//private List<Point> mainTouchPoint = new List<Point>();
#region UGVCommand
/* *
* UGV를 넣는 코드가 들어가면 된다. (영상인식으로 들어온 UGV)
* */
public void AddUGV(List <UGV> ugvList)
{
foreach (UGV ugv in ugvList)
{
bool addUGVFlag = false;
for (int i = 0; i < MVCCItemList.Count; i++)
{
if (!(MVCCItemList[i] is UGV))
{
continue;
}
UGV existUGV = MVCCItemList[i] as UGV;
if (existUGV.Id.Equals(ugv.Id))
{
addUGVFlag = true;
break;
}
}
if (!addUGVFlag)
{
MVCCItemList.Add(ugv);
MVCCItemStateList.Add(new State(ugv));
}
if (ugvList.Count == MVCCItemList.Count)
{
break;
}
}
}
private void bluetoothConnect(UGV ugv)
{
int index = 0;
int.TryParse(ugv.Id[1].ToString(), out index);
if (!globals.UGVSettingDictionary.ContainsKey(convertId(ugv.Id)))
{
MessageBox.Show("블루투스 설정이 되어있지 않습니다.");
return;
}
UGV settingUGV = globals.UGVSettingDictionary[convertId(ugv.Id)];
try
{
if (!globals.SerialPortList[index].IsOpen)
{
globals.SerialPortList[index].Close();
globals.SerialPortList[index].PortName = settingUGV.ComPort;
globals.SerialPortList[index].BaudRate = settingUGV.Baudrate;
globals.SerialPortList[index].DataBits = settingUGV.Databit;
globals.SerialPortList[index].StopBits = getStopBit(settingUGV.Stopbit);
globals.SerialPortList[index].ReadTimeout = 500;
globals.SerialPortList[index].WriteTimeout = 500;
globals.SerialPortList[index].Open();
}
}
catch (System.IO.IOException e)
{
MessageBox.Show("블루투스 COMPort 설정을 다시해주세요.");
return;
}
}
public void RemoveUGV(string ugvId)
{
UGV removeUGV = new UGV();
foreach (Group group in MVCCGroupList)
{
foreach (UGV tempUGV in group.MemberList)
{
if (tempUGV.Equals(removeUGV))
{
group.MemberList.Remove(removeUGV);
if (group.MemberList.Count == 0)
{
MVCCGroupList.Remove(group);
}
break;
}
}
}
for (int i = 0; i < MVCCItemList.Count; i++)
{
if (!(MVCCItemList[i] is UGV))
{
continue;
}
UGV tempUGV = MVCCItemList[i] as UGV;
if (tempUGV.Id.Equals(ugvId))
{
removeUGV = tempUGV;
break;
}
}
// 없어진 UGV 상태 제거
foreach (State state in MVCCItemStateList)
{
if (state.ugv.Equals(removeUGV))
{
MVCCItemStateList.Remove(state);
break;
}
}
MVCCItemList.Remove(removeUGV);
}
public void connect(UGV ugv, State state)
{
this.ugv = ugv;
this.state = state;
bluetoothConnect(ugv);
bluetoothCommand(ugv, state);
/*
* //bluetooth 연결쓰레드
* BackgroundWorker thread = new BackgroundWorker();
* thread.DoWork += bluetoothConnect;
* thread.RunWorkerAsync();
* */
}
/// <summary>
///
/// </summary>
/// <param name="ugv"></param>
public SearchTargetMission(UGV ugv)
: base(ugv)
{
}
/// <summary>
/// Constructor of Mission
/// </summary>
/// <param name="ugv"></param>
public Mission(UGV ugv)
{
this.ugv = ugv;
Reset();
}
private void bluetoothCommand(UGV ugv, State state)
{
string write_data = ugv.Command;
int index;
int.TryParse(ugv.Id[1].ToString(), out index);
if (globals.SerialPortList[index].IsOpen)
{
Console.Out.Flush();
if (write_data.Equals("d"))
{
globals.SerialPortList[index].WriteLine((write_data[0]).ToString());
//Console.WriteLine("index = " + index + " ugv command : " + write_data);
state.IsDriving = true;
try
{
#region Transmit_Movement_Command
/*
* int first_x = globals.first_point_x[index];
* int first_y = globals.first_point_y[index];
*
* int start_x = ((state.CurrentPointX) / 15);
* int start_y = ((state.CurrentPointY) / 15);
*
* int direction_x = ((state.CurrentPointX) / 15);
* int direction_y = ((state.CurrentPointY) / 15);
*
* Console.WriteLine("first_x {0}", globals.first_point_x[index]);
* Console.WriteLine("first_y {0}", globals.first_point_y[index]);
*
* Console.WriteLine("start_point_x {0}", start_x);
* Console.WriteLine("start_point_y {0}", start_y);
*
* Console.WriteLine("Direction Value : {0}", globals.direction[index]);
*
#region Direction Calculation
*
* if (globals.direction[index] == 0)
* {
* direction_y = direction_y - 1;
* }
* else if (globals.direction[index] == 1)
* {
* direction_x = direction_x + 1;
* direction_y = direction_y - 1;
* }
* else if (globals.direction[index] == 2)
* {
* direction_x = direction_x + 1;
* }
* else if (globals.direction[index] == 3)
* {
* direction_x = direction_x + 1;
* direction_y = direction_y + 1;
* }
* else if (globals.direction[index] == 4)
* {
* direction_y = direction_y + 1;
* }
* else if (globals.direction[index] == 5)
* {
* direction_x = direction_x - 1;
* direction_y = direction_y + 1;
* }
* else if (globals.direction[index] == 6)
* {
* direction_x = direction_x - 1;
* }
* else if (globals.direction[index] == 7)
* {
* direction_x = direction_x - 1;
* direction_y = direction_y + 1;
* }
*/
#endregion
//Console.WriteLine("direction_x {0}", direction_x);
///Console.WriteLine("direction_y {0}", direction_y);
#region Angle Calculation
/*
* if ((first_x - start_x == 0) && (first_y - start_y == -1))
* {
* globals.angle[index] = 0;
* }
* else if ((first_x - start_x == 1) && (first_y - start_y == -1))
* {
* globals.angle[index] = 1;
* }
* else if ((first_x - start_x == 1) && (first_y - start_y == 0))
* {
* globals.angle[index] = 2;
* }
* else if ((first_x - start_x == 1) && (first_y - start_y == 1))
* {
* globals.angle[index] = 3;
* }
* else if ((first_x - start_x == 0) && (first_y - start_y == 1))
* {
* globals.angle[index] = 4;
* }
* else if ((first_x - start_x == -1) && (first_y - start_y == 1))
* {
* globals.angle[index] = 5;
* }
* else if ((first_x - start_x == -1) && (first_y - start_y == 0))
* {
* globals.angle[index] = 6;
* }
* else if ((first_x - start_x == -1) && (first_y - start_y == -1))
* {
* globals.angle[index] = 7;
* }
*/
#endregion
#region Send Angle
/*
* if ((globals.angle[index] - globals.direction[index] == 0))
* {
* globals.SerialPortList[index].WriteLine("0");
* Console.WriteLine("0");
* }
* else if ((globals.angle[index] - globals.direction[index] == 1))
* {
* globals.SerialPortList[index].WriteLine("1");
* Console.WriteLine("1");
* }
* else if ((globals.angle[index] - globals.direction[index] == 2) || (globals.angle[index] - globals.direction[index] == -6))
* {
* globals.SerialPortList[index].WriteLine("2");
* Console.WriteLine("2");
* }
* else if ((globals.angle[index] - globals.direction[index] == 3) || (globals.angle[index] - globals.direction[index] == -5))
* {
* globals.SerialPortList[index].WriteLine("3");
* Console.WriteLine("3");
* }
* else if ((globals.angle[index] - globals.direction[index] == 4) || (globals.angle[index] - globals.direction[index] == -4))
* {
* globals.SerialPortList[index].WriteLine("4");
* Console.WriteLine("4");
* }
* else if ((globals.angle[index] - globals.direction[index] == 5) || (globals.angle[index] - globals.direction[index] == -3))
* {
* globals.SerialPortList[index].WriteLine("5");
* Console.WriteLine("5");
* }
* else if ((globals.angle[index] - globals.direction[index] == 6) || (globals.angle[index] - globals.direction[index] == -2))
* {
* globals.SerialPortList[index].WriteLine("6");
* Console.WriteLine("6");
* }
* else if ((globals.angle[index] - globals.direction[index] == 7) || (globals.angle[index] - globals.direction[index] == -1))
* {
* globals.SerialPortList[index].WriteLine("7");
* Console.WriteLine("7");
* }
* else if ((globals.angle[index] - globals.direction[index] == -7) && (globals.angle[index] - globals.direction[index] == 0))
* {
* globals.SerialPortList[index].WriteLine("8");
* Console.WriteLine("8");
* }
*/
#endregion
//Console.WriteLine("ugv.Id = " + ugv.Id + " direction[index] = " + globals.direction[index]);
#region Transmit Movement Commands
/*
* for (int i = 0; i < ugv.MovementCommandList.Count; i++)
* {
* globals.SerialPortList[index].WriteLine(ugv.MovementCommandList[i][0].ToString());
* }
* globals.SerialPortList[index].WriteLine("e");
*
* Console.WriteLine("TX Complete");
*/
#endregion
}
catch (TimeoutException)
{
Console.WriteLine("TimeOutException");
Console.Write("Buffer : ");
Console.WriteLine(globals.SerialPortList[index].ReadExisting());
}
//disConnect(serialport);
}
else if (write_data.Equals("q"))
{
globals.SerialPortList[index].WriteLine((write_data[0]).ToString());
}
else
{
//Console.WriteLine("UGV ID : " + ugv.Id);
//Console.WriteLine("State UGV ID : " + state.ugv.Id);
globals.SerialPortList[index].WriteLine((write_data[0]).ToString());
}
}
}
