internal void UpdateCarPosition(Player whichPlayer, CarPosition whatPosition)
{
if (ComputerPlayer != null)
{
ComputerPlayer.UpdatePosition(whatPosition);
}
}
private void drawRobotWay(float x, float y)//draw robot way
{
Pen Line = new Pen(Color.Blue, 2);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
plot.DrawLine(Line, previousX, previousY, (CarPosition.Width / 2 + (x / 10 * LenghX)), (CarPosition.Height / 2 - (y / 10 * LenghY)));
previousX = (CarPosition.Width / 2 + (x / 10 * LenghX));
previousY = (CarPosition.Height / 2 - (y / 10 * LenghY));
}
public Dictionary <string, string>[] Get()
{
if (CarPosition.ContainsKey("C1"))
{
var p = CarPosition["C1"];
var p2 = Go("L1");
CarPosition["C1"] = p2;
}
else
{
CarPosition.Add("C1", new Point(0, 0));
}
return(new Dictionary <string, string>[] { CarPosition.ToDictionary(x => x.Key, x => $"{x.Value.X},{x.Value.Y}") });
}
private void DrawingLine(int _x, int _y) //drawing line betweem center and rectangle
{
Pen DrawLine = new Pen(Color.Yellow, 3);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
if (_x >= 0)
{
plot.DrawLine(DrawLine, CarPosition.Width / 2, CarPosition.Height / 2, (CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY));
}
else
{
plot.DrawLine(DrawLine, CarPosition.Width / 2, CarPosition.Height / 2, (CarPosition.Width / 2 + _x * (int)LenghX) + (int)LenghX, (CarPosition.Height / 2 - _y * (int)LenghY));
}
plot.Dispose();
}
private void DrawingRectangle(int _x, int _y) //painting the rectangle acording to coordinats
{
Pen DrawRec = new Pen(Color.Green);
SolidBrush FillRec = new SolidBrush(Color.Green);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
if (_y >= 0)
{
Rectangle rect = new Rectangle((CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY) - (int)LenghY, CarPosition.Width / 20 - 1, CarPosition.Height / 20 - 1);
plot.DrawRectangle(DrawRec, rect);
plot.FillRectangle(FillRec, rect);
}
else
{
Rectangle rect = new Rectangle((CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY), CarPosition.Width / 20 - 1, CarPosition.Height / 20 - 1);
plot.DrawRectangle(DrawRec, rect);
plot.FillRectangle(FillRec, rect);
}
plot.Dispose();
}
public void UpdatePosition(CarPosition currentPosition)
{
CurrentCarPosition = currentPosition;
SetSpeed();
}
public void Go()
{
CurrentCarPosition = CarPosition.Start;
SetSpeed();
}
private void DrawingPlot()
{
Pen PlotLine, ExtraPlotLine;
PlotLine = new Pen(Color.Black, 2);
ExtraPlotLine = new Pen(Color.Black);
Graphics plot = CarPosition.CreateGraphics();
//drawing plot axis
plot.DrawLine(PlotLine, 0, CarPosition.Height / 2, CarPosition.Width, CarPosition.Height / 2);
plot.DrawLine(PlotLine, CarPosition.Width / 2, 0, CarPosition.Width / 2, CarPosition.Height);
//drawing Oy arrow
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 7), 10, (CarPosition.Width / 2), 0);
plot.DrawLine(PlotLine, (CarPosition.Width / 2), 0, ((CarPosition.Width / 2) + 7), 10);
//drawimg OX arrow
plot.DrawLine(PlotLine, (CarPosition.Width - 10), ((CarPosition.Height / 2) - 7), CarPosition.Width, (CarPosition.Height / 2));
plot.DrawLine(PlotLine, CarPosition.Width, (CarPosition.Height / 2), (CarPosition.Width - 10), ((CarPosition.Height / 2) + 7));
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
Font drawFont = new Font("Arial", 9);
SolidBrush drawBrush = new SolidBrush(Color.Black);
plot.DrawString("0", drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 2), (CarPosition.Height / 2) + 2));
plot.DrawString("Y", new Font("Arial", 11), drawBrush, new PointF(((CarPosition.Width / 2) - 22), 2));
plot.DrawString("X", new Font("Arial", 11), drawBrush, new PointF(CarPosition.Width - 15, ((CarPosition.Height / 2) - 22)));
float sum = 0;
for (int i = 1; i <= 10; i++)
{
sum = sum + LenghX;
//splitting Ox in 10 sections
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) + sum), ((CarPosition.Height / 2) + 5), ((CarPosition.Width / 2) + sum), ((CarPosition.Height / 2) - 5));
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - sum), ((CarPosition.Height / 2) + 5), ((CarPosition.Width / 2) - sum), ((CarPosition.Height / 2) - 5));
//putting the section number
plot.DrawString(Convert.ToString(i * 10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + sum - 5), ((CarPosition.Height / 2) + 6)));
plot.DrawString(Convert.ToString(i * -10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) - sum - 7), ((CarPosition.Height / 2) + 6)));
//drawing extra lines Ox
plot.DrawLine(ExtraPlotLine, ((CarPosition.Width / 2) + sum), 0, ((CarPosition.Width / 2) + sum), CarPosition.Height);
plot.DrawLine(ExtraPlotLine, ((CarPosition.Width / 2) - sum), 0, ((CarPosition.Width / 2) - sum), CarPosition.Height);
}
sum = 0;
for (int i = 1; i <= 10; i++)
{
sum = sum + LenghY;
//splitting Oy in 10 sections
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 5), ((CarPosition.Height / 2) + sum), ((CarPosition.Width / 2) + 5), ((CarPosition.Height / 2) + sum));
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 5), ((CarPosition.Height / 2) - sum), ((CarPosition.Width / 2) + 5), ((CarPosition.Height / 2) - sum));
//putting the section number
plot.DrawString(Convert.ToString(i * 10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 6), ((CarPosition.Height / 2) - sum - 5)));
plot.DrawString(Convert.ToString(i * -10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 6), ((CarPosition.Height / 2) + sum - 7)));
//drawing extra lines Oy
plot.DrawLine(ExtraPlotLine, 0, ((CarPosition.Height / 2) + sum), CarPosition.Width, ((CarPosition.Height / 2) + sum));
plot.DrawLine(ExtraPlotLine, 0, ((CarPosition.Height / 2) - sum), CarPosition.Width, ((CarPosition.Height / 2) - sum));
}
plot.Dispose();
}
private void button1_Click(object sender, EventArgs e)
{
float DeF_X = Convert.ToSingle(AxisX.Text);
float DeF_Y = Convert.ToSingle(AxisY.Text);
CarPosition.Refresh();
SSHInfo.Clear();
DrawingPlot();
DrawingRectangle((int)Math.Floor(DeF_X / 10), (int)Math.Floor(DeF_Y / 10));
DrawingLine((int)Math.Floor(DeF_X / 10), (int)Math.Floor(DeF_Y / 10));
previousX = CarPosition.Width / 2;
previousY = CarPosition.Height / 2;
RPi = new SshClient(IPBox.Text, UsernameBox.Text, PasswordBox.Text);
RPi.Connect();
shell = RPi.CreateShellStream("shell", 100, 100, 100, 100, 1024);
shell.Write("python3 /home/pi/Documents/fuzzy/fuzzy_script.py \n");
shell.Write(Convert.ToString(DeF_X) + "\n");
shell.Write(Convert.ToString(DeF_Y) + "\n");
shell.Flush();
bool fl = true;
int counter = 0;
while (fl)
{
if (shell != null && shell.DataAvailable)
{
string[] info;
string data = shell.Read();
if (counter > 56)
{
char[] deter = { '\r', '\n' };
info = data.Split(deter);
foreach (string s in info)
{
if (s == "")
{
continue;
}
SSHInfo.AppendText(s + "\r\n");
if (s == "DONE" || s == "Terminated")
{
fl = false;
shell.Close();
RPi.Disconnect();
break;
}
if (s[0] == 'D')
{
SensorReading.Clear();
SensorReading.ForeColor = Color.Black;
SensorReading.AppendText(s);
}
if (s[0] == 'P')
{
PWM.Clear();
PWM.AppendText(s);
}
if (s[0] == 'S')
{
Speed.Clear();
Speed.AppendText(s);
}
if (s[0] == 'T')
{
TraveledDistance.Clear();
TraveledDistance.AppendText(s);
}
if (s[0] == 'X')
{
drawRobotWay(Convert.ToSingle(s.Substring(4, s.IndexOf(':') - 4)), Convert.ToSingle(s.Substring(s.IndexOf(':') + 5)));
}
}
}
else
{
counter++;
data = null;
}
}
}
}
