public void Envoi_Deplacement(GameObject deplacement_panel)
{
TMP_InputField Destination_X;
TMP_InputField Destination_Y;
TMP_InputField Destination_Distance;
TMP_InputField Destination_Theta;
TMP_InputField Vitesse_Roue_Gauche;
TMP_InputField Vitesse_Roue_Droite;
Destination_X = FindChildByRecursion(deplacement_panel.transform, "X").GetComponent <TMP_InputField>();
Destination_Y = FindChildByRecursion(deplacement_panel.transform, "Y").GetComponent <TMP_InputField>();
Destination_Distance = FindChildByRecursion(deplacement_panel.transform, "Distance").GetComponent <TMP_InputField>();
Destination_Theta = FindChildByRecursion(deplacement_panel.transform, "Theta").GetComponent <TMP_InputField>();
Vitesse_Roue_Gauche = FindChildByRecursion(deplacement_panel.transform, "Vitesse Roue Gauche").GetComponent <TMP_InputField>();
Vitesse_Roue_Droite = FindChildByRecursion(deplacement_panel.transform, "Vitesse Roue Droite").GetComponent <TMP_InputField>();
st_COORDONNEES coord = new st_COORDONNEES();
st_DESTINATION_ROBOT dest = new st_DESTINATION_ROBOT();
if (Destination_X.text != "")
{
coord.X = short.Parse(Destination_X.text, Common_settings.culture);
}
if (Destination_Y.text != "")
{
coord.Y = short.Parse(Destination_Y.text, Common_settings.culture);
}
if (Destination_Distance.text != "")
{
coord.Distance = short.Parse(Destination_Distance.text, Common_settings.culture);
}
if (Destination_Theta.text != "")
{
float temp_ang = float.Parse(Destination_Theta.text, Common_settings.culture);
temp_ang *= Mathf.Deg2Rad;
temp_ang *= 100;
coord.Angle = (short)temp_ang;
}
if (Vitesse_Roue_Gauche.text != "")
{
coord.Vitesse_Roue_Gauche = short.Parse(Vitesse_Roue_Gauche.text, Common_settings.culture);
}
if (Vitesse_Roue_Droite.text != "")
{
coord.Vitesse_Roue_Droite = short.Parse(Vitesse_Roue_Droite.text, Common_settings.culture);
}
coord.Type_Deplacement = (enum_TYPE_MOVE_)FindChildByRecursion(deplacement_panel.transform, "type deplacement").GetComponent <TMP_Dropdown>().value;
coord.Type_Arret = (enum_TYPE_ARRET_)FindChildByRecursion(deplacement_panel.transform, "Freinage").GetComponent <TMP_Dropdown>().value;
st_Parametre_Deplacement parametres = new st_Parametre_Deplacement();
parametres.Distance_Detection_Fin_Trajectoire = 3 * 100;
parametres.Angle_Avant_Debut_Avance = (byte)(0.1F * 100);
parametres.Angle_Detection_Fin_Trajectoire = (byte)(0.05F * 100);
coord.ptrParameters = parametres;
dest.coord = coord;
if (FindChildByRecursion(deplacement_panel.transform, "Effacement").GetComponent <TMP_Dropdown>().value == 0)
{
dest.Replace = false;
}
else
{
dest.Replace = true;
}
Communication.Communication_Trame trame = new Communication.Communication_Trame();
trame = Communication.GetTrameFromClass <st_DESTINATION_ROBOT>(dest);
trame.Slave_Adresse = Communication.Slave_Adresses.MultiFct_1; //uniquement la carte 1 qui gère les déplacement
trame.Instruction = Communication.Com_Instruction.DESTINATION_ROBOT;
trame.XBEE_DEST_ADDR = Communication.Adress_Xbee.ALL_XBEE;
GameObject.FindWithTag("Communication port").GetComponent <Message_Sender>().Send_Trame(trame);
}
/*************************************************/
#endregion
public void Envoi_Ordre_Deplacement()
{
st_COORDONNEES coord = new st_COORDONNEES();
st_DESTINATION_ROBOT dest = new st_DESTINATION_ROBOT();
if (destination_x.text != "")
{
coord.X = (short)Convert.ToSingle(destination_x.text.Replace('.', ','));
}
if (destination_y.text != "")
{
coord.Y = (short)Convert.ToSingle(destination_y.text.Replace('.', ','));
}
if (angle.text != "")
{
coord.Angle = (short)Convert.ToSingle(angle.text.Replace('.', ','));
}
coord.Angle *= 100;
if (distance.text != "")
{
coord.Distance = (short)Convert.ToSingle(distance.text.Replace('.', ','));
}
coord.Type_Deplacement = (enum_TYPE_MOVE_)Type_deplacement.value;
coord.Type_Arret = (enum_TYPE_ARRET_)Freinage.value;
st_Parametre_Deplacement parametres = new st_Parametre_Deplacement();
parametres.Distance_Detection_Fin_Trajectoire = 3 * 100;
parametres.Angle_Avant_Debut_Avance = (byte)(0.1F * 100);
parametres.Angle_Detection_Fin_Trajectoire = (byte)(0.05F * 100);
coord.ptrParameters = parametres;
dest.coord = coord;
if (Effacement.value == 0)
{
dest.Replace = false;
}
else
{
dest.Replace = true;
}
Communication.Communication_Trame trame = new Communication.Communication_Trame();
trame.Slave_Adresse = Communication.Slave_Adresses.ALL_CARDS;
trame.Instruction = Communication.Com_Instruction.DESTINATION_ROBOT;
trame.XBEE_DEST_ADDR = Communication.Adress_Xbee.ALL_XBEE;
int size = Marshal.SizeOf(dest);
byte[] arr = new byte[size];
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(dest, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
Marshal.FreeHGlobal(ptr);
trame.Data = arr;
trame.Length = (byte)size;
Communication_port.GetComponent <Communication_Send_Instructions>().Send_Instruction(trame);
}
