private void btnAffichage_Click(object sender, EventArgs e)
{
if (btnAffichage.Text == "Lancer l'affichage")
{
_linkDisplay = ThreadManager.CreateThread(link => DisplayInfos());
_linkDisplay.Name = "Affichage des données";
_linkDisplay.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
Dessinateur.Start();
btnAffichage.Text = "Stopper l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Pause16;
}
else
{
_linkDisplay?.Cancel();
_linkDisplay?.WaitEnd();
_linkDisplay = null;
Dessinateur.Stop();
btnAffichage.Text = "Lancer l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Play16;
}
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == Keys.Down)
{
_moveVertical = -1;
}
else if (keyData == Keys.Up)
{
_moveVertical = 1;
}
else if (keyData == Keys.Left)
{
_moveHorizontal = -1;
}
else if (keyData == Keys.Right)
{
_moveHorizontal = 1;
}
if ((_moveVertical != 0 || _moveHorizontal != 0) && _moveLoop == null)
{
_moveLoop = ThreadManager.CreateThread(o => ZoomStep());
_moveLoop.StartInfiniteLoop(20);
}
return(base.ProcessCmdKey(ref msg, keyData));
}
private void btnLaunch_Click(object sender, EventArgs e)
{
if (_linkPolling == null)
{
btnLaunch.Text = "Stopper";
btnLaunch.Image = Properties.Resources.Pause16;
_linkPolling = ThreadManager.CreateThread(link => Measure());
_linkPolling.StartInfiniteLoop(new TimeSpan(0));
_linkDrawing = ThreadManager.CreateThread(link => DrawMeasures());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 50));
}
else
{
btnLaunch.Text = "Lancer";
btnLaunch.Image = Properties.Resources.Play16;
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
private void btnLateral_Click(object sender, EventArgs e)
{
_isOnLeft = !_isOnLeft;
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
if (!_isOnLeft)
{
Actionneur.ElevatorRight.DoPushInside();
btnLateral.Image = Properties.Resources.BigArrow;
}
else
{
Actionneur.ElevatorRight.DoPushOutside();
Bitmap bmp = new Bitmap(Properties.Resources.BigArrow);
bmp.RotateFlip(RotateFlipType.RotateNoneFlipX);
btnLateral.Image = bmp;
}
_linkAnimation = ThreadManager.CreateThread(link => ThreadLateral(!_isOnLeft ? -4 : 4));
_linkAnimation.StartInfiniteLoop(15);
picStorage.Focus();
}
protected override bool StartLoop()
{
_linkMeasures = ThreadManager.CreateThread(link => DoMeasure());
_linkMeasures.Name = "Mesure Hokuyo " + _id.ToString();
_linkMeasures.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
return(true);
}
public override void Init()
{
Historique = new Historique(IDRobot);
PositionsHistorical = new List <Position>();
Position = new Position(GoBot.Recalibration.StartPosition);
PositionTarget = null;
_linkAsserv.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, _highResolutionAsservissement ? 1 : 16));
_linkLogPositions.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
}
private void btnUp_Click(object sender, EventArgs e)
{
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
_linkAnimation = ThreadManager.CreateThread(link => ThreadVertical(4));
_linkAnimation.StartInfiniteLoop(10);
picStorage.Focus();
}
private void switchButtonPort_ValueChanged(object sender, bool value)
{
if ((switchButtonPortA.Value || switchButtonPortB.Value || switchButtonPortC.Value) && _link == null)
{
_link = ThreadManager.CreateThread(link => AskValues());
_link.Name = "Ports numériques " + _board.ToString();
_link.StartInfiniteLoop(50);
}
if (!switchButtonPortA.Value & !switchButtonPortB.Value & !switchButtonPortC.Value & _link != null)
{
_link.Cancel();
_link.WaitEnd();
_link = null;
}
}
private void btnOnOff_ValueChanged(object sender, bool value)
{
if (value)
{
ledState.Color = Robots.MainRobot.ReadSensorOnOff(_sensor) ? Color.LimeGreen : Color.Red;
_linkPolling = ThreadManager.CreateThread(link => PollingSensor());
_linkPolling.RegisterName(nameof(PollingSensor) + " " + lblName.Text);
_linkPolling.StartInfiniteLoop(50);
}
else
{
_linkPolling.Cancel();
_linkPolling.WaitEnd();
_linkPolling = null;
ledState.Color = Color.Gray;
}
}
protected override bool StartLoop()
{
bool ok;
if (_manager.CreateChannelUDP())
{
_feedLink = ThreadManager.CreateThread(link => FeedWatchDog());
_feedLink.Name = "R2000 Watchdog";
_feedLink.StartInfiniteLoop(1000);
ok = true;
}
else
{
ok = false;
}
return(ok);
}
private void boxTorque_ValueChanged(object sender, bool value)
{
if (value)
{
_linkPolling = ThreadManager.CreateThread(link => GetServoInfos());
_linkPolling.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 20));
_linkDrawing = ThreadManager.CreateThread(link => DrawTorqueCurve());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
}
else
{
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
private void btnDown_Click(object sender, EventArgs e)
{
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
List <Color> colors = _isOnLeft ? _leftStorage : _rightStorage;
int index = 0;
if (colors[2] != Color.Transparent)
{
_verticalPosition = 450 - 290;
index = 2;
}
else if (colors[1] != Color.Transparent)
{
_verticalPosition = 450 - 220;
index = 1;
}
else if (colors[0] != Color.Transparent)
{
_verticalPosition = 450 - 150;
index = 0;
}
btnSpawnGreen.Visible = false;
btnSpawnRed.Visible = false;
_onGround = colors[index];
colors[index] = Color.Transparent;
_linkAnimation = ThreadManager.CreateThread(link => ThreadVertical(-4));
_linkAnimation.StartInfiniteLoop(10);
picStorage.Focus();
}
private void switchBouton_ValueChanged(object sender, bool value)
{
if (value)
{
_linkPolling = ThreadManager.CreateThread(link => AskValues());
_linkPolling.Name = "Ports analogiques " + Carte.ToString();
_linkPolling.StartInfiniteLoop(50);
_linkDraw = ThreadManager.CreateThread(link => ctrlGraphique.DrawCurves());
_linkDraw.Name = "Graph ports analogiques " + Carte.ToString();
_linkDraw.StartInfiniteLoop(100);
}
else
{
_linkPolling.Cancel();
_linkPolling.WaitEnd();
_linkPolling = null;
_linkDraw.Cancel();
_linkDraw.WaitEnd();
_linkDraw = null;
}
}
private void PagePanda_Load(object sender, EventArgs e)
{
if (!Execution.DesignMode)
{
Connections.AllConnections.ForEach(c => c.ConnectionChecker.ConnectionStatusChange += ConnectionChecker_ConnectionStatusChange);
AllDevices.LidarAvoid.ConnectionChecker.ConnectionStatusChange += LidarAvoid_ConnectionStatusChange;
SetPicImage(picLidar, Devices.AllDevices.LidarAvoid.ConnectionChecker.Connected);
SetPicImage(picIO, Connections.ConnectionIO.ConnectionChecker.Connected);
SetPicImage(picMove, Connections.ConnectionMove.ConnectionChecker.Connected);
SetPicImage(picCAN, Connections.ConnectionCanBridge.ConnectionChecker.Connected);
SetPicImage(picServo1, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo1].ConnectionChecker.Connected);
SetPicImage(picServo2, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo2].ConnectionChecker.Connected);
SetPicImage(picServo3, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo3].ConnectionChecker.Connected);
SetPicImage(picServo4, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo4].ConnectionChecker.Connected);
SetPicImage(picServo5, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo5].ConnectionChecker.Connected);
SetPicImage(picServo6, Connections.ConnectionsCan[Communications.CAN.CanBoard.CanServo6].ConnectionChecker.Connected);
_linkBattery = ThreadManager.CreateThread(link => UpdateBatteryIcon());
_linkBattery.StartInfiniteLoop(1000);
pagePandaMatch.CalibrationDone += PagePandaMatch_CalibrationDone;
}
}
/// <summary>
/// Initialise toutes les connexions
/// </summary>
public static void Init()
{
_connectionsCan = new Dictionary <CanBoard, CanSubConnection>();
EnableConnection = new Dictionary <Board, bool>();
UDPBoardConnection = new Dictionary <Board, Connection>();
AllConnections = new List <Connection>();
ConnectionIO = AddUDPConnection(Board.RecIO, IPAddress.Parse("10.1.0.14"), 12324, 12314);
ConnectionIO.Name = Board.RecIO.ToString();
ConnectionMove = AddUDPConnection(Board.RecMove, IPAddress.Parse("10.1.0.11"), 12321, 12311);
ConnectionMove.Name = Board.RecMove.ToString();
ConnectionCanBridge = AddUDPConnection(Board.RecCan, IPAddress.Parse("10.1.0.15"), 12325, 12315);
ConnectionCanBridge.Name = Board.RecCan.ToString();
ConnectionCan = new CanConnection(Board.RecCan);
_connectionsCan.Add(CanBoard.CanServo1, new CanSubConnection(ConnectionCan, CanBoard.CanServo1));
_connectionsCan.Add(CanBoard.CanServo2, new CanSubConnection(ConnectionCan, CanBoard.CanServo2));
_connectionsCan.Add(CanBoard.CanServo3, new CanSubConnection(ConnectionCan, CanBoard.CanServo3));
_connectionsCan.Add(CanBoard.CanServo4, new CanSubConnection(ConnectionCan, CanBoard.CanServo4));
_connectionsCan.Add(CanBoard.CanServo5, new CanSubConnection(ConnectionCan, CanBoard.CanServo5));
_connectionsCan.Add(CanBoard.CanServo6, new CanSubConnection(ConnectionCan, CanBoard.CanServo6));
ConnectionCanAlim = new CanSubConnection(ConnectionCan, CanBoard.CanAlim);
_connectionsCan.Add(CanBoard.CanAlim, ConnectionCanAlim);
_connectionsCan.Values.ToList().ForEach(o => AllConnections.Add(o));
// En remplacement des tests de connexion des ConnexionCheck, pour les syncroniser
_linkTestConnections = ThreadManager.CreateThread(link => TestConnections());
_linkTestConnections.Name = "Tests de connexion";
_linkTestConnections.StartInfiniteLoop();
}
public static void StartMatch()
{
_linkStartZone = ThreadManager.CreateThread(link => CheckStartZonePresence());
_linkStartZone.StartInfiniteLoop(1000);
_linkStartZone.Name = "Check zone départ";
}
