public void setMovementOfBuggy(int index, BuggyMovement movement)
{
if (index < 0 || index >= 2)
{
return;
}
buggies[index].movement = movement;
}
static void DataReceivedHandler(object sender,
SerialDataReceivedEventArgs e)
{
String inmessage = port.ReadLine();
archive.Add(inmessage);
Console.WriteLine();
Console.WriteLine(inmessage);
if (inmessage.Length == 0 || '0' > inmessage[0] || '9' < inmessage[0])
{
Console.Write(">");
return;
}
int buggy = Int32.Parse(inmessage.Substring(0, 1));
inmessage = inmessage.Substring(3, inmessage.Length - 4).ToLower();
if (inmessage == "buggy turned on")
{
BuggyMovement movement = track.getMovementOfBuggy(buggy - 1);
double speed = track.getSpeedOfBuggy(buggy - 1);
Thread.Sleep(500);
if (movement == BuggyMovement.Stopped)
{
send(buggy, "stop");
}
else if (movement == BuggyMovement.FollowingLine)
{
send(buggy, "run");
}
else if (movement == BuggyMovement.TurningRight)
{
send(buggy, "turn right");
}
else if (movement == BuggyMovement.TurningLeft)
{
send(buggy, "turn left");
}
else if (movement == BuggyMovement.Rotating)
{
send(buggy, "rotate left");
}
Thread.Sleep(100);
send(buggy, "full power");
for (int i = 0; i < (1.0 - speed) / 0.1; i++)
{
Thread.Sleep(100);
send(buggy, "reduce power");
}
}
else if (inmessage == "buggy id set to 1")
{
track.setOrientationOfBuggy(0, BuggyOrientation.Clockwise);
track.setSectionForBuggy(0, 3);
Console.WriteLine("Buggy 1 connected!");
}
else if (inmessage == "buggy id set to 2")
{
track.setOrientationOfBuggy(1, BuggyOrientation.CounterClockwise);
track.setSectionForBuggy(1, 3);
Console.WriteLine("Buggy 2 connected!");
}
else if (inmessage == "buggy running")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.FollowingLine);
}
else if (inmessage == "buggy stopping")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.Stopped);
}
else if (inmessage == "buggy turning right")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.TurningRight);
}
else if (inmessage == "buggy turning left")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.TurningLeft);
}
else if (inmessage == "buggy rotating left")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.Rotating);
}
else if (inmessage == "buggy reducing power")
{
track.setSpeedOfBuggy(buggy - 1, track.getSpeedOfBuggy(buggy - 1) - 0.1);
}
else if (inmessage == "buggy increasing power")
{
track.setSpeedOfBuggy(buggy - 1, track.getSpeedOfBuggy(buggy - 1) + 0.1);
}
else if (inmessage == "buggy half power")
{
track.setSpeedOfBuggy(buggy - 1, 0.5);
}
else if (inmessage == "buggy full power")
{
track.setSpeedOfBuggy(buggy - 1, 1.0);
}
else if (inmessage == "passed gantry")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.FollowingLine);
track.setSectionForBuggy(buggy - 1, track.getNextSectionForBuggy(buggy - 1, false));
printTrack();
}
else if (inmessage == "buggy parked")
{
track.setMovementOfBuggy(buggy - 1, BuggyMovement.Stopped);
track.setSectionForBuggy(buggy - 1, track.getNextSectionForBuggy(buggy - 1, true));
printTrack();
if (mode == OperationMode.Bronze)
{
Console.WriteLine("Bronze challenge complete!");
}
else if (mode == OperationMode.Silver)
{
if (buggy == 1)
{
Console.WriteLine("Silver challenge complete!");
}
else if (buggy == 2)
{
send(1, "leave gantry");
}
}
else if (mode == OperationMode.Gold)
{
if (buggy == 1)
{
Console.WriteLine("Gold challenge complete!");
}
else if (buggy == 2)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
}
}
else if (inmessage.StartsWith("detected gantry"))
{
int gantry = Int32.Parse(inmessage.Substring(16));
track.setMovementOfBuggy(buggy - 1, BuggyMovement.Stopped);
track.setGantryForBuggy(buggy - 1, gantry - 1);
printTrack();
if (mode == OperationMode.Bronze)
{
if (gantry == 2)
{
buggy1rounds++;
}
if (buggy1rounds < 2)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
else
{
Thread.Sleep(500);
send(1, "park right");
}
}
else if (mode == OperationMode.Silver)
{
if (buggy == 1)
{
if (gantry == 0)
{
gantry = track.getNextGantryForBuggy(0, false);
}
if (gantry == 1)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
else if (gantry == 2)
{
buggy1rounds++;
if (buggy1rounds == 1)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
else if (buggy1rounds == 2)
{
Thread.Sleep(500);
send(1, "park right");
}
}
else if (gantry == 3)
{
Thread.Sleep(500);
send(2, "run");
}
}
else if (buggy == 2)
{
if (gantry == 0)
{
gantry = track.getNextGantryForBuggy(1, false);
}
if (gantry == 2)
{
Thread.Sleep(500);
send(2, "leave gantry");
}
else if (gantry == 1)
{
Thread.Sleep(500);
send(2, "park left");
}
}
}
else if (mode == OperationMode.Gold)
{
if (buggy == 1)
{
if (gantry == 0)
{
gantry = track.getNextGantryForBuggy(0, false);
}
if (gantry == 1)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
else if (gantry == 2)
{
buggy1rounds++;
Console.WriteLine("Buggy 1 completed round " + buggy1rounds);
if (buggy1rounds < goldtarget)
{
Thread.Sleep(500);
send(1, "leave gantry");
}
else
{
Thread.Sleep(500);
send(1, "park right");
}
}
else if (gantry == 3)
{
Thread.Sleep(500);
send(2, "run");
}
}
else if (buggy == 2)
{
if (gantry == 0)
{
gantry = track.getNextGantryForBuggy(1, false);
}
if (gantry == 2)
{
Thread.Sleep(500);
send(2, "leave gantry");
}
else if (gantry == 1)
{
buggy2rounds++;
Thread.Sleep(500);
send(2, "park left");
}
}
}
}
else if (inmessage == "obstacle detected")
{
track.setBuggyHasObstacle(buggy - 1, true);
}
else if (inmessage == "obstacle gone")
{
track.setBuggyHasObstacle(buggy - 1, false);
}
Console.Write(">");
}