public static bool doLefetParalel()
{
ParallelResult rp = isLeftParalel();
if (rp == lastParallelResult)
{
return(false);
}
lastParallelResult = rp;
switch (rp)
{
case ParallelResult.Paralel:
RealFuncs.StopEngines();
return(true);
case ParallelResult.PreaApropiat:
RealFuncs.rotirePeLoc(10, 125, Engines.LeftEngines);
break;
case ParallelResult.Apropiat:
RealFuncs.rotirePeLoc(10, 60, Engines.LeftEngines);
break;
case ParallelResult.Departat:
RealFuncs.rotirePeLoc(10, 60, Engines.RightEngines);
break;
case ParallelResult.PreaDepartat:
RealFuncs.rotirePeLoc(10, 125, Engines.RightEngines);
break;
}
return(false);
}
public void Refresh()
{
this.namesListBox.Items.Clear();
this.valuesListBox.Items.Clear();
for (int i = 0; i < ext.distanceSensors.Count; i++)
{
this.namesListBox.Items.Add(ext.distanceSensors[i].Name);
double num = RealFuncs.getSensorValue((Sensor)i).Round();
this.valuesListBox.Items.Add(num.ToString());
}
if (ext.GraphicForm != null)
{
ext.GraphicForm.tPanel1.AddTPoint(ext.distanceSensors[2].Distance);
}
base.Height = (double)(80 + 25 * ext.distanceSensors.Count);
}
public static bool mergiParalelPeStanga(QueueEntry qe, EventArgs e)
{
int pd;
switch (state3)
{
case 0:
RealFuncs.goFront(30, 230);
state3 = 1;
break;
case 1:
pd = (int)isLeftParalel();
if (pd == 0)
{
if (funcs.getSensorValue(Sensor.SideRight) < 12)
{
RealFuncs.goFrontRight(30, 200);
}
break;
}
if (pd == 1)
{
RealFuncs.goFrontLeft(30, 220);
state3 = 2;
}
else
{
RealFuncs.goFrontRight(30, 220);
state3 = 2;
}
break;
case 2:
pd = (int)isLeftParalel();
if (pd == 0)
{
RealFuncs.goFront(30, 230);
state3 = 1;
}
break;
}
return(false);
}
public static bool doLeftDistance(double dist, double epsilon = 10)
{
double distLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
switch (drdState)
{
case 0:
if (Math.Abs(distLeft - dist) < epsilon)
{
return(true);
}
angle1 = (int)(Math.Abs(distLeft - dist)) / 1.5;
drdTmp1 = (distLeft + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth / 2)) / Math.Cos(angle1 * Math.PI / 180);
if (distLeft > dist)
{
drdpr = ParallelResult.PreaDepartat;
}
else
{
drdpr = ParallelResult.PreaApropiat;
}
RealFuncs.rotirePeLoc(30, 60, Engines.LeftEngines);
drdState = 1;
break;
case 1:
//funcs.Log("drdtmp: " + drdTmp1.Round(2).ToString() + " dr:" + distRight.Round().ToString());
if ((distLeft + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth / 2)) > drdTmp1)
{
RealFuncs.StopEngines();
drdState = 2;
}
break;
case 2:
drdTmp1 = (dist + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth / 2)) / Math.Cos(angle1 * Math.PI / 180);
distantaParcursa(true);
if (drdpr == ParallelResult.PreaDepartat)
{
RealFuncs.goBack(5, 60); drdState = 3;
}
else
{
RealFuncs.goFront(5, 60); drdState = 4;
}
//funcs.Log("drdtmp:" + drdTmp1.ToString());
break;
case 3:
if (distLeft + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth / 2) < drdTmp1)
{
RealFuncs.StopEngines();
drdState = 5;
dp1 = distantaParcursa();
}
break;
case 4:
if (distLeft + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth / 2) > drdTmp1)
{
RealFuncs.StopEngines();
drdState = 5;
dp1 = distantaParcursa();
}
break;
case 5:
if (doLefetParalel())
{
if (drdpr == ParallelResult.PreaApropiat)
{
RealFuncs.goBack(10, 60); drdState = 6;
}
else
{
RealFuncs.goFront(10, 60); drdState = 6;
}
distantaParcursa(true);
}
break;
case 6:
if (distantaParcursa() > dp1 * Math.Cos(angle1 * Math.PI / 180))
{
RealFuncs.StopEngines();
//funcs.Log("cw: " + funcs.wpfPixelsToCMs(ext.TheCar.ActualWidth).ToString());
return(true);
}
break;
}
return(false);
}
static bool conturInchisSMF(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
switch (state70)
{
case 0:
state70 = 1;
RealFuncs.goFront(30, 200);
break;
case 1:
if (frontLeft < 150 || frontRight < 150)
{
state70 = 2;
RealFuncs.rotirePeLoc(30, 200, Engines.LeftEngines);
}
break;
case 2:
if (sideLeft < 150)
{
state70 = 3;
lastParallelResult = ParallelResult.Paralel;
}
break;
case 3:
if (doLefetParalel())
{
state70 = 4;
RealFuncs.goFront(30, 200);
}
break;
case 4:
if (frontLeft < 150 || frontRight < 150)
{
state70 = 5;
RealFuncs.rotirePeLoc(30, 200, Engines.RightEngines);
}
break;
case 5:
if (sideRight < 150)
{
state70 = 6;
}
break;
case 6:
if (doRightParalel())
{
RealFuncs.goFront(30, 200);
state70 = 4;
}
break;
}
return(false);
}
public static bool paralelParking(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
funcs.Log("stare :" + stare.ToString());
switch (stare)
{
case -1:
RealFuncs.goFront(60, 250);
stare = 0;
break;
case 0:
if (sideRight < 100)
{
stare = 1;
}
break;
case 1:
if (sideRight > 200)
{
RealFuncs.goFrontRight(60, 250);
stare = 2;
}
break;
case 2:
if (frontRight < 175)
{
RealFuncs.goFront(60, 175);
stare = 3;
}
break;
case 3:
if (sideRight < 220)
{
RealFuncs.rotirePeLoc(10, 175, Engines.RightEngines);
stare = 4;
}
break;
case 4:
if (sideRight < 80)
{
stare = 5;
}
break;
case 5:
if (doRightParalel())
{
stare = 6;
RealFuncs.goBackRight(10, 150);
distantaParcursa(true);
}
break;
case 6:
if (distantaParcursa() > 75)
{
stare = 7;
distantaParcursa(true);
RealFuncs.goBackLeft(10, 150);
}
break;
case 7:
if (distantaParcursa() > 75)
{
stare = 8;
distantaParcursa(true);
RealFuncs.goFrontRight(10, 150);
}
break;
case 8:
if (distantaParcursa() > 75)
{
stare = 9;
distantaParcursa(true);
RealFuncs.goFrontLeft(10, 150);
}
break;
case 9:
if (distantaParcursa() > 75)
{
stare = 10;
distantaParcursa(true);
RealFuncs.goFront(10, 50);
}
break;
case 10:
if (distantaParcursa() > 15)
{
stare = 11;
RealFuncs.StopEngines();
return(true);
}
break;
}
return(false);
}
public static bool test1Entry(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
if (numaraIesiri)
{
if (eInDreptulUneiIesiri)
{
if (sideRight < 300)
{
iesiriTrecute++;
funcs.Log("iesiriTrecute=" + iesiriTrecute.ToString());
eInDreptulUneiIesiri = false;
}
}
else
{
if (sideRight > 300)
{
eInDreptulUneiIesiri = true;
}
}
}
int ip;
//funcs.Log("st=" + state5.ToString());
switch (state5)
{
case 0:
state5 = 1;
RealFuncs.goFront(30, 250);
break;
case 1:
if (frontLeft < 170 || frontRight < 170)
{
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 2;
}
break;
case 2:
ip = (int)isLeftParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case 1:
RealFuncs.rotirePeLoc(30, 50, Engines.RightEngines);
state5 = 3;
break;
case 2:
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 3;
break;
default: break;
}
break;
case 3:
ip = (int)isLeftParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case -1:
RealFuncs.rotirePeLoc(30, 50, Engines.LeftEngines);
state5 = 2;
break;
case -2:
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 2;
break;
default: break;
}
break;
case 4:
numaraIesiri = true;
if (frontLeft < 200 || frontRight < 200)
{
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 6;
}
break;
case 5:
ip = (int)isRightParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case -1:
RealFuncs.rotirePeLoc(30, 50, Engines.RightEngines);
state5 = 6;
break;
case -2:
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 6;
break;
default: break;
}
break;
case 6:
ip = (int)isRightParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case 1:
RealFuncs.rotirePeLoc(30, 50, Engines.LeftEngines);
state5 = 5;
break;
case 2:
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 5;
break;
default: break;
}
break;
case 7:
if (frontRight > 500)
{
state5 = 8;
}
break;
case 8:
if (frontRight < 700)
{
state5 = 9;
}
break;
case 9:
funcs.Log("lrd=" + lrd.ToString() + "\nfr=" + frontRight.ToString());
if (lrd == -1)
{
lrd = frontRight;
break;
}
if (lrd < frontRight)
{
RealFuncs.goFrontRight(3, 250);
state5 = 10;
}
lrd = frontRight;
break;
}
return(false);
}
public static bool p1Entry(QueueEntry qe, EventArgs e)
{
funcs.Log("st=" + state4.ToString());
switch (state4)
{
case 0:
RealFuncs.goFront(30, 200);
state4 = 1;
break;
case 1:
sfs = funcs.getSensorValue(Sensor.FrontLeft);
sfd = funcs.getSensorValue(Sensor.FrontRight);
if (sfs < 50 || sfd < 50)
{
RealFuncs.rotirePeLoc(30, 200, Engines.LeftEngines);
state4 = 2;
cntDelayer = 0;
}
break;
case 2:
if (cntDelayer++ < 10)
{
break;
}
ssl = funcs.getSensorValue(Sensor.SideLeft);
funcs.Log("ssl=" + ssl.ToString() + " minL=" + minL.ToString());
if (ssl < minL)
{
minL = ssl;
}
else
{
state4 = 3;
}
break;
case 3:
ilp = (int)isLeftParalel(3);
funcs.Log("ilp=" + ilp.ToString());
if (ilp == 0)
{
RealFuncs.goFront(30, 150);
state4 = 4;
}
else if (ilp == -1)
{
RealFuncs.rotirePeLoc(30, 200, Engines.LeftEngines);
}
else
{
RealFuncs.rotirePeLoc(30, 200, Engines.RightEngines);
}
break;
case 4:
sfs = funcs.getSensorValue(Sensor.FrontLeft);
sfd = funcs.getSensorValue(Sensor.FrontRight);
if (sfs < 50 || sfd < 50)
{
RealFuncs.rotirePeLoc(30, 200, Engines.RightEngines);
state4 = 5;
cntDelayer = 0;
}
break;
case 5:
irp = (int)isRightParalel(3);
if (irp == 0)
{
//RealFuncs.goFront(30, 150);
RealFuncs.StopEngines();
return(true);
state4 = 6;
}
else if (irp == -1)
{
RealFuncs.rotirePeLoc(30, 200, Engines.RightEngines);
}
else
{
RealFuncs.rotirePeLoc(30, 200, Engines.LeftEngines);
}
break;
}
return(false);
}
public static bool func1(QueueEntry qe, EventArgs e)
{
switch (state1)
{
case 0:
state1 = 1;
RealFuncs.goFront(30, 250);
break;
case 1:
if (funcs.getSensorValue(Sensor.FrontLeft) < 50)
{
RealFuncs.rotirePeLoc(10, 200, Engines.LeftEngines);
state1 = 2;
leftOffset = 80;
rm1 = 1000;
}
break;
case 2:
tmp = funcs.getSensorValue(Sensor.SideRight);
funcs.Log("st=" + state1.ToString() + " rm=" + rm1.ToString() + " tmp=" + tmp.ToString());
if (tmp > 150)
{
break;
}
if (tmp > leftOffset)
{
break;
}
if (tmp < rm1 + 0.05)
{
rm1 = tmp;
}
else
{
RealFuncs.rotirePeLoc(10, 200, Engines.RightEngines);
state1 = 3;
rm1 = 999;
}
break;
case 3:
tmp = funcs.getSensorValue(Sensor.SideRight);
funcs.Log("st=" + state1.ToString() + " rm=" + rm1.ToString() + " tmp=" + tmp.ToString());
if (tmp > leftOffset)
{
break;
}
if (tmp < rm1 + 0.05)
{
rm1 = tmp;
}
else
{
RealFuncs.goFront(10, 250);
state1 = 4;
rm1 = 999;
}
break;
case 4:
double fl, fr;
fl = funcs.getSensorValue(Sensor.FrontLeft);
fr = funcs.getSensorValue(Sensor.FrontRight);
funcs.Log("st=" + state1.ToString() + " lf=" + fl.ToString() + " fr=" + fr.ToString());
if (fl < 50 || fr < 50)
{
RealFuncs.rotirePeLoc(10, 200, Engines.RightEngines);
cnt1 = 0;
state1 = 5;
leftOffset = 80;
rm1 = 1000;
}
break;
case 5:
tmp = funcs.getSensorValue(Sensor.SideLeft);
funcs.Log("st=" + state1.ToString() + " rm=" + rm1.ToString() + " tmp=" + tmp.ToString());
if (cnt1++ < 10)
{
break;
}
if (tmp > leftOffset)
{
break;
}
if (tmp < rm1 + 0.05)
{
rm1 = tmp;
}
else
{
RealFuncs.rotirePeLoc(10, 200, Engines.LeftEngines);
state1 = 6;
}
break;
case 6:
tmp = funcs.getSensorValue(Sensor.SideLeft);
funcs.Log("st=" + state1.ToString() + " rm=" + rm1.ToString() + " tmp=" + tmp.ToString());
if (tmp > leftOffset)
{
break;
}
if (tmp < rm1)
{
rm1 = tmp;
}
else
{
RealFuncs.goFront(10, 250);
state1 = 4;
rm1 = 999;
}
break;
default:
break;
}
return(false);
}
public static bool parcareLaterala(QueueEntry qe, EventArgs e)
{
funcs.Log("st=" + state2.ToString());
switch (state2)
{
case 0:
RealFuncs.goFront(30, 200);
state2 = 1;
break;
case 1:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 < 50)
{
state2 = 2;
}
break;
case 2:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 > 50)
{
state2 = 3;
RealFuncs.goFrontRight(30, 200);
}
break;
case 3:
tmp2 = funcs.getSensorValue(Sensor.FrontRight);
if (tmp2 < 55)
{
state2 = 4;
RealFuncs.goFrontLeft(30, 250);
}
break;
case 4:
if (isRightParalel(3) == 0)
{
RealFuncs.goFront(30, 175);
state2 = 5;
return(false);
}
break;
case 5:
if (Math.Abs(funcs.getSensorValue(Sensor.FrontLeft) - funcs.getSensorValue(Sensor.FrontRight)) < 10)
{
RealFuncs.StopEngines();
RealFuncs.goBack(1, 150);
return(true);
}
break;
case 6:
break;
default:
break;
}
return(false);
}
public static bool Parking(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
funcs.Log("stare1 :" + stare1.ToString());
switch (stare1)
{
case 0:
RealFuncs.goFront(60, 250);
stare1 = 1;
break;
case 1:
if (frontLeft < 208)
{
RealFuncs.rotirePeLoc(60, 150, Engines.LeftEngines);
stare1 = 2;
}
break;
case 2:
if (isLeftParalel() == 0)
{
RealFuncs.goFront(60, 250);
stare1 = 3;
}
break;
case 3:
if (frontLeft < 218)
{
RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines);
stare1 = 4;
}
break;
case 4:
if (isRightParalel() == 0)
{
RealFuncs.goFront(60, 250);
stare1 = 5;
}
break;
case 5:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 6;
RealFuncs.goFront(60, 250);
}
break;
case 6:
if (frontLeft < 500)
{
stare1 = 7;
}
break;
case 7:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 8;
}
break;
case 8:
if (sideLeft > 399)
{
funcs.Log("parcare buna");
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 10;
}
}
else
{
stare1 = 10;
}
break;
case 9:
stare1 = 99;
break;
case 10:
if (frontLeft < 500)
{
stare1 = 11;
}
break;
case 11:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 12;
}
break;
case 12:
if (sideRight > 399)
{
funcs.Log("iesire");
}
if (sideLeft > 399)
{
funcs.Log("parcare buna");
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 13;
}
}
break;
case 13:
if (frontRight < 660)
{
stare1 = 14;
}
break;
case 14:
if (sideRight > 300)
{
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 15;
}
}
else
{
stare1 = 15;
}
break;
case 15:
if (frontLeft < 218)
{
RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines);
stare1 = 16;
}
break;
case 16:
if (isRightParalel() == 0)
{
RealFuncs.goFront(10, 250);
stare1 = 17;
}
break;
case 17:
if (sideRight > 300)
{
funcs.Log("iesire 2");
stare1 = 2;
}
break;
case 96:
// if(sideLeft >512 && sideLeft<552)
{
RealFuncs.rotirePeLoc(1, 200, Engines.RightEngines);
stare1 = 97;
}
break;
case 97:
if (frontRight < 300)
{
RealFuncs.goFront(20, 250);
stare1 = 98;
}
break;
case 98:
if (frontRight < 60)
{
stare1 = 99;
}
break;
case 99:
{
RealFuncs.StopEngines();
return(true);
}
break;
default:
break;
}
return(false);
}
private void abortBtn_Click(object sender, RoutedEventArgs e)
{
RealFuncs.StopEngines();
ext.cmdQueue.Clear();
}
