private void TriggerEnterSequence()
{
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
if (mf.seq.seqEnter[i].function != 0)
{
mf.DoYouTurnSequenceEvent(mf.seq.seqEnter[i].function, mf.seq.seqEnter[i].action);
}
}
}
//determine when if and how functions are triggered
public void DoSequenceEvent()
{
if (mf.yt.isSequenceTriggered)
{
//determine if Section is entry or exit based on trigger point direction
bool isToolHeadingSameAsABHeading;
//Subtract the two headings, if > 1.57 its going the opposite heading as refAB
#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
double abFixHeadingDelta = (Math.Abs(mf.toolPos.heading - mf.ABLine.abHeading));
if (abFixHeadingDelta >= Math.PI)
{
abFixHeadingDelta = Math.Abs(abFixHeadingDelta - glm.twoPI);
}
isToolHeadingSameAsABHeading = (abFixHeadingDelta <= glm.PIBy2);
mf.hl.FindClosestHeadlandPoint(mf.toolPos);
if ((int)mf.hl.closestHeadlandPt.easting != -1)
{
mf.distTool = glm.Distance(mf.toolPos, mf.hl.closestHeadlandPt);
#pragma warning restore CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
}
else //we've lost the headland
{
mf.yt.isSequenceTriggered = false;
mf.yt.ResetSequenceEventTriggers();
mf.distTool = 999;
return;
}
if (isABLineSameAsHeadingAtTrigger == isToolHeadingSameAsABHeading)
{
//since same as AB Line, we are entering
whereAmI = 1;
if (isInHeadland)
{
mf.distTool *= -1;
}
}
else
{
//since opposite of AB Line at trigger we are exiting
whereAmI = 2;
if (isInHeadland)
{
mf.distTool *= -1;
}
}
//did we do all the events?
int c = 0;
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//checked for any not triggered yet (false) - if there is, not done yet
if (!mf.seq.seqEnter[i].isTrig)
{
c++;
}
if (!mf.seq.seqExit[i].isTrig)
{
c++;
}
}
if (c == 0)
{
//sequences all done so reset everything
isSequenceTriggered = false;
whereAmI = 0;
ResetSequenceEventTriggers();
}
switch (whereAmI)
{
case 0: //not in you turn
break;
case 1: //Entering the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.distTool < mf.seq.seqEnter[i].distance && !mf.seq.seqEnter[i].isTrig)
{
//it shall only run once
mf.seq.seqEnter[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqEnter[i].function, mf.seq.seqEnter[i].action);
}
}
break;
case 2: //Leaving the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.distTool > mf.seq.seqExit[i].distance && !mf.seq.seqExit[i].isTrig)
{
//it shall only run once
mf.seq.seqExit[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqExit[i].function, mf.seq.seqExit[i].action);
}
}
break;
}
}
}
//figure out where we are
//yt.isInBoundz = boundz.IsPointInsideBoundary(toolPos);
//yt.isInWorkArea = hlArr[0].IsPointInsideHeadland(toolPos);
//Are we in the outside headland?
//if (!yt.isInWorkArea)
//{
// yt.isInHeadland = true;
//}
//else
//{
// yt.isInHeadland = false;
// bool isInInnerHeadland = false;
// for (int i = 1; i < FormGPS.MAXHEADS; i++)
// {
// isInInnerHeadland = hlArr[i].IsPointInsideHeadland(toolPos);
// if (isInInnerHeadland)
// {
// yt.isInHeadland = true;
// break;
// }
// }
//}
//determine when if and how functions are triggered for drive thru
//public void DoDriveThruSequenceEvent()
//{
// //determine if Section is entry or exit based on trigger point direction
// //bool isToolHeadingSameAsABHeading;
// ////Subtract the two headings, if > 1.57 its going the opposite heading as refAB
// //double headAB;
// //if (mf.ABLine.isABLineSet)
// //{
// // double abFixHeadingDelta = (Math.Abs(mf.toolPos.heading - mf.ABLine.abHeading));
// // if (abFixHeadingDelta >= Math.PI) abFixHeadingDelta = Math.Abs(abFixHeadingDelta - glm.twoPI);
// // isToolHeadingSameAsABHeading = (abFixHeadingDelta <= glm.PIBy2);
// // headAB = mf.ABLine.abHeading;
// //}
// //else //AB Curve
// //{
// // //Subtract the two headings, if > 1.57 its going the opposite heading as refAB
// // double abFixHeadingDelta = (Math.Abs(mf.toolPos.heading - mf.curve.refHeading));
// // if (abFixHeadingDelta >= Math.PI) abFixHeadingDelta = Math.Abs(abFixHeadingDelta - glm.twoPI);
// // isToolHeadingSameAsABHeading = (abFixHeadingDelta <= glm.PIBy2);
// // headAB = mf.curve.refHeading;
// //}
// //if (!isToolHeadingSameAsABHeading) headAB += Math.PI;
// //#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
// // mf.hl.FindClosestHeadlandPoint(mf.toolPos, mf.toolPos.heading);
// // if ((int)mf.hl.closestHeadlandPt.easting != -20000)
// // {
// // mf.distTool = glm.Distance(mf.toolPos, mf.hl.closestHeadlandPt);
// // }
// // else //we've lost the headland
// // {
// // isEnteringDriveThru = false;
// // isExitingDriveThru = false;
// // ResetSequenceEventTriggers();
// // mf.distTool = -3333;
// // return;
// // }
// //#pragma warning restore CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
// // //make distance sign correct
// // if (isInHeadland) mf.distTool *= -1;
// // mf.distTool += (mf.headlandDistanceDelta * 0.5);
// // //we are entering
// // if (isEnteringDriveThru) whereAmI = 1;
// // //we are exiting
// // else whereAmI = 2;
// // //did we do all the events?
// // int c = 0;
// // for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
// // {
// // //checked for any not triggered yet (false) - if there is, not done yet
// // if (!mf.seq.seqEnter[i].isTrig) c++;
// // if (!mf.seq.seqExit[i].isTrig) c++;
// // }
// // if (c == 0)
// // {
// // //sequences all done so reset everything
// // isEnteringDriveThru = false;
// // isExitingDriveThru = false;
// // whereAmI = 0;
// // ResetSequenceEventTriggers();
// // mf.distTool = -2222;
// // }
// // switch (whereAmI)
// // {
// // case 0: //not in you turn
// // break;
// // case 1: //Entering the headland
// // for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
// // {
// // //have we gone past the distance and still haven't done it
// // if (mf.distTool < mf.seq.seqEnter[i].distance && !mf.seq.seqEnter[i].isTrig)
// // {
// // //it shall only run once
// // mf.seq.seqEnter[i].isTrig = true;
// // //send the function and action to perform
// // mf.DoYouTurnSequenceEvent(mf.seq.seqEnter[i].function, mf.seq.seqEnter[i].action);
// // }
// // }
// // break;
// // case 2: //Exiting the headland
// // for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
// // {
// // //have we gone past the distance and still haven't done it
// // if (mf.distTool > mf.seq.seqExit[i].distance && !mf.seq.seqExit[i].isTrig)
// // {
// // //it shall only run once
// // mf.seq.seqExit[i].isTrig = true;
// // //send the function and action to perform
// // mf.DoYouTurnSequenceEvent(mf.seq.seqExit[i].function, mf.seq.seqExit[i].action);
// // }
// // }
// // break;
// // }
//}
//determine when if and how functions are triggered
public void DoSequenceEvent()
{
if (isSequenceTriggered)
{
//determine if Section is entry or exit based on trigger point direction
//bool isToolHeadingSameAsABHeading;
#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
if (mf.yt.onA <= 0)
{
whereAmI = 1;
mf.yt.onA = -mf.yt.onA;
}
else
{
whereAmI = 2;
}
int c = 0;
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//checked for any not triggered yet (false) - if there is, not done yet
if (!mf.seq.seqEnter[i].isTrig)
{
c++;
}
if (!mf.seq.seqExit[i].isTrig)
{
c++;
}
}
if (c == 0)
{
//sequences all done so reset everything and leave
isSequenceTriggered = false;
whereAmI = 0;
ResetSequenceEventTriggers();
mf.distanceToolToTurnLine = -2222;
isSequenceTriggered = false;
return;
}
switch (whereAmI)
{
case 0: //not in you turn
break;
case 1: //Entering the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.yt.onA >= mf.seq.seqEnter[i].distance && !mf.seq.seqEnter[i].isTrig)
{
//it shall only run once
mf.seq.seqEnter[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqEnter[i].function, mf.seq.seqEnter[i].action);
}
}
break;
case 2: //Exiting the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.yt.onA <= mf.seq.seqExit[i].distance && !mf.seq.seqExit[i].isTrig)
{
//it shall only run once
mf.seq.seqExit[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqExit[i].function, mf.seq.seqExit[i].action);
}
}
break;
}
}
}
//determine when if and how functions are triggered
public void DoSequenceEvent()
{
if (isSequenceTriggered)
{
//determine if Section is entry or exit based on trigger point direction
bool isToolHeadingSameAsABHeading;
#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
//Subtract the two headings, if > 1.57 its going the opposite heading as refAB
double headAB;
if (mf.ABLine.isABLineSet)
{
double abFixHeadingDelta = (Math.Abs(mf.toolPos.heading - mf.ABLine.abHeading));
if (abFixHeadingDelta >= Math.PI)
{
abFixHeadingDelta = Math.Abs(abFixHeadingDelta - glm.twoPI);
}
isToolHeadingSameAsABHeading = (abFixHeadingDelta <= glm.PIBy2);
headAB = mf.ABLine.abHeading;
}
else //AB Curve
{
//Subtract the two headings, if > 1.57 its going the opposite heading as refAB
double abFixHeadingDelta = (Math.Abs(mf.toolPos.heading - mf.curve.refHeading));
if (abFixHeadingDelta >= Math.PI)
{
abFixHeadingDelta = Math.Abs(abFixHeadingDelta - glm.twoPI);
}
isToolHeadingSameAsABHeading = (abFixHeadingDelta <= glm.PIBy2);
headAB = mf.curve.refHeading;
}
// if (!isToolHeadingSameAsABHeading) headAB += Math.PI;
// mf.hl.FindClosestHeadlandPoint(mf.toolPos, headAB, 0); //************ TODO fix bndNum **************88
// if ((int)mf.hl.closestHeadlandPt.easting != -20000)
// {
// mf.distTool = glm.Distance(mf.toolPos, mf.hl.closestHeadlandPt);
//#pragma warning restore CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
// }
// else //we've lost the headland
// {
// isSequenceTriggered = false;
// ResetSequenceEventTriggers();
// mf.distTool = -3333;
// return;
// }
//make distance sign correct
if (isInHeadland)
{
mf.distanceToolToTurnLine *= -1;
}
mf.distanceToolToTurnLine += (mf.headlandDistanceDelta * 0.5);
//since same as AB Line, we are entering
if (isABLineSameAsHeadingAtTrigger == isToolHeadingSameAsABHeading)
{
whereAmI = 1;
}
//since opposite of AB Line at trigger we are exiting
else
{
whereAmI = 2;
}
//did we do all the events?
int c = 0;
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//checked for any not triggered yet (false) - if there is, not done yet
if (!mf.seq.seqEnter[i].isTrig)
{
c++;
}
if (!mf.seq.seqExit[i].isTrig)
{
c++;
}
}
if (c == 0)
{
//sequences all done so reset everything
isSequenceTriggered = false;
whereAmI = 0;
ResetSequenceEventTriggers();
mf.distanceToolToTurnLine = -2222;
}
switch (whereAmI)
{
case 0: //not in you turn
break;
case 1: //Entering the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.distanceToolToTurnLine < mf.seq.seqEnter[i].distance && !mf.seq.seqEnter[i].isTrig)
{
//it shall only run once
mf.seq.seqEnter[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqEnter[i].function, mf.seq.seqEnter[i].action);
}
}
break;
case 2: //Exiting the headland
for (int i = 0; i < FormGPS.MAXFUNCTIONS; i++)
{
//have we gone past the distance and still haven't done it
if (mf.distanceToolToTurnLine > mf.seq.seqExit[i].distance && !mf.seq.seqExit[i].isTrig)
{
//it shall only run once
mf.seq.seqExit[i].isTrig = true;
//send the function and action to perform
mf.DoYouTurnSequenceEvent(mf.seq.seqExit[i].function, mf.seq.seqExit[i].action);
}
}
break;
}
}
}
