public void OnPerceptionReceived(object sender, EventArgsLibrary.PerceptionArgs e)
{
//PerceptionMonitor.PerceptionReceived();
if (localWorldMap == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId)
{
//On ajoute les infos à la Local World Map
localWorldMap.robotLocation = e.Perception.robotKalmanLocation;
localWorldMap.obstaclesLocationList = e.Perception.obstaclesLocationList;
localWorldMap.ballLocationList = e.Perception.ballLocationList;
//On recopie les infos de la local World Map dans la structure de transfert (sans ce qui coute cher : heatmaps, lidarpoints...)
LocalWorldMap transferLocalWorldMap = new LocalWorldMap();
transferLocalWorldMap.RobotId = localWorldMap.RobotId;
transferLocalWorldMap.TeamId = localWorldMap.TeamId;
transferLocalWorldMap.robotLocation = localWorldMap.robotLocation;
transferLocalWorldMap.destinationLocation = localWorldMap.destinationLocation;
transferLocalWorldMap.waypointLocation = localWorldMap.waypointLocation;
transferLocalWorldMap.robotGhostLocation = localWorldMap.robotGhostLocation;
transferLocalWorldMap.robotRole = localWorldMap.robotRole;
transferLocalWorldMap.ballHandlingState = localWorldMap.ballHandlingState;
transferLocalWorldMap.messageDisplay = localWorldMap.messageDisplay;
transferLocalWorldMap.playingSide = localWorldMap.playingSide;
transferLocalWorldMap.obstaclesLocationList = localWorldMap.obstaclesLocationList;
transferLocalWorldMap.ballLocationList = localWorldMap.ballLocationList;
if (transferLocalWorldMap.robotLocation != null)
{
//if (bypassMulticastUdp)
//{
// OnLocalWorldMapForDisplayOnly(localWorldMap); //Pour affichage uniquement, sinon transmission radio en, multicast
//}
//else
{
var s = ZeroFormatterSerializer.Serialize <WorldMap.ZeroFormatterMsg>(transferLocalWorldMap);
OnMulticastSendLocalWorldMapCommand(s); //Retiré pour test de robustesse, mais nécessaire à la RoboCup
//ATTENTION : appel douteux...
OnLocalWorldMapForDisplayOnly(localWorldMap); //Pour affichage uniquement, sinon transmission radio en, multicast
//LWMEmiseMonitoring.LWMEmiseMonitor(s.Length);
}
}
}
}
public void OnPerceptionReceived(object sender, EventArgsLibrary.PerceptionArgs e)
{
//PerceptionMonitor.PerceptionReceived();
if (localWorldMap == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId)
{
//On ajoute les infos à la Local World Map
localWorldMap.robotLocation = e.Perception.robotKalmanLocation;
localWorldMap.obstaclesLocationList = e.Perception.obstaclesLocationList;
localWorldMap.ballLocationList = e.Perception.ballLocationList;
//On recopie les infos de la local World Map dans la structure de transfert (sans ce qui coute cher : heatmaps, lidarpoints...)
LocalWorldMap transferLocalWorldMap = new LocalWorldMap();
transferLocalWorldMap.RobotId = localWorldMap.RobotId;
transferLocalWorldMap.TeamId = localWorldMap.TeamId;
transferLocalWorldMap.robotLocation = localWorldMap.robotLocation;
transferLocalWorldMap.destinationLocation = localWorldMap.destinationLocation;
transferLocalWorldMap.waypointLocation = localWorldMap.waypointLocation;
transferLocalWorldMap.robotGhostLocation = localWorldMap.robotGhostLocation;
transferLocalWorldMap.robotRole = localWorldMap.robotRole;
transferLocalWorldMap.ballHandlingState = localWorldMap.ballHandlingState;
transferLocalWorldMap.messageDisplay = localWorldMap.messageDisplay;
transferLocalWorldMap.playingSide = localWorldMap.playingSide;
transferLocalWorldMap.obstaclesLocationList = localWorldMap.obstaclesLocationList;
transferLocalWorldMap.ballLocationList = localWorldMap.ballLocationList;
if (transferLocalWorldMap.robotLocation != null)
{
var s = ZeroFormatterSerializer.Serialize <WorldMap.ZeroFormatterMsg>(transferLocalWorldMap);
OnMulticastSendLocalWorldMapCommand(s); //Envoi à destination des autres robots en multicast
OnLocalWorldMapToGlobalWorldMapGenerator(transferLocalWorldMap); //Envoi à destination du robot lui même en direct
OnLocalWorldMapForDisplayOnly(localWorldMap); //Pour affichage uniquement, sinon transmission radio en, multicast
//LWMEmiseMonitoring.LWMEmiseMonitor(s.Length);
}
}
}
//public void OnPhysicalPositionReceived(object sender, EventArgsLibrary.LocationArgs e)
//{
// if (localWorldMap == null)
// return;
// if (robotId == e.RobotId)
// {
// localWorldMap.robotLocation = e.Location;
// OnLocalWorldMap(robotId, localWorldMap);
// }
//}
public void OnPerceptionReceived(object sender, EventArgsLibrary.PerceptionArgs e)
{
if (localWorldMap == null)
{
return;
}
if (RobotId == e.RobotId)
{
localWorldMap.robotLocation = e.Perception.robotLocation;
localWorldMap.obstaclesLocationList = e.Perception.obstaclesLocationList;
//localWorldMap.opponentLocationList = e.Perception.opponentLocationList;
//localWorldMap.obstacleLocationList = e.Perception.obstacleLocationList;
localWorldMap.ballLocation = e.Perception.ballLocation;
if (localWorldMap.robotLocation != null)
{
OnLocalWorldMap(localWorldMap);
}
}
}