/// <summary>
/// Actions when EV3 messages are received.
/// </summary>
private void readEV3MessageAndDoAction()
{
if (Program.ev3Messenger.IsConnected)
{
EV3Message message = Program.ev3Messenger.ReadMessage();
if (message != null && message.MailboxTitle == "Command")
{
if (message.ValueAsText == "Left")
{
if (!gameJustStarted)
{
moveLeftPc();
}
}
else if (message.ValueAsText == "Right")
{
if (!gameJustStarted)
{
moveRightPc();
}
}
}
else if (message != null && message.MailboxTitle == "Color")
{
int color = (int)message.ValueAsNumber;
Console.WriteLine(color);
if (colorEventEnabled && colorForEnergy == color)
{
addEnergyAndScoreAndUpdate();
}
}
}
}
private void messageTimer_Tick(object sender, EventArgs e)
{
if (bouncerAMessenger.IsConnected)
{
EV3Message message = bouncerAMessenger.ReadMessage();
if (message != null)
{
switch (message.MailboxTitle)
{
case "Message":
lbLog.Items.Add(message);
lbLog.SelectedIndex = lbLog.Items.Count - 1;
break;
case "Tilt":
tbTilt1.Text = message.ValueAsNumber.ToString();
break;
case "Speed":
tbSpeed.Text = message.ValueAsNumber.ToString();
break;
}
}
}
if (Convert.ToInt16(lbTimer.Text) < 10)
{
lbTimer.Text = (Convert.ToInt16(lbTimer.Text) + 1).ToString();
}
else
{
lbTimer.Text = "0";
}
}
private void receiveEV3Message()
{
if (mEV3Messenger.IsConnected)
{
EV3Message message = mEV3Messenger.ReadMessage();
if (message != null)
{
if (message.MailboxTitle == "Message")
{
//custom messages;
}
else if (message.MailboxTitle == "Speed")
{
SetCurrentSpeed(Convert.ToInt16(message.ValueAsNumber));
}
else if (message.MailboxTitle == "Tag")
{
if (message.ToString() == "Finish")
{
//finish sequence
}
else
{
SetPowerUp(Convert.ToInt16(message.ValueAsNumber));
}
}
}
}
}
//method
public void SendInstruction(string order)
{
// Send a message to the Brick with title: MESSAGE and the message
if (messenger.SendMessage("MESSAGE", order))
{
//update output box
EV3Message message = messenger.ReadMessage();
if (message != null)
{
status = message.ValueAsText.Split();
switch (status[3])
{
default:
status[3] = "Runway 1";
break;
case "2":
status[3] = "Pick-up Zone";
break;
case "3":
status[3] = "Runway 2";
break;
case "4":
status[3] = "Drop-off Zone";
break;
case "5":
status[3] = "Runway 3";
break;
}
// output list clear and update
outputlistBox.Items.Clear();
outputlistBox.Items.Add("AGV: " + status[0]);
outputlistBox.Items.Add("Load: " + status[1]);
outputlistBox.Items.Add("Position: " + status[2]);
outputlistBox.Items.Add("# of proxy triggers: " + status[3]);
//outputlistBox.TopIndex = outputlistBox.Items.Count - 1; // no need for this
//button disabling & enabling to default state
btnStart.Enabled = true;
btnPause.Enabled = false;
btnStop.Enabled = false;
}
}
}
public static bool UpdateMessageReciving()
{
if (messenger.IsConnected)
{
EV3Message message = messenger.ReadMessage();
if (message != null)
{
messages.Add(message);
return(true);
}
}
return(false);
}
private void RMessage()
{
//Method to read message
EV3Message message = messenger.ReadMessage();
if (message != null)
{
outputlistBox.Items.Add("Message: " + message.ValueAsText);
outputlistBox.TopIndex = outputlistBox.Items.Count - 1;
}
else
{
MessageBox.Show(" No Message recieved from Brick");
}
}
private void timer1_Tick(object sender, EventArgs e)
{
// Try to get a message
EV3Message message = messenger.ReadMessage();
// Check if there is a message received from the Brick
if (message != null)
{
outputListBox.Items.Add("Message: " + message.ValueAsText);
// Auto scroll the listbox
outputListBox.TopIndex = outputListBox.Items.Count - 1;
}
else
{
}
}
private void outputButton_Click(object sender, EventArgs e)
{
// Try to get a message
EV3Message message = messenger.ReadMessage();
// Check if there is a message received from the Brick
if (message != null)
{
outputlistBox.Items.Add("Message: " + message.ValueAsText);
// Auto scroll the listbox
outputlistBox.TopIndex = outputlistBox.Items.Count - 1;
}
else
{
MessageBox.Show("No message recieved from the Brick");
}
}
private void readTimer_Tick(object sender, EventArgs e)
{
if (messenger.IsConnected)
{
EV3Message message = messenger.ReadMessage();
if (message != null)
{
// a message was present and is read.
receivedMessagesListBox.Items.Add(message);
}
}
else
{
readTimer.Stop();
UpdateButtonsAndConnectionInfo();
}
}
private void spelerev3_Tick(object sender, EventArgs e)
{
EV3Message message = ev3Messenger.ReadMessage();
if (message != null && message.MailboxTitle == "up")
{
if (speler1.Top >= bordertop.Bottom)
{
speler1.Location = new Point(speler1.Location.X, speler1.Location.Y - offset);
}
goalgemaakt(0);
}
else if (message != null && message.MailboxTitle == "down")
{
if (speler1.Bottom <= borderdown.Top)
{
speler1.Location = new Point(speler1.Location.X, speler1.Location.Y + offset);
goalgemaakt(0);
}
}
if (message != null && message.MailboxTitle == "up2")
{
if (speler2.Top >= bordertop.Bottom)
{
speler2.Location = new Point(speler2.Location.X, speler2.Location.Y - offset);
}
goalgemaakt(0);
}
else if (message != null && message.MailboxTitle == "down2")
{
if (speler2.Bottom <= borderdown.Top)
{
speler2.Location = new Point(speler2.Location.X, speler2.Location.Y + offset);
goalgemaakt(0);
}
}
}
private void btnStart_Click(object sender, EventArgs e)
{
string Start = "Start";
messenger.SendMessage("MESSAGE", Start);
EV3Message message = messenger.ReadMessage();
do
{
if (message != null)
{
outputlistBox.Items.Add("Message: " + message.ValueAsText);
outputlistBox.TopIndex = outputlistBox.Items.Count - 1;
message = messenger.ReadMessage();
}
else
{
MessageBox.Show("No message recieved from the Brick");
}
} while (message != null);
}
private void spelerev3_Tick(object sender, EventArgs e)
{
EV3Message messagep1 = ev3Messenger1.ReadMessage();
EV3Message messagep2 = ev3Messenger2.ReadMessage();
if (winner != 1)
{
if (messagep1 != null && messagep1.MailboxTitle == "up")
{
if (speler1.Top >= bordertop.Bottom)
{
speler1.Location = new Point(speler1.Location.X, speler1.Location.Y - offsetP1);
}
if (puntenspeler1 < 10 && puntenspeler2 < 10)
{
goalgemaakt(0);
}
}
else if (messagep1 != null && messagep1.MailboxTitle == "down")
{
if (speler1.Bottom <= borderdown.Top)
{
speler1.Location = new Point(speler1.Location.X, speler1.Location.Y + offsetP1);
if (puntenspeler1 < 10 && puntenspeler2 < 10)
{
goalgemaakt(0);
}
}
}
if (gamemodep == 2)
{
if (messagep2 != null && messagep2.MailboxTitle == "up2")
{
if (speler2.Top >= bordertop.Bottom)
{
speler2.Location = new Point(speler2.Location.X, speler2.Location.Y - offsetP2);
}
goalgemaakt(0);
}
else if (messagep2 != null && messagep2.MailboxTitle == "down2")
{
if (speler2.Bottom <= borderdown.Top)
{
speler2.Location = new Point(speler2.Location.X, speler2.Location.Y + offsetP2);
goalgemaakt(0);
}
}
}
}
if (winner == 1 && (messagep1 != null && messagep1.MailboxTitle == "activatep1"))
{
this.Close();
}
if (messagep1 != null && messagep1.MailboxTitle == "powerupp1")
{
// gedetecteerde powerup p1
if (messagep1.ValueAsNumber == 1)
{
powerup1 = 1;
pu1p1.Visible = true;
pu2p1.Visible = false;
pu3p1.Visible = false;
pu4p1.Visible = false;
}
if (messagep1.ValueAsNumber == 2)
{
powerup1 = 2;
pu1p1.Visible = false;
pu2p1.Visible = true;
pu3p1.Visible = false;
pu4p1.Visible = false;
}
if (messagep1.ValueAsNumber == 3)
{
powerup1 = 3;
pu1p1.Visible = false;
pu2p1.Visible = false;
pu3p1.Visible = true;
pu4p1.Visible = false;
}
if (messagep1.ValueAsNumber == 4)
{
powerup1 = 4;
pu1p1.Visible = false;
pu2p1.Visible = false;
pu3p1.Visible = false;
pu4p1.Visible = true;
}
}
// pc control player 2 powerup
if (pup2 != 0)
{
if (pup2 == 1)
{
powerup2 = 1;
pu1p2.Visible = true;
pu2p2.Visible = false;
pu3p2.Visible = false;
pu4p2.Visible = false;
}
if (pup2 == 2)
{
powerup2 = 2;
pu1p2.Visible = false;
pu2p2.Visible = true;
pu3p2.Visible = false;
pu4p2.Visible = false;
}
if (pup2 == 3)
{
powerup2 = 3;
pu1p2.Visible = false;
pu2p2.Visible = false;
pu3p2.Visible = true;
pu4p2.Visible = false;
}
if (pup2 == 4)
{
powerup2 = 4;
pu1p2.Visible = false;
pu2p2.Visible = false;
pu3p2.Visible = false;
pu4p2.Visible = true;
}
}
// slaat powerup op in c# p2
if (messagep2 != null && messagep2.MailboxTitle == "powerupp2")
{
if (messagep2.ValueAsNumber == 1)
{
powerup2 = 1;
pu1p2.Visible = true;
pu2p2.Visible = false;
pu3p2.Visible = false;
pu4p2.Visible = false;
}
if (messagep2.ValueAsNumber == 2)
{
powerup2 = 2;
pu1p2.Visible = false;
pu2p2.Visible = true;
pu3p2.Visible = false;
pu4p2.Visible = false;
}
if (messagep2.ValueAsNumber == 3)
{
powerup2 = 3;
pu1p2.Visible = false;
pu2p2.Visible = false;
pu3p2.Visible = true;
pu4p2.Visible = false;
}
if (messagep2.ValueAsNumber == 4)
{
powerup2 = 4;
pu1p2.Visible = false;
pu2p2.Visible = false;
pu3p2.Visible = false;
pu4p2.Visible = true;
}
}
if (messagep1 != null && messagep1.MailboxTitle == "activatep1")
{
// invisibility
if (powerup1 == 1)
{
speler2.BackColor = Color.Black;
invis2timer = 1;
}
// swap controls
if (powerup1 == 2)
{
offsetP2 = -10;
swap2timer = 1;
}
// speedshot
if (powerup1 == 3)
{
speedshotp1 = 1;
}
// double damage
if (powerup1 == 4)
{
hadouken = 1;
Bal.BackColor = Color.DodgerBlue;
ev3Messenger1.SendMessage("Hadouken", "Hadouken");
}
powerup1 = 0;
pu1p1.Visible = false;
pu2p1.Visible = false;
pu3p1.Visible = false;
pu4p1.Visible = false;
}
if (gamemodep == 2)
{
if (messagep2 != null && messagep2.MailboxTitle == "activatep2" || pu2active == 1)
{
// invisibility
if (powerup2 == 1)
{
speler1.BackColor = Color.Black;
invis1timer = 1;
}
// swap controls
if (powerup2 == 2)
{
offsetP1 = -10;
swap1timer = 1;
}
// speedshot
if (powerup2 == 3)
{
speedshotp2 = 1;
}
// double points
if (powerup2 == 4)
{
hadouken = 1;
Bal.BackColor = Color.DodgerBlue;
ev3Messenger1.SendMessage("Hadouken", "Hadouken");
}
powerup2 = 0;
pu2active = 0;
pu1p2.Visible = false;
pu2p2.Visible = false;
pu3p2.Visible = false;
pu4p2.Visible = false;
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
EV3Message statusMessage = messenger.ReadMessage();
statusLabel.Text = statusMessage.ValueAsText;
}
private void elapsedTime_Tick(object sender, EventArgs e)
{
timeInMilliseconds += 100;
int etaMilliseconds;
message = messenger.ReadMessage();
if (message != null)
{
if (message.ValueAsText == "Picked_Up")
{
isPickedUp = true;
}
else if (message.ValueAsText == "Dropped_Off")
{
isDropped = true;
}
}
if (!isPickedUp && !isDropped)
{
txtStatus.Text = "Retreiving package";
if (avgTimePickUp - timeInMilliseconds < 0)
{
txtETA.Text = "The AGV is delayed";
}
else
{
etaMilliseconds = (int)avgTimePickUp - timeInMilliseconds;
txtETA.Text = string.Format(TimeSpan.FromMilliseconds(etaMilliseconds).Minutes + ":" + TimeSpan.FromMilliseconds(etaMilliseconds).Seconds);
}
}
else if (isPickedUp && !isDropped)
{
if (avgTimeDropOff - timeInMilliseconds < 0)
{
txtETA.Text = "The AGV is delayed";
}
else
{
etaMilliseconds = (int)avgTimeDropOff - timeInMilliseconds;
txtETA.Text = string.Format(TimeSpan.FromMilliseconds(etaMilliseconds).Minutes + ":" + TimeSpan.FromMilliseconds(etaMilliseconds).Seconds);
}
if (firstTimePick)
{
timeInMilliseconds = 0;
txtStatus.Text = "Delivering package";
stopwatch.Stop();
timespan = TimeSpan.FromMilliseconds(stopwatch.ElapsedMilliseconds);
timeToPickUp.Add(timespan);
lstPickUpHistory.Items.Add(timespan.Minutes + ":" + timespan.Seconds);
firstTimePick = false;
stopwatch.Reset();
stopwatch.Start();
using (StreamWriter sw = new StreamWriter("PickUpHistory.txt", true))
{
sw.WriteLine(timespan.TotalMilliseconds);
}
}
}
else
{
if (firstTimeDrop)
{
txtETA.Text = "0:00";
txtStatus.Text = "Returning home";
stopwatch.Stop();
timespan = TimeSpan.FromMilliseconds(stopwatch.ElapsedMilliseconds);
timeToDropOff.Add(timespan);
lstDropOffHistory.Items.Add(timespan.Minutes + ":" + timespan.Seconds);
firstTimeDrop = false;
stopwatch.Reset();
using (StreamWriter sw = new StreamWriter("DropOffHistory.txt", true))
{
sw.WriteLine(timespan.TotalMilliseconds);
}
}
}
}
private void MessageTimer_Tick(object sender, EventArgs e)
{
lboxPlayers.Items.Refresh();
labPlayerName.Content = ((Player)lboxPlayers.Items[lboxPlayers.SelectedIndex]).Name;
labPlayerScore.Content = ((Player)lboxPlayers.Items[lboxPlayers.SelectedIndex]).Score.ToString();
labJackScore.Content = ((Player)lboxPlayers.Items[lboxPlayers.Items.Count - 1]).Score.ToString();
//Get the incoming messages
// Get the messages with 1 sec interval
if (ev3Messenger.IsConnected)
{
EV3Message message = ev3Messenger.ReadMessage();
if (message != null)
{
if (message.MailboxTitle == "Finished")
{
if (message.ValueAsLogic)
{
this.IsEnabled = true;
this.Tag = "0";
}
}
if (message.MailboxTitle == "CardValue1")
{
val1 = message.ValueAsNumber;
}
if (message.MailboxTitle == "CardValue2" && val1 != 0)
{
#region get card value
val2 = message.ValueAsNumber;
string[] cardColors = new string[2];
float ActualValue = 0;
//Color values
int valueBlack = 0;
int valueBlue = 6;
int valueGreen = 11;
int valueRed = 16;
if (val1 >= valueBlack && val1 < valueBlue)
{
cardColors[0] = "Black";
} // Black
else if (val1 >= valueBlue && val1 < valueGreen)
{
cardColors[0] = "Blue";
} // Blue
else if (val1 >= valueGreen && val1 < valueRed)
{
cardColors[0] = "Green";
} // Green
else if (val1 >= valueRed && val1 <= 100)
{
cardColors[0] = "Red";
} // Red
if (val2 >= valueBlack && val2 < valueBlue)
{
cardColors[1] = "Black";
} // Black
else if (val2 >= valueBlue && val2 < valueGreen)
{
cardColors[1] = "Blue";
} // Blue
else if (val2 >= valueGreen && val2 < valueRed)
{
cardColors[1] = "Green";
} // Green
else if (val2 >= valueRed && val2 <= 100)
{
cardColors[1] = "Red";
} // Red
// Zwart : 0 - 5
// Blauw : 6 - 12
// Groen : 13 - 25
// Rood : 26-100
if (cardColors[0] == "Blue" && cardColors[1] == "Blue")
{
ActualValue = 11;
}
else if (cardColors[0] == "Green" && cardColors[1] == "Green")
{
ActualValue = 5;
}
else if (cardColors[0] == "Black" && cardColors[1] == "Black")
{
ActualValue = 8;
}
else if (cardColors[0] == "Red" && cardColors[1] == "Red")
{
ActualValue = 10;
}
else if (cardColors[0] == "Blue" && cardColors[1] == "Green" || cardColors[1] == "Blue" && cardColors[0] == "Green")
{
ActualValue = 2;
}
else if (cardColors[0] == "Black" && cardColors[1] == "Blue" || cardColors[1] == "Black" && cardColors[0] == "Blue")
{
ActualValue = 3;
}
else if (cardColors[0] == "Blue" && cardColors[1] == "Red" || cardColors[1] == "Blue" && cardColors[0] == "Red")
{
ActualValue = 4;
}
else if (cardColors[0] == "Black" && cardColors[1] == "Green" || cardColors[1] == "Black" && cardColors[0] == "Green")
{
ActualValue = 6;
}
else if (cardColors[0] == "Green" && cardColors[1] == "Red" || cardColors[1] == "Green" && cardColors[0] == "Red")
{
ActualValue = 7;
}
else if (cardColors[0] == "Black" && cardColors[1] == "Red" || cardColors[1] == "Black" && cardColors[0] == "Red")
{
ActualValue = 9;
}
//MessageBox.Show(ActualValue.ToString() + "\n 1:" + val1.ToString() + "\n 2:" + val2.ToString());
ev3Messenger.SendMessage("Gelezen", "True");
val1 = 0;
val2 = 0;
#endregion
if (this.Tag.ToString() == "1")
{
((Player)lboxPlayers.Items[playerTurn]).Cards.Add(ActualValue);
if (playerTurn == lboxPlayers.Items.Count - 1)
{
playerTurn = 0;
}
else
{
playerTurn++;
}
lboxPlayers.Items.Refresh();
Thread.Sleep(1000);
}
else
{
((Player)lboxPlayers.Items[lboxPlayers.SelectedIndex]).Cards.Add(ActualValue);
lboxPlayers.Items.Refresh();
if (((Player)lboxPlayers.Items[lboxPlayers.SelectedIndex]).Dealer == true)
{
JacksTurn(((Player)lboxPlayers.Items[lboxPlayers.SelectedIndex]));
}
}
//read card in C#
ev3Messenger.SendMessage("Gelezen", "True");
if (((Player)lboxPlayers.Items[playerTurn]).Score >= 21)
{
butHit.IsEnabled = false;
}
}
if (message.MailboxTitle == "CardReady")
{
}
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (connectButton.Enabled == false)
{
EV3Message message = messenger.ReadMessage();
if (message != null)
{
switch (message.ValueAsText)
{
case "black":
pictureBox1.BackColor = Color.Black;
break;
case "red":
pictureBox1.BackColor = Color.Red;
break;
case "yellow":
pictureBox1.BackColor = Color.Yellow;
break;
case "white":
pictureBox1.BackColor = Color.White;
break;
default:
pictureBox1.BackColor = SystemColors.Control;
break;
}
}
EV3Message message2 = messenger.ReadMessage();
if (message != null)
{
switch (message.ValueAsNumber)
{
case 25:
progressBar1.Value = 25;
break;
case 50:
progressBar1.Value = 50;
break;
case 75:
progressBar1.Value = 75;
break;
case 100:
progressBar1.Value = 100;
break;
default:
progressBar1.Value = 0;
break;
}
}
}
else if (connectButton.Enabled == true)
{
progressBar1.Value = 0;
pictureBox1.BackColor = SystemColors.Control;
}
}
