public RobotSensors(Map map)
{
this.GPS = new GPS(map);
this.Thermometer = new Thermometer(map);
this.Ultrasonic = new Ultrasonic(map);
this.Webcam = new Webcam(map);
this.Scale = new Scale(map);
}
public GPS(Map map)
{
this.Map = map;
directionDict.Add(Components.Direction.North, new Point(-1, 0));
directionDict.Add(Components.Direction.East, new Point(0, 1));
directionDict.Add(Components.Direction.West, new Point(0, -1));
directionDict.Add(Components.Direction.South, new Point(1, 0));
}
/// <summary>
/// Crea e inicializa un nuevo mapa.
/// </summary>
private void CreateMap()
{
newMapDialog = new DlgNewMap(cellList);
if (cellList.Count > 0 && newMapDialog.ShowDialog() == DialogResult.OK)
{
map = new Map(newMapDialog.NewMapHeight, newMapDialog.NewMapWidth, cellList[newMapDialog.DefaultCellIndex]);
ResizeBox();
}
}
public Motor(Map map, Robot managedRobot)
{
Map = map;
ManagedRobot = managedRobot;
managedRobot.MoveOrTurn += map.OnSomethingMoves;
directionDict.Add(Direction.North, new Point(-1, 0));
directionDict.Add(Direction.East, new Point(0, 1));
directionDict.Add(Direction.West, new Point(0, -1));
directionDict.Add(Direction.South, new Point(1, 0));
}
public Scale(Map map)
{
this.Map = map;
}
public Thermometer(Map map)
{
this.Map = map;
}
public FormManual(Map map, FormMain mainForm)
{
InitializeComponent();
this.map = map;
this.mainForm = mainForm;
}
/// <summary>
/// Carga un mapa de disco.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OpenMap_Click(object sender, EventArgs e)
{
if (openMapDialog.ShowDialog() == DialogResult.OK)
{
IFormatter formatter = new BinaryFormatter();
Stream stream = new FileStream(openMapDialog.FileName, FileMode.Open, FileAccess.Read, FileShare.Read);
map = (Map)formatter.Deserialize(stream);
stream.Close();
Size = new Size(map[0, 0].Image.Width * map.GetLength(1) + 9, map[0, 0].Image.Height * map.GetLength(0) + menuToolbar.Height + statusStrip.Height + mainToolStrip.Height + 32);
map.Movement += MapSomethingMoved;
map.Interaction += UpdateStatusText;
map.Interaction += MapSomethingMoved;
map.Robot.Motor.UnableToLoad += Robot_UnableToLoad;
map.Robot.Motor.UnableToUnload += Robot_UnableToUnload;
map.Robot.Motor.UnableToMove += Robot_UnableToMove;
this.statusLabel.Text = "Event messages will appear here.";
pboxCanvas.Image = null;
pboxCanvas.Invalidate();
statusStrip.Visible = true;
}
}
/// <summary>
/// Carga un mapa de disco para modificarlo.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void menuOpenMap_Click(object sender, EventArgs e)
{
if (openMapDialog.ShowDialog() == DialogResult.OK){
IFormatter formatter = new BinaryFormatter();
Stream stream = new FileStream(openMapDialog.FileName, FileMode.Open, FileAccess.Read, FileShare.Read);
map = (Map) formatter.Deserialize(stream);
stream.Close();
cellList = map.FieldPalette;
itemList = map.ItemPalette;
UpdateCellList();
UpdateItemList();
}
ResizeBox();
pboxGrid.Invalidate();
}
/// <summary>
/// Cierra el mapa actual.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void menuCloseMap_Click(object sender, EventArgs e)
{
map = null;
pboxGrid.Invalidate();
}
public Webcam(Map map)
{
this.Map = map;
}
/// <summary>
/// "Posiciona" al robot en un mapa (inicializa sus sensores, etc.).
/// </summary>
/// <param name="map">El mapa donde se va a colocar el robot.</param>
/// <param name="where">Donde exactamente se va a ubicar.</param>
public void PlaceInMap(Map map, Point where)
{
if (map.HasRobot){
map[where.X, where.Y].Item = this;
if (map[where.X, where.Y].Item != this || (map.RobotLocation.X == where.X && map.RobotLocation.Y == where.Y))
return;
else{
map[map.RobotLocation.X, map.RobotLocation.Y].Item = null;
map.RobotLocation = new Point(where.X,where.Y);
}
}
else{
map[where.X, where.Y].Item = this;
map.RobotLocation = new Point(where.X, where.Y);
}
this.Motor = new Motor(map,this);
this.Sensors = new Sensors.RobotSensors(map);
}
