uMouv.P0RobotFutur.RayonTrajectoire = -15; //(* cm; <> DemiEcartRouesExt*);
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.AngleTrajectoire = -uPanel.CalibrationAngle;
}
else
{
uMouv.P0RobotFutur.AngleTrajectoire = -23; // (* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
// (* V *)
break;
/*case
* 'f': // (* tourne … gauche de 22.5 degr‚s *)
* if (uPanel.Choix[uPanel.NCCalibration].Etat)
* uMouv.P0RobotFutur.ThetaRobotDegres =uMouv.P0Robot.ThetaRobotDegres + uPanel.CalibrationAngle;
* else
* uMouv.P0RobotFutur.ThetaRobotDegres = Convert.ToInt32(uMouv.P0Robot.ThetaRobotDegres + 22.5); // (* 45 div 2 *)
* uMouv.LancerMouvement(uPanel.tModeDeMouvement.Rot, uMouv.P0RobotFutur);
* // (* f *)
* break; */
case
'f': // (* tourne … gauche de 22.5 degr‚s *)
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.ThetaRobotDegres = uMouv.P0Robot.ThetaRobotDegres - uPanel.CalibrationAngle;
}
else
{
uMouv.P0RobotFutur.ThetaRobotDegres = Convert.ToInt32(uMouv.P0Robot.ThetaRobotDegres - 22.5); // (* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.Rot, uMouv.P0RobotFutur);
// (* f *)
break;
/* case
*
* 'F': // (* pivote arrière gauche de 22.5 degrés autour du bord gauche *)
* uMouv.P0RobotFutur.RayonTrajectoire=-15; // (* cm; <> DemiEcartRouesExt*);
* if (uPanel.Choix[uPanel.NCCalibration].Etat)
* uMouv.P0RobotFutur.AngleTrajectoire = -uPanel.CalibrationAngle;
* else
* uMouv.P0RobotFutur.AngleTrajectoire = -23; // (* 45 div 2 *)
* uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
* // (* F *)
* break;*/
case
'F': // (* pivote arrière gauche de 22.5 degrés autour du bord gauche *)
uMouv.P0RobotFutur.RayonTrajectoire = 15; // (* cm; <> DemiEcartRouesExt*);
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.AngleTrajectoire = uPanel.CalibrationAngle;
}
else
{
uMouv.P0RobotFutur.AngleTrajectoire = 23; // (* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
// (* F *)
break;
case
'g': // (* tourne … droite de 22.5 degrés *)
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.ThetaRobotDegres = uMouv.P0Robot.ThetaRobotDegres + uPanel.CalibrationAngle; //(* 45 div 2 *)
}
else
{
uMouv.P0RobotFutur.ThetaRobotDegres = (float)(uMouv.P0Robot.ThetaRobotDegres + 22.5); // (* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.Rot, uMouv.P0RobotFutur);
// (* g *)
break;
//Code 016.02.24
/* case
* 'G': // (* pivote … droite de 22.5 degrés autour du bord droit *)
* uMouv.P0RobotFutur.RayonTrajectoire = 15; //(* cm; <> DemiEcartRouesExt*);
* if (uPanel.Choix[uPanel.NCCalibration].Etat)
* uMouv.P0RobotFutur.AngleTrajectoire = -uPanel.CalibrationAngle;
* else
* uMouv.P0RobotFutur.AngleTrajectoire = -23; //(* 45 div 2 *)
* uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
* // (* G *)
* break; */
case
'G': // (* pivote … droite de 22.5 degrés autour du bord droit *)
uMouv.P0RobotFutur.RayonTrajectoire = -15; //(* cm; <> DemiEcartRouesExt*);
if (uPanel.Choix[uPanel.NCCalibration].Etat)
{
uMouv.P0RobotFutur.AngleTrajectoire = +uPanel.CalibrationAngle;
}
else
{
uMouv.P0RobotFutur.AngleTrajectoire = +23; //(* 45 div 2 *)
}
uMouv.LancerMouvement(uPanel.tModeDeMouvement.RotExc, uMouv.P0RobotFutur);
// (* G *)
break;
// 'i', 'I': // (* va au centre *)
case 'i': // (* va au centre *)
case 'I': // no break, same case
uMouv.P0RobotFutur.x = 100;
uMouv.P0RobotFutur.y = 150;
uMouv.P0RobotFutur.ThetaRobotDegres = 90;
uMouv.LancerMouvement(uPanel.tModeDeMouvement.RXY, uMouv.P0RobotFutur);
// (* i, I *)
break;
} //End switch (uPanel.CarLu)
uPiaget.GoNext();
break;
case
6: if (uPanel.CarLu == ' ')
{
// à compléter ******* uTask05i.V5CarLu = ' ';
uPanel.V5CarLu = ' ';
}
uPiaget.GoNext();
break;
case
7: if (uPanel.CarLu == 'r')
{
uPiaget.FermerLiaisons();
uPanel.InitialiserLaser = false;
uPiaget.GoNext();
}
else
{
uPiaget.GoState(10);
}
break;
case
8:
uMTasks.SleepAGN(1); // délai pour reset
break;
case
9:
uPanel.Initialise = false; // fin du reset
uPiaget.GoNext();
break;
case
10:
uPanel.CarLu = ',';
uPanel.InteractionSouhaitee = true;
// Work[TaskNumber].StateNo=1;
uPiaget.GoState(1);
break;
//
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch (uMTasks.Work[TaskNumber].StateNo)
} // end void Task03c()
//public uPanel uPanneauAux = new uPanel();
public void Task08c()
{
const int TaskNumber = 8;
uMTasks.ActiveTask = TaskNumber;
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1:
if ((uMTasks.Work[TaskNumber].TaskStatus == uMTasks.tPhase.Demandee) && uPanel.Phase != uPanel.tPhase.GameOver)
{
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.EnAction;
uMTasks.Work[TaskNumber].V4MouvementGalilFait = false;
uMouv.CinematiqueInverse();
switch (uPanel.Mouvement.ModeDeMouvement)
{
case uPanel.tModeDeMouvement.XY:
uMTasks.Work[TaskNumber].StateNo = 20;
break;
case uPanel.tModeDeMouvement.MDMds:
uMTasks.Work[TaskNumber].StateNo = 40; // 20
break;
case uPanel.tModeDeMouvement.Rot:
uMTasks.Work[TaskNumber].StateNo = 50; // 20
break;
case uPanel.tModeDeMouvement.RotExc:
uMTasks.Work[TaskNumber].StateNo = 58; // 15
break;
} // fin switch uPanel.Mouvement.ModeDeMouvement
if (uPanel.Mouvement.ModeDeMouvement == uPanel.tModeDeMouvement.RotExc)
{
uMTasks.Work[TaskNumber].StateNo = 15;
}
else
{
uMTasks.Work[TaskNumber].StateNo = 20;
}
}
else
{
uPiaget.GoNext();
}
break;
case
2:
uMTasks.SleepAGN(0.05F);
//uPiaget.GoState(1000);
break;
//uPanel.ServoCommande
//uPanel.tServoCommande.ServoGalilEthernet
case
3:
switch (uPanel.ServoCommande)
{
case uPanel.tServoCommande.ServoGalilEthernet:
#if (!SimulationOnly)
if (uPanel.Choix[uPanel.NCSimulation].Etat == false)
{
uPiaget.LireErreurGalil();
}
#endif
break;
} // end case Servocommande ********************
uPanel.MessageErreur = " Erreurs gauche: " + uTasks.V8ErreurGauche.ToString() +
" et droite : " + uTasks.V8ErreurDroite.ToString();
uTasks.V8Compteur++;
if (uTasks.V8Compteur >= uTasks.V8NCycles)
{
uTasks.V8TimeOut = false;
uTasks.V4MouvementGalilFait = true;
}
uPiaget.GoState(1);
break;
case
15:
uMouv.CalculerMouvementCourbe();
uPiaget.GoState(60);
break;
case
20:
uMouv.CalculerMouvementDroit();
//uMouv.EmpilerMouvement(uPanel.Mouvement, uMouv.IndicePileMouvement);
uMouv.EmpilerMouvement();
uMTasks.Work[TaskNumber].StateNo = 50;
break;
case
40: // MDMds
uMouv.CalculerMouvementDroit();
uMTasks.Work[TaskNumber].StateNo = 60;
break;
case
50: // Rot ou partie Rot de XY
uPanel.Mouvement.ModeDeMouvement = uPanel.tModeDeMouvement.Rot;
uMouv.CalculerMouvementRotatif(); //(* fait en premier *)
uMTasks.Work[TaskNumber].StateNo = 60;
break;
case
58: // RotExc
uMouv.CalculerMouvementCourbe();
uPiaget.GoState(60);
break;
case
60: // lancement de mouvement
if (!(uMTasks.Work[uPanel.NTMouvementPTP].TaskStatus == uMTasks.tPhase.EnAction)) // (*EnMouvementPTP*)
// (* prˆt pour un mouvement PTP? *)
{ // (* impulsions *)
uMTasks.Work[uPanel.NTMouvementPTP].TaskStatus = uMTasks.tPhase.Demandee;
// (* writeln(DemandeDUnPas, PasFait, NStepsMouvementPTP:6); *)
uMTasks.Work[TaskNumber].StateNo = 70;
}
break;
case
70: if (uMTasks.Work[uPanel.NTMouvementPTP].TaskStatus == uMTasks.tPhase.Faite)
{
// Mouvement.Etat=Fait;
uMTasks.Work[TaskNumber].StateNo = 72; // (* mvmt PTP terminé *)
}
break;
case
72: uPiaget.GoState(180);
break;
case
180:
uMouv.MiseAJourPosition();
uPanel.Mouvement.Etat = uPanel.tEtat.Fait;
uMTasks.Work[TaskNumber].TaskStatus = uMTasks.tPhase.Faite;
uMTasks.Work[TaskNumber].StateNo = 1;
break;
case
1000: uPiaget.GoState(1); break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch
} // end void Task08c
public void Task05c()
{
const int TaskNumber = 5;
uMTasks.ActiveTask = TaskNumber;
SpeechSynthesizer reader = new SpeechSynthesizer();//**for speak Code 016.02.29
switch (uMTasks.Work[TaskNumber].StateNo)
{
case
1:
SleepAGN(0.45F); // 0.4 + TaskNumber*0.01 secondes .. ou n'importe quoi d'autre
break;
case
2: SleepAGN(1); break;
case
3: SleepAGN(1); break;
case
4: SleepAGN(1); break;
case
5: SleepAGN(1); break;
case
6: SleepAGN(1); break;
case
7: GoState(1000); break;
////////////////////////////////////////// CASE 900 //////////////////////////////////////////
case
900:
/* for (int i = 1; i <= 2; i++)
* {
* // Console.WriteLine(i);
* }
*/
// Cliquer sur un bouton de l'interface
CliquerBouton("bSO4");
// CliquerBouton("bLaserC");
/*
* uMouv.P0Robot.x = 20;
* uMouv.P0Robot.y = 30;
* uMouv.P0Robot.ThetaRobotDegres = 90;
*/
reader.Dispose();
reader = new SpeechSynthesizer();
reader.SpeakAsync("Hello,I am ready !");
// string t="Hello,I am ready !";
// frm2.testlabel.Text = ("Hello,I am ready !");
GoNext();
break;
////////////////////////////////////////// END OF CASE 900 //////////////////////////////////////////
case
901:
break;
case
1000: GoState(1); break;
default:
{
uPanel.MessageErreur = "Task" + TaskNumber.ToString() + " - Line missing: " + uMTasks.Work[TaskNumber].StateNo.ToString(); // uPanel.MessageErreur.Length;
} break;
} // end switch
} // end void Task05c
