void TaskThreadProcess()
{
while (true)
{
switch (state)
{
case TaskBaladeStates.Init:
state = TaskBaladeStates.Attente;
break;
case TaskBaladeStates.Attente:
break;
case TaskBaladeStates.Deplacement1:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(1.2, 0.140);
parentManager.robotOrientation = 0;
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(-1.2, 0.140);
parentManager.robotOrientation = Math.PI;
}
state = TaskBaladeStates.Deplacement1Attente;
break;
case TaskBaladeStates.Deplacement1Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskBaladeStates.Deplacement2;
}
break;
case TaskBaladeStates.Deplacement2:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(-0.725, 0.140);
parentManager.robotOrientation = 0;
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(0.725, 0.140);
parentManager.robotOrientation = Math.PI;
}
state = TaskBaladeStates.Deplacement2Attente;
break;
case TaskBaladeStates.Deplacement2Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskBaladeStates.Deplacement3;
}
break;
case TaskBaladeStates.Deplacement3:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(-0.725, -0.545);
parentManager.robotOrientation = -Math.PI / 2;
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(0.725, -0.545);
parentManager.robotOrientation = -Math.PI / 2;
}
state = TaskBaladeStates.Deplacement3Attente;
break;
case TaskBaladeStates.Deplacement3Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskBaladeStates.Deplacement4;
}
break;
case TaskBaladeStates.Deplacement4:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(1.2, -0.545);
parentManager.robotOrientation = Math.PI;
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(-1.2, -0.545);
parentManager.robotOrientation = 0;
}
state = TaskBaladeStates.Deplacement4Attente;
break;
case TaskBaladeStates.Deplacement4Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskBaladeStates.Deplacement5;
}
break;
case TaskBaladeStates.Deplacement5:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(1.25, -0.2);
parentManager.robotOrientation = Math.PI - Toolbox.DegToRad(45);
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(-1.25, -0.2);
parentManager.robotOrientation = Toolbox.DegToRad(45);
}
state = TaskBaladeStates.Deplacement5Attente;
break;
case TaskBaladeStates.Deplacement5Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskBaladeStates.Finished;
}
break;
case TaskBaladeStates.Finished:
isFinished = true;
break;
}
Thread.Sleep(10);
}
}
public void Start()
{
state = TaskBaladeStates.Deplacement1;
isFinished = false;
}
public void Pause()
{
state = TaskBaladeStates.Attente;
isFinished = false;
}
public void Init()
{
state = TaskBaladeStates.Init;
isFinished = false;
}
