//Execute l'action envoyée en paramètre
private void executeAction(NXTAction action)
{
char actiontd = action.Action;
NXTCase caseCur = currentCase();
Point newDir = ERROR;
if (actiontd != NXTMovement.PAUSE)
{
newDir = caseCur.goThrough(action, this.direction);
}
//Console.WriteLine(this.position);
if (newDir != ERROR && action.Movement != NXTMovement.UTURN)
{
this.position = this.position + newDir;
}
if (actiontd != NXTMovement.PAUSE)
{
this.direction = newDir;
}
if (actiontd == NXTAction.TAKE)
{
this.takePatient(this.position);
}
else if (actiontd == NXTAction.DROP)
{
this.dropPatient();
}
}
// Envoie le paquet de la prochaine action à effectuer (true), ou renvoie false si il n'y a plus d'actions
public bool SendNextAction(bool simulation = false)
{
NXTAction action = this.executeCommand();
if (action != null)
{
Console.WriteLine("Ordre envoyé: " + action.ToString());
if (action.Movement == NXTMovement.PAUSE)
{
Sleep(action.Temporisation);
}
if (!simulation && action.Action != NXTAction.PAUSE)
{
NXTPacket packet = new NXTPacket(action);
nxtHelper.SendNTXPacket(packet);
}
return(true);
}
else
{
return(false);
}
}
// --------------------------------------------------------------------------
// CONSTRUCTOR
// --------------------------------------------------------------------------
public RemoteWindow(NXTVehicule vehicule)
{
InitializeComponent();
this.vehicule = vehicule;
pStraight = new NXTAction(NXTMovement.STRAIGHT);
pLeft = new NXTAction(NXTMovement.INTER_LEFT);
pRight = new NXTAction(NXTMovement.INTER_RIGHT);
pUturn = new NXTAction(NXTMovement.UTURN);
}
public IA(NXTVehicule p_vehicule, bool p_simulation = false)
{
this.vehicule = p_vehicule;
this.circuit = vehicule.Circuit;
this.buffer = p_vehicule.Buffer;
pStraight = new NXTAction(NXTMovement.STRAIGHT);
pLeft = new NXTAction(NXTMovement.INTER_LEFT);
pRight = new NXTAction(NXTMovement.INTER_RIGHT);
pUturn = new NXTAction(NXTMovement.UTURN);
}
// Retourne la prochaine action à executer, ou null si il n'y a pas d'action
public NXTAction executeCommand()
{
NXTAction action = null;
if (!buffer.isEmpty())
{
action = buffer.Pop();
executeAction(action);
}
return(action);
}
// Bouton "drop"
private void Button6_Click(object sender, EventArgs e)
{
if (!vehicule.Buffer.isEmpty())
{
NXTAction a = vehicule.Buffer.Last().Duplicate();
a.Action = NXTAction.DROP;
vehicule.Buffer.RemoveAt(vehicule.Buffer.Count - 1);
vehicule.addToBuffer(a);
}
UpdateBuffer(vehicule.Buffer);
}
//Retourne le point correspondant au déplacement effectu� dans la case selon l'action donn�e en param�tre
public Point goThrough(NXTAction action, Point direction)
{
char movement = action.Movement;
if (movement == NXTMovement.STRAIGHT)
{
return(goStraight(direction));
}
else if (movement == NXTMovement.INTER_LEFT || movement == NXTMovement.INTER_RIGHT)
{
return(turnInter(direction, movement));
}
else if (movement == NXTMovement.UTURN)
{
return(goUTurn(direction));
}
return(NXTVehicule.ERROR);
}
// Ajoute une action au buffer du vehicule
public void addToBuffer(NXTAction action)
{
this.buffer.Add(action, false);
}
// --------------------------------------------------------------------------
// CONSTRUCTOR
// --------------------------------------------------------------------------
public NXTPacket(NXTAction action)
{
this.action = action;
}
protected NXTAction MovementToAction(NXTCase currentCase, Point currentPosition, Point currentDirection, Point destination, out Point newDirection)
{
NXTAction outInstance = null;
newDirection = currentDirection;
Point deplacement = destination - currentPosition;
Point caseDirection = OrientationToDirection(currentCase.CaseOrientation);
//Si le robot doit marquer une pause
if (destination.Equals(currentPosition))
{
outInstance = new NXTAction(NXTMovement.PAUSE);
}
// Si destination derriere direction actuelle, demi tour
if (destination.Equals(currentPosition - currentDirection))
{
outInstance = new NXTAction(NXTMovement.UTURN);
}
// Sinon si virage ou tout droit envoyer straight
else if (currentCase.TypeCase == Case.STRAIGHT || currentCase.TypeCase == Case.VIRAGE)
{
outInstance = new NXTAction(NXTMovement.STRAIGHT);
if (currentCase.TypeCase == Case.VIRAGE)
{
newDirection = currentCase.goThrough(new NXTAction(NXTMovement.STRAIGHT), currentDirection);
}
}
// sinon (intersection)
else
{
//Console.WriteLine("[INTERSECTION] Deplacement= " + deplacement);
// Si la case est dans la meme direction que le vehicule
if (caseDirection.Equals(currentDirection))
{
if (deplacement.Equals(Rotate90Clockwise(currentDirection)))
{
outInstance = new NXTAction(NXTMovement.INTER_RIGHT);
newDirection = Rotate90Clockwise(currentDirection);
}
else
{
outInstance = new NXTAction(NXTMovement.INTER_LEFT);
newDirection = Rotate90AntiClockwise(currentDirection);
}
}
else if (caseDirection.Equals(Rotate90Clockwise(currentDirection))) // r = tout droit
{
if (deplacement.Equals(Rotate90AntiClockwise(currentDirection)))
{
outInstance = new NXTAction(NXTMovement.INTER_LEFT);
newDirection = Rotate90AntiClockwise(currentDirection);
}
else
{
outInstance = new NXTAction(NXTMovement.INTER_RIGHT);
}
}
else if (caseDirection.Equals(Rotate90AntiClockwise(currentDirection))) // l = tout droit
{
if (deplacement.Equals(Rotate90Clockwise(currentDirection)))
{
outInstance = new NXTAction(NXTMovement.INTER_RIGHT);
newDirection = Rotate90Clockwise(currentDirection);
}
else
{
outInstance = new NXTAction(NXTMovement.INTER_LEFT);
}
}
}
//Console.WriteLine(currentCase + " @ " + currentPosition + " -> " + destination + " _ " + DirectionToOrientation(newDirection) + "\nResult= " + outInstance);
return(outInstance);
}
