void TaskThreadProcess()
{
while (true)
{
switch (state)
{
case TaskFinDeMatchStates.Init:
servoPositionsRequested = new Dictionary <ServoId, int>();
servoPositionsRequested.Add(ServoId.PorteDrapeau, (int)TaskDrapeauPositionsInit.Drapeau);
OnHerkulexPositionRequest(servoPositionsRequested);
state = TaskFinDeMatchStates.Attente;
break;
case TaskFinDeMatchStates.Attente:
break;
/**********************Ouverture drapeau**************************************/
case TaskFinDeMatchStates.FinDeMatch:
OnPilotageVentouse(5, 0);
OnPilotageVentouse(6, 0);
OnPilotageVentouse(7, 0);
state = TaskFinDeMatchStates.FinDeMatchAttente;
parentManager.OnEnableMotors(false);
servoPositionsRequested = new Dictionary <ServoId, int>();
servoPositionsRequested.Add(ServoId.PorteDrapeau, (int)TaskDrapeauPositionsOpen.Drapeau);
OnHerkulexPositionRequest(servoPositionsRequested);
break;
case TaskFinDeMatchStates.FinDeMatchAttente:
state = TaskFinDeMatchStates.Finished;
break;
/**********************Finished task**************************************/
case TaskFinDeMatchStates.Finished:
isFinished = true;
state = TaskFinDeMatchStates.Attente;
break;
}
Thread.Sleep(10);
}
}
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.robotCurrentLocation); //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);
}
}