private void Button_CornerT1_Click(object sender, RoutedEventArgs e)
{
RefBoxMessage msg = new RefBoxMessage();
msg.command = RefBoxCommand.CORNER;
msg.targetTeam = TeamIpAddress;
msg.robotID = 0;
OnRefereeBoxReceivedCommand(msg);
}
private void Button_PlayRightT2_Click(object sender, RoutedEventArgs e)
{
RefBoxMessage msg = new RefBoxMessage();
msg.command = RefBoxCommand.PLAYRIGHT;
msg.targetTeam = TeamIpAddress;
msg.robotID = 0;
OnRefereeBoxReceivedCommand(msg);
}
private void Button_KickOffT2_Click(object sender, RoutedEventArgs e)
{
RefBoxMessage msg = new RefBoxMessage();
msg.command = RefBoxCommand.KICKOFF;
msg.targetTeam = OpponentTeamIpAddress;
msg.robotID = 0;
OnRefereeBoxReceivedCommand(msg);
}
public virtual void OnRefBoxMessage(RefBoxMessage refBoxMessage)
{
var handler = OnRefBoxMessageEvent;
if (handler != null)
{
handler(this, new RefBoxMessageArgs {
refBoxMsg = refBoxMessage
});
}
}
private void LocalWorldMapDisplay2_OnCtrlClickOnHeatMapEvent(object sender, PositionArgs e)
{
RefBoxMessage msg = new RefBoxMessage();
msg.command = RefBoxCommand.GOTO;
msg.targetTeam = TeamIpAddress;
msg.robotID = (int)TeamId.Team1 + (int)RobotId.Robot2;
msg.posX = e.X;
msg.posY = e.Y;
msg.posTheta = 0;
OnRefereeBoxReceivedCommand(msg);
}
private void Button_m1_0_Click(object sender, RoutedEventArgs e)
{
RefBoxMessage msg = new RefBoxMessage();
msg.command = RefBoxCommand.GOTO;
msg.targetTeam = TeamIpAddress;
msg.robotID = 10;
msg.posX = -1;
msg.posY = 0;
msg.posTheta = Math.PI;
OnRefereeBoxReceivedCommand(msg);
}
private void OnRefereeBoxReceivedCommand(RefBoxMessage rbMsg)
{
var msg = ZeroFormatterSerializer.Serialize <ZeroFormatterMsg>(rbMsg);
OnMulticastSendRefBoxCommand(msg);
}
public void OnMulticastDataReceived(object sender, EventArgsLibrary.DataReceivedArgs e)
{
lock (e.Data)
{
var deserialization = ZeroFormatterSerializer.Deserialize <ZeroFormatterMsg>(e.Data);
switch (deserialization.Type)
{
case ZeroFormatterMsgType.LocalWM:
LocalWorldMap lwm = (LocalWorldMap)deserialization;
//if (Id == lwm.RobotId)
{
OnLocalWorldMap(lwm);
//UdpMonitor.LWMReceived(e.Data.Length);
}
break;
case ZeroFormatterMsgType.GlobalWM:
GlobalWorldMap gwm = (GlobalWorldMap)deserialization;
//UdpMonitor.GWMReceived(e.Data.Length);
OnGlobalWorldMap(gwm);
break;
case ZeroFormatterMsgType.RefBoxMsg:
RefBoxMessage refBoxMsg = (RefBoxMessage)deserialization;
OnRefBoxMessage(refBoxMsg);
break;
default:
break;
}
//var compressedData = e.Data;
//Console.WriteLine(string.Format("Received bytes: {0}", compressedData.Length));
//string uncompressedTextData = "";// Zip.UnzipText(compressedData);
// //Console.WriteLine(string.Format("Decompressed bytes: {0}", uncompressedTextData.Length));
//JObject obj = JObject.Parse(Encoding.Default.GetString(e.Data));
//try
//{
// switch ((int)obj["Type"])
// {
// case (int)WorldMapType.LocalWM:
// LocalWorldMap lwm = obj.ToObject<LocalWorldMap>();
// OnLocalWorldMap(lwm);
// break;
// case (int)WorldMapType.GlobalWM:
// GlobalWorldMap gwm = obj.ToObject<GlobalWorldMap>();
// OnGlobalWorldMap(gwm);
// break;
// default:
// break;
// }
//}
//catch
//{
// Console.WriteLine("Exception Message non décodable en json : UdpMulticastInterpreter");
//}
}
}
public virtual void OnRefereeBoxReceivedCommand(RefBoxMessage msg)
{
OnRefereeBoxCommandEvent?.Invoke(this, new RefBoxMessageArgs {
refBoxMsg = msg
});
}
void TaskThreadProcess()
{
while (true)
{
if (timeStamp.ElapsedMilliseconds < 99999)
{
switch (state)
{
case TaskStrategyState.Attente:
break;
case TaskStrategyState.InitialPositioning: //Le positionnement initial est manuel de manière à pouvoir coller deux robots très proches sans mouvement parasite
parentStrategyManager.OnEnableMotors(false);
//Le jack force le retour à cet état
//parentStrategyManager.taskDistributeur.Init();
RefBoxMessage message = new RefBoxMessage();
message.command = RefBoxCommand.STOP;
message.targetTeam = "224.16.32.79";
message.robotID = 0;
parentStrategyManager.OnRefereeBoxReceivedCommand(message);
indexPrise = 0;
state = TaskStrategyState.InitialPositioningEnCours;
break;
case TaskStrategyState.InitialPositioningEnCours:
if (!Jack)
{
parentStrategyManager.taskBrasDroit.Init();
parentStrategyManager.taskBrasGauche.Init();
parentStrategyManager.taskBrasCentre.Init();
parentStrategyManager.taskBrasDrapeau.Init();
parentStrategyManager.taskPhare.Init();
parentStrategyManager.taskWindFlag.Init();
parentStrategyManager.taskBalade.Init();
parentStrategyManager.taskDepose.Init();
parentStrategyManager.taskFinDeMatch.Init();
parentStrategyManager.OnEnableMotors(true);
message = new RefBoxMessage();
message.command = RefBoxCommand.START;
message.targetTeam = "224.16.32.79";
message.robotID = 0;
parentStrategyManager.OnRefereeBoxReceivedCommand(message);
parentStrategyManager.OnCollision(parentStrategyManager.robotId, parentStrategyManager.robotCurentLocation); //On génère artificellement une collision pour resetter Kalman et le reste autour de la position courante.
state = TaskStrategyState.Phare;
if (isFirstRun)
{
isFirstRun = false;
StartSw();
}
}
break;
case TaskStrategyState.PushFlags:
parentStrategyManager.taskWindFlag.Start();
state = TaskStrategyState.PushFlagsEnCours;
break;
case TaskStrategyState.PushFlagsEnCours:
if (parentStrategyManager.taskWindFlag.isFinished)
{
state = TaskStrategyState.Distributeurs;
}
break;
case TaskStrategyState.Phare:
parentStrategyManager.taskPhare.Start();
state = TaskStrategyState.PhareEnCours;
break;
case TaskStrategyState.PhareEnCours:
if (parentStrategyManager.taskPhare.isFinished)
{
state = TaskStrategyState.PushFlags;
}
break;
case TaskStrategyState.Distributeurs:
if (parentStrategyManager.Team == Equipe.Jaune)
{
if (indexPrise < locsPoseJaune.Count && indexPrise < locsPriseJaune.Count)
{
parentStrategyManager.taskDistributeur.Start(locsPriseJaune[indexPrise], locsPoseJaune[indexPrise]);
indexPrise++;
state = TaskStrategyState.DistributeursEnCours;
}
else
{
state = TaskStrategyState.Attente;
}
}
else if (parentStrategyManager.Team == Equipe.Bleue)
{
if (indexPrise < locsPoseBleue.Count && indexPrise < locsPriseBleue.Count)
{
parentStrategyManager.taskDistributeur.Start(locsPriseBleue[indexPrise], locsPoseBleue[indexPrise]);
indexPrise++;
state = TaskStrategyState.DistributeursEnCours;
}
else
{
state = TaskStrategyState.InitialPositioningEnCours;
}
}
break;
case TaskStrategyState.DistributeursEnCours:
if (parentStrategyManager.taskDistributeur.isFinished)
{
state = TaskStrategyState.Distributeurs;
}
break;
default:
state = TaskStrategyState.Phare;
break;
}
}
else
{
Init();
if (!isStoped)
{
parentStrategyManager.taskFinDeMatch.Start();
timeStamp.Stop();
}
isStoped = true;
}
Thread.Sleep(1);
}
}
