private void numericUD_CheckPoint_Click(object sender, EventArgs e)
{
//
int idx = (int)numericUD_CheckPoint.Value;
LocationSystem LocSys = BrainCtrl.LocSys;
LocSys.RTS.SetCheckPointIndex(idx);
}
private void HandleStartGameEvent(GameStartEventInfo gameStartEventInfo)
{
LocationSystem.Start();
DialogueSystem.Start();
EntitySystem.Start();
ProgressSystem.Start();
loadingScreen.SetActive(false);
StartGame(gameStartEventInfo.progress);
}
/// <summary>
/// チェックポイント削減
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ButtonCheckPointReduction_Click(object sender, EventArgs e)
{
LocationSystem LocSys = BrainCtrl.LocSys;
int beforPoints = LocSys.RTS.rosCheckPoint.Count;
int reductedPoints = LocSys.RTS.CheckPointReduction(10.0 * Math.PI / 180.0);
MessageBox.Show("チェックポイント\n 削減前:" + beforPoints.ToString()
+ "\n 削減後:" + reductedPoints.ToString()
, "チェックポイント削減");
}
private HasLocation FindSafeLocation(LocationSystem locationSystem, Random rng)
{
var x = rng.Next(0, this.boundsX);
var y = rng.Next(0, this.boundsY);
while (locationSystem.IsEntityAt(x, y))
{
x = rng.Next(0, this.boundsX);
y = rng.Next(0, this.boundsY);
}
return(new HasLocation(x, y, this.boundsX, this.boundsY));
}
/// <summary>
/// 初期化
/// </summary>
public void Init(MapData mapData)
{
ModeCtrl = new ModeControl();
// チェックポイントへ向かう
ModeCtrl.SetActionMode(ModeControl.ActionMode.CheckPoint);
// Locpresump
// マップ画像ファイル名、実サイズの横[mm], 実サイズ縦[mm] (北向き基準)
LocSys = new LocationSystem(mapData);
UpdateCnt = 0;
// 現在座標リセット
Reset_Rooting(true);
}
/// <summary>
/// LRF用のガイドライン描画
/// </summary>
/// <param name="g"></param>
/// <param name="LocSys"></param>
/// <param name="ctrX"></param>
/// <param name="ctrY"></param>
/// <param name="scale"></param>
public void LRF_Draw_GuideLine(Graphics g, ref LocationSystem LocSys, int ctrX, int ctrY, double scale)
{
// ガイド描画
// 30mを2m区切りで描画
for (int i = 1; i <= 30 / 2; i++)
{
int cirSize = (int)((((i * 2000) * 2) / (LocSys.MapTom * 1000.0)) * scale);
g.DrawPie(Pens.LightGray,
(ctrX - cirSize / 2), (ctrY - cirSize / 2),
cirSize, cirSize,
-135 - 90, 270);
g.DrawString((i * 2).ToString("F1") + "m", fntMini, Brushes.LightGray, (ctrX - cirSize / 2), (ctrY - cirSize / 2));
}
}
/// <summary>
/// 自律走行モード
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void cb_Autonomous_CheckedChanged(object sender, EventArgs e)
{
if (cb_StartAutonomous.Checked)
{
LocationSystem LocSys = BrainCtrl.LocSys;
bRunAutonomous = true;
cb_StartAutonomous.BackColor = Color.LimeGreen;
}
else
{
// 停止
bRunAutonomous = false;
CersioCt.SendCommand_Stop();
cb_StartAutonomous.BackColor = SystemColors.Window;
}
}
private static void ShowEntity(EntityEventInfo entityEventInfo)
{
LocationSystem.HideNamePanel();
if (entityEventInfo.entity.Texture == null)
{
currentEntity = entityEventInfo.entity;
APIHandler.getAPIHandler().FetchImage(entityEventInfo.entity.imagePath, FetchImageCallback);
}
else
{
entityImage.sprite = Sprite.Create(
entityEventInfo.entity.Texture,
new Rect(0, 0, entityEventInfo.entity.Texture.width, entityEventInfo.entity.Texture.height),
new Vector2(0.5f, 0.5f));
entityImage.SetMaterialDirty();
UIHelperClass.ShowPanel(entityImageObject, true);
}
}
public static void TurnOver(int entity)
{
//Log.Message("Turn over for " + DescriptionSystem.GetNameWithID(entity));
var health = EntityManager.GetComponent <HealthComponent>(entity);
// entity dead, don't do anything
if (health.Amount <= 0)
{
return;
}
TurnOverEvent?.Invoke(entity);
if (entity == PlayerID)
{
CurrentFloor.CalculateTileVisibility();
LocationSystem.UpdateDistanceMap(PlayerID);
PlayerTurnOver = true;
TurnCount++;
}
}
protected override void ResetState()
{
locations = null;
}
/// <summary>
/// PictureBox内へのワールドマップ描画
/// </summary>
/// <param name="g"></param>
/// <param name="CersioCt"></param>
/// <param name="BrainCtrl"></param>
public void AreaMap_Draw_WorldMap(Graphics g, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY)
{
// 全体マップ描画
float viewScale = 1.0f;// viewScaleWorld;
MapData mapData = LocSys.mapData;
// マップ外カラー
g.FillRectangle(Brushes.DarkGray, 0, 0, picbox_AreaMap.Width, picbox_AreaMap.Height);
{
float wdAspect = (float)LocSys.mapBmp.Width / (float)worldMapBmp.Width;
float htAspect = (float)LocSys.mapBmp.Height / (float)worldMapBmp.Height;
if (wdAspect < htAspect)
{
viewScale = (float)(1.0 / htAspect);
}
else
{
viewScale = (float)(1.0 / wdAspect);
}
}
g.ResetTransform();
//g.TranslateTransform(-ctrX, -ctrY, MatrixOrder.Append);
//g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
//g.ScaleTransform(viewScale, viewScale, MatrixOrder.Append);
g.TranslateTransform((float)(-scrollX),
(float)(-scrollY),
MatrixOrder.Append);
if (null != worldMapBmp)
{
g.DrawImage(worldMapBmp, 0, 0);
}
g.ResetTransform();
g.TranslateTransform((float)(-(mapData.MapOrign.x / mapData.Resolution) * viewScale) - scrollX,
(float)(-(mapData.MapOrign.y / mapData.Resolution) * viewScale) - scrollY,
MatrixOrder.Append);
//g.ResetTransform();
// 各マーカーの位置を描画
//LocSys.DrawWorldMap(g, viewScale);
DrawMaker(g, viewScale, Brushes.Red, new DrawMarkPoint(LocSys.R1, LocSys), 10);
// チェックポイント描画
{
double dir = 0;
DrawMarkPoint prvPos = new DrawMarkPoint(LocSys.R1, LocSys);
for (int i = LocSys.RTS.GetCheckPointIdx(); i < LocSys.RTS.GetNumCheckPoints(); i++)
{
Vector3 tgtPos = LocSys.RTS.GetCheckPoint(i);
//BrainCtrl.RTS.getNowTargetDir(ref dir);
DrawMarkPoint tgtMk = new DrawMarkPoint(new MarkPoint(tgtPos.x, tgtPos.y, dir), LocSys);
// ターゲットまでのライン
DrawMakerLine(g, viewScale, prvPos, tgtMk, Pens.Olive, 1);
g.DrawString(i.ToString("D2"), fntMini, Brushes.Green, (int)(tgtMk.x * viewScale), (int)(tgtMk.y * viewScale));
prvPos.x = tgtMk.x;
prvPos.y = tgtMk.y;
}
}
}
/*
* /// <summary>
* /// エリアマップ生成
* /// </summary>
* /// <param name="worldBMP"></param>
* /// <param name="picbox_AreaMap"></param>
* /// <returns></returns>
* public Bitmap MakePictureBoxAreaMap(Bitmap worldBMP, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY)
* {
* {
* //int picW = (int)(viewScale * worldBMP.Width + 0.5);
* //int picH = (int)(viewScale * worldBMP.Height + 0.5);
*
* areaMapBmp = new Bitmap(picbox_AreaMap.Width, picbox_AreaMap.Height);
* Graphics g = Graphics.FromImage(areaMapBmp);
*
* DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
*
* g.ResetTransform();
* g.TranslateTransform( (float)(-drawCenter.x - (worldBMP.Width * 0.5) + (picbox_AreaMap.Width*0.5)) - scrollX,
* (float)(-drawCenter.y - (worldBMP.Height * 0.5) + (picbox_AreaMap.Height * 0.5)) - scrollY,
* MatrixOrder.Append);
* //g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
* //g.ScaleTransform(viewScale, viewScale, MatrixOrder.Append);
*
* g.DrawImage(worldBMP, 0, 0);
*
* g.Dispose();
* }
*
* return areaMapBmp;
* }
*/
/// <summary>
/// PictureBox内へのマップ描画(等倍)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
public void AreaMap_Draw_Area(Graphics g, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY, int selCpIndex, bool bHandleTarget)
{
Bitmap worldBMP = LocSys.mapBmp;
MapData mapData = LocSys.mapData;
//Bitmap areaBMP = MakePictureBoxAreaMap(worldBMP, picbox_AreaMap, ref LocSys, scrollX, scrollY);
//float viewScale = 1.0f;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = GetMapWndowCenterX(picbox_AreaMap); // (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = GetMapWndowCenterY(picbox_AreaMap); //(picbox_AreaMa.pHeight * 0.5) + (picbox_AreaMap.Height * 0.1);
// エリアマップ描画
g.ResetTransform();
g.TranslateTransform((float)(-drawCenter.x + (mapData.MapOrign.x / mapData.Resolution) + viewCenterX) - scrollX,
(float)(-drawCenter.y + (mapData.MapOrign.y / mapData.Resolution) + viewCenterY) - scrollY,
MatrixOrder.Append);
//g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
//g.ScaleTransform(1.0f, -1.0f, MatrixOrder.Append);
g.InterpolationMode = InterpolationMode.NearestNeighbor;
g.DrawImage(worldBMP, 0, 0);
// ------------------------
g.ResetTransform();
g.TranslateTransform((float)(-drawCenter.x + viewCenterX) - scrollX,
(float)(-drawCenter.y + viewCenterY) - scrollY,
MatrixOrder.Append);
//g.ScaleTransform(1.0f, -1.0f, MatrixOrder.Append);
// 現在位置描画
DrawMaker(g, Brushes.Red, new DrawMarkPoint(LocSys.R1, LocSys), 8);
// チェックポイント描画
{
double prvPosX = LocSys.R1.x;
double prvPosY = LocSys.R1.y;
for (int i = LocSys.RTS.GetCheckPointIdx(); i < LocSys.RTS.GetNumCheckPoints(); i++)
{
//Vector3 checkPnt = LocSys.RTS.GetCheckPoint(i);
Vector3 checkPnt = LocSys.RTS.GetCheckPointToWayPoint(i);
//BrainCtrl.RTS.getNowTargetDir(ref dir);
DrawMarkPoint checkPntMk = new DrawMarkPoint(new MarkPoint(checkPnt.x, checkPnt.y, 0.0), LocSys);
checkPntMk.theta = -checkPnt.z;
if (selCpIndex == i)
{
// 選択中のチェックポイント
DrawMaker(g, Brushes.Purple, checkPntMk, 8);
}
else
{
DrawMaker(g, Brushes.GreenYellow, checkPntMk, 8);
}
// ターゲットまでのライン
DrawMakerLine(g, 1.0f,
new DrawMarkPoint(new MarkPoint(prvPosX, prvPosY, 0), LocSys),
checkPntMk,
Pens.Olive, 1);
g.DrawString(i.ToString("D2"), fntMini, Brushes.Green, checkPntMk.x, checkPntMk.y);
prvPosX = checkPnt.x;
prvPosY = checkPnt.y;
}
}
// ターゲット描画(ハンドル操作がVRの場合)
if (bHandleTarget)
{
Vector3 nowtgtPos = LocSys.RTS.GetNowTargetPositon();
DrawMarkPoint tgtMk = new DrawMarkPoint(new MarkPoint(nowtgtPos.x, nowtgtPos.y, 0.0), LocSys);
DrawMakerNoDir(g, Brushes.DeepPink, tgtMk, 6);
// ターゲットまでのライン
DrawMakerLine(g, 1.0f,
new DrawMarkPoint(LocSys.R1, LocSys),
tgtMk,
Pens.DeepPink, 1);
}
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
graphics.PreferredBackBufferWidth = Util.ScreenWidth;
graphics.PreferredBackBufferHeight = Util.ScreenHeight;
graphics.ApplyChanges();
Util.ContentPath = Content.RootDirectory;
Log.Init(AppDomain.CurrentDomain.BaseDirectory);
Log.Message("Seed: " + Seed);
var gameData = GameData.Instance = new GameData();
var dataPath = Util.ContentPath + "/GameData/";
gameData.LoadEntities(EntityType.Terrain, dataPath + "Entities/Terrains");
gameData.LoadEntities(EntityType.Structure, dataPath + "Entities/Structures");
gameData.LoadEntities(EntityType.Character, dataPath + "Entities/Characters");
gameData.LoadEntities(EntityType.Item, dataPath + "Entities/Items");
var herb = gameData.CreateItem("randomHerb");
var herbSubstance = EntityManager.GetComponent <SubstanceComponent>(herb);
gameData.LoadTilesets(dataPath + "tilesets.json");
gameData.LoadRoomTemplates(dataPath);
//Floor test = new Floor(Content.RootDirectory + "/map.txt");
Floor testFloor = new Floor(500, 500);
//testFloor.GenerateSimple();
testFloor.GenerateGraphBased();
//EntityManager.Dump();
Util.CurrentFloor = testFloor;
Util.CurrentFloor.CalculateTileVisibility();
// Delete entities that were removed during generation
EntityManager.CleanUpEntities();
//Log.Data(DescriptionSystem.GetDebugInfoEntity(Util.PlayerID));
InputManager input = InputManager.Instance;
// instantiate all the systems
Log.Message("Loading Systems...");
inputSystem = new InputSystem();
movementSystem = new MovementSystem();
renderSystem = new RenderSystem(GraphicsDevice);
collisionSystem = new CollisionSystem();
healthSystem = new HealthSystem();
combatSystem = new CombatSystem();
npcBehaviourSystem = new NPCBehaviourSystem();
interactionSystem = new InteractionSystem();
itemSystem = new ItemSystem();
uiSystem = new UISystem();
statSystem = new StatSystem();
craftingSystem = new CraftingSystem();
// toggle FOW
renderSystem.FogOfWarEnabled = true;
// hook up all events with their handlers
Log.Message("Registering Event Handlers...");
input.MovementEvent += movementSystem.HandleMovementEvent;
input.InventoryToggledEvent += uiSystem.HandleInventoryToggled;
input.InventoryCursorMovedEvent += uiSystem.HandleInventoryCursorMoved;
input.PickupItemEvent += itemSystem.PickUpItem;
input.InteractionEvent += interactionSystem.HandleInteraction;
input.ItemUsedEvent += itemSystem.UseItem;
input.ItemConsumedEvent += itemSystem.ConsumeItem;
// crafting
input.AddItemAsIngredientEvent += craftingSystem.AddIngredient;
input.CraftItemEvent += craftingSystem.CraftItem;
input.ResetCraftingEvent += craftingSystem.ResetCrafting;
interactionSystem.ItemAddedEvent += itemSystem.AddItem;
itemSystem.HealthGainedEvent += healthSystem.HandleGainedHealth;
itemSystem.HealthLostEvent += healthSystem.HandleLostHealth;
itemSystem.StatChangedEvent += statSystem.ChangeStat;
npcBehaviourSystem.EnemyMovedEvent += movementSystem.HandleMovementEvent;
movementSystem.CollisionEvent += collisionSystem.HandleCollision;
movementSystem.BasicAttackEvent += combatSystem.HandleBasicAttack;
movementSystem.InteractionEvent += interactionSystem.HandleInteraction;
craftingSystem.ItemAddedEvent += itemSystem.AddItem;
Util.TurnOverEvent += healthSystem.RegenerateEntity;
Util.TurnOverEvent += statSystem.TurnOver;
combatSystem.HealthLostEvent += healthSystem.HandleLostHealth;
Log.Message("Loading Keybindings...");
string keybindings = File.ReadAllText(Util.ContentPath + "/GameData/keybindings.json");
input.LoadKeyBindings(keybindings);
input.EnterDomain(InputManager.CommandDomain.Exploring); // start out with exploring as bottom level command domain
input.ControlledEntity = Util.PlayerID;
base.Initialize();
Log.Message("Initialization completed!");
//CraftableComponent.foo();
int testRock = EntityManager.CreateEntity(new List <IComponent>()
{
new DescriptionComponent()
{
Name = "Rock", Description = "You can't stop the rock!"
},
new ItemComponent()
{
MaxCount = 5, Count = 3, Value = 1, Weight = 10
}
}, EntityType.Item);
// fill inventory with test items
itemSystem.AddItems(Util.PlayerID, new int[]
{
//testRock,
GameData.Instance.CreateItem("healthPotion"),
GameData.Instance.CreateItem("healthPotion"),
GameData.Instance.CreateItem("healthPotion"),
GameData.Instance.CreateItem("poisonPotion"),
GameData.Instance.CreateItem("poisonPotion"),
GameData.Instance.CreateItem("elementalPotion")
});
//EntityManager.Dump();
//EntityManager.RemoveEntity(testBush);
//EntityManager.CleanUpEntities();
//EntityManager.Dump();
//Log.Data(DescriptionSystem.GetDebugInfoEntity(Util.GetPlayerInventory().Items[0]));
LocationSystem.UpdateDistanceMap(Util.PlayerID);
}
/// <summary>
/// 描画と親密な定期処理
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void tm_Update_Tick(object sender, EventArgs e)
{
if (null != BrainCtrl && null != BrainCtrl.LocSys)
{
LocationSystem LocSys = BrainCtrl.LocSys;
// tm_UpdateHw_Tick
{
// 実走行時、bServerと接続が切れたら再接続
if (updateHwCnt % 100 == 0)
{
// 切断状態なら、自動接続
if (!CersioCt.TCP_IsConnected())
{
//
//CersioCt.Connect_bServer_Async(bServerEmuAddr);
CersioCt.Connect_bServer_Async(bServerAddr);
}
}
// ロータリーエンコーダ（タイヤ回転数）情報
if (CersioCt.bhwRE)
{
//lbl_RErotR.Text = CersioCt.hwRErotR.ToString("f1");
//lbl_RErotL.Text = CersioCt.hwRErotL.ToString("f1");
dataGridViewReceiveData.Rows[(int)GeridRow.RE].Cells[1].Value = "L:" + CersioCt.hwRErotL.ToString("f1");
dataGridViewReceiveData.Rows[(int)GeridRow.RE].Cells[2].Value = "R:" + CersioCt.hwRErotR.ToString("f1");
}
// AMCL
LocSys.Input_ROSPosition(CersioCt.hwAMCL_X, CersioCt.hwAMCL_Y, CersioCt.hwAMCL_Ang);
if (CersioCt.bhwTrgAMCL)
{
// 受信再開時の初期化
LocSys.Reset_ROSPosition(CersioCt.hwAMCL_X, CersioCt.hwAMCL_Y, CersioCt.hwAMCL_Ang);
CersioCt.bhwTrgAMCL = false;
}
// VehicleRunner Plot
{
PointD wlPos = new PointD();
REncoderToMap.CalcWheelPlotXY(ref wlR, ref wlL, ref reAng,
CersioCt.hwRErotR,
CersioCt.hwRErotL,
reOldR,
reOldL);
wlPos.X = (wlR.X + wlL.X) * 0.5;
wlPos.Y = (wlR.Y + wlL.Y) * 0.5;
LocSys.Input_REPosition(wlPos.X, wlPos.Y, -reAng);
reOldR = CersioCt.hwRErotR;
reOldL = CersioCt.hwRErotL;
}
// LED状態 画面表示
if (CersioCt.LEDCtrl.ptnHeadLED == -1)
{
//lbl_LED.Text = "ND";
dataGridViewReceiveData.Rows[(int)GeridRow.LED].Cells[1].Value = "None";
}
else
{
string ledStr = CersioCt.LEDCtrl.ptnHeadLED.ToString();
if (CersioCt.LEDCtrl.ptnHeadLED >= 0 && CersioCt.LEDCtrl.ptnHeadLED < LEDControl.LEDMessage.Count())
{
ledStr += "," + LEDControl.LEDMessage[CersioCt.LEDCtrl.ptnHeadLED];
}
dataGridViewReceiveData.Rows[(int)GeridRow.LED].Cells[1].Value = ledStr;
/*
* if (!ledStr.Equals(lbl_LED.Text))
* {
* lbl_LED.Text = ledStr;
* }*/
}
// 現在座標 表示
//lbl_REPlotX.Text = LocSys.GetResultLocationX().ToString("F2");
//lbl_REPlotY.Text = LocSys.GetResultLocationY().ToString("F2");
//lbl_REPlotDir.Text = LocSys.GetResultAngle().ToString("F2");
dataGridViewReceiveData.Rows[(int)GeridRow.Plot].Cells[1].Value = LocSys.GetResultLocationX().ToString("F2");
dataGridViewReceiveData.Rows[(int)GeridRow.Plot].Cells[2].Value = LocSys.GetResultLocationY().ToString("F2");
dataGridViewReceiveData.Rows[(int)GeridRow.Plot].Cells[3].Value = LocSys.GetResultAngle().ToString("F2");
// CheckPointIndex
if (BrainCtrl.LocSys.RTS.TrgCheckPoint())
{
// チェックポイント通過時に表示更新
numericUD_CheckPoint.Value = BrainCtrl.LocSys.RTS.GetCheckPointIdx();
}
// BoxPC接続状態確認
if (CersioCt.TCP_IsConnected())
{
// 接続ＯＫ
tb_SendData.BackColor = Color.Lime;
tb_ResiveData.BackColor = Color.Lime;
lb_BServerConnect.Text = "bServer [" + CersioCt.TCP_GetConnectedAddr() + "] 接続OK";
lb_BServerConnect.BackColor = Color.Lime;
}
else
{
// 接続ＮＧ
tb_SendData.BackColor = SystemColors.Window;
tb_ResiveData.BackColor = SystemColors.Window;
lb_BServerConnect.Text = "bServer 未接続";
lb_BServerConnect.BackColor = SystemColors.Window;
}
// 送受信文字 画面表示
if (!string.IsNullOrEmpty(CersioCt.hwResiveStr))
{
tb_ResiveData.Text = CersioCt.hwResiveStr.Replace('\n', ' ');
CersioCt.hwResiveStr = "";
}
if (!string.IsNullOrEmpty(CersioCt.hwSendStr))
{
tb_SendData.Text = CersioCt.hwSendStr.Replace('\n', ' ');
CersioCt.hwSendStr = "";
}
updateHwCnt++;
}
// マップ上の現在位置更新
// 現在位置を、AMCL,REPlotどちらを使うか
LocationSystem.LOCATION_SENSOR selSensor = (rb_SelAMCL.Checked ? LocationSystem.LOCATION_SENSOR.AMCL : LocationSystem.LOCATION_SENSOR.REPlot);
BrainCtrl.LocSys.update_NowLocation(selSensor);
// 自律走行(緊急ブレーキ、壁よけ含む)処理 更新
double speedKmh = (double)numericUpDownCtrlSpeed.Value;
BrainCtrl.AutonomousProc(bRunAutonomous, cb_MoveBaseControl.Checked, speedKmh);
// 距離計
//tb_Trip.Text = (LocSys.GetResultDistance_mm() * (1.0 / 1000.0)).ToString("f2");
tb_Trip.Text = (CersioCt.nowLengthMm * (1.0 / 1000.0)).ToString("f2");
}
// スピード表示
tb_RESpeed.Text = ((CersioCt.nowSpeedMmSec * 3600.0) / (1000.0 * 1000.0)).ToString("f2"); // Km/Hour
//tb_RESpeed.Text = (CersioCt.SpeedMmSec).ToString("f2"); // mm/Sec
// ACコマンド送信した ハンドル、アクセル値 表示
tb_AccelVal.Text = CersioCt.sendAccelValue.ToString("f2");
tb_HandleVal.Text = CersioCt.sendHandleValue.ToString("f2");
//labelMoveBaseX.Text = CersioCt.hwMVBS_X.ToString("f2");
//labelMoveBaseAng.Text = CersioCt.hwMVBS_Ang.ToString("f2");
// グリッド表示
dataGridViewReceiveData.Rows[(int)GeridRow.MoveBase].Cells[1].Value = CersioCt.hwMVBS_X.ToString("f2");
dataGridViewReceiveData.Rows[(int)GeridRow.MoveBase].Cells[2].Value = CersioCt.hwMVBS_Y.ToString("f2");
dataGridViewReceiveData.Rows[(int)GeridRow.MoveBase].Cells[3].Value = CersioCt.hwMVBS_Ang.ToString("f2");
dataGridViewReceiveData.Rows[(int)GeridRow.CmdVel].Cells[1].Value = CersioCt.nowAccValue.ToString("f2");
dataGridViewReceiveData.Rows[(int)GeridRow.CmdVel].Cells[2].Value = "0.00";
dataGridViewReceiveData.Rows[(int)GeridRow.CmdVel].Cells[3].Value = CersioCt.nowHandleValue.ToString("f2");
dataGridViewReceiveData.Rows[(int)GeridRow.ActionMode].Cells[1].Value = BrainCtrl.ModeCtrl.GetActionModeString();
dataGridViewReceiveData.Rows[(int)GeridRow.StackCnt].Cells[1].Value = BrainCtrl.noPowerTrainCnt.ToString();
dataGridViewReceiveData.Rows[(int)GeridRow.StackCnt].Cells[2].Value = BrainCtrl.noFowrdCnt.ToString();
// 自律走行情報
if (bRunAutonomous)
{
// 動作内容TextBox表示
lbl_ActionMode.Text = "自律走行[" + BrainCtrl.ModeCtrl.GetActionModeString() + "]";
}
else
{
lbl_ActionMode.Text = "モニタリング モード";
}
// 画面描画
PictureUpdate();
}
private void picbox_AreaMap_MouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
//
if (bMouseMove)
{
viewMoveAddX = (MouseStX - e.X);
viewMoveAddY = (MouseStY - e.Y);
}
else if (selCpIndex != -1)
{
LocationSystem LocSys = BrainCtrl.LocSys;
int msPosX = (e.X - MouseStX);
int msPosY = (e.Y - MouseStY);
MarkPoint _checkPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
Vector3 baseCpPos = new Vector3((moveCpPos.x + _checkPos.x)
, (moveCpPos.y + _checkPos.y)
, 0.0);
Vector3 nowCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
if (nowCpPos != baseCpPos)
{
LocSys.RTS.SetCheckPoint(selCpIndex, baseCpPos);
}
}
}
else if (e.Button == MouseButtons.Right)
{
}
else
{
if (checkBoxCheckPointModifi.Checked)
{
//if (radioButtonPointMove.Checked && (Control.ModifierKeys & Keys.Control) == Keys.Control)
{
LocationSystem LocSys = BrainCtrl.LocSys;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = (picbox_AreaMap.Height * 0.5) + (picbox_AreaMap.Height * 0.1);
int msPosX = e.X - (int)((-drawCenter.x + viewCenterX) - viewScrollX);
int msPosY = e.Y - (int)((-drawCenter.y + viewCenterY) - viewScrollY);
MarkPoint mouseRosPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
{
// 移動チェックポイント選択
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
// 移動チェックポイント取得
moveCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
}
}
}
}
}
}
// -----------------------------------------------------------------
// マップスクロール
private void picbox_AreaMap_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left /*&& selAreaMapMode == MAP_MODE.AREA_MAP*/)
{
//どの修飾子キー(Shift、Ctrl、およびAlt)が押されているか
/*
* if ((Control.ModifierKeys & Keys.Shift) == Keys.Shift)
* Console.WriteLine("Shiftキーが押されています。");
* if ((Control.ModifierKeys & Keys.Control) == Keys.Control)
* Console.WriteLine("Ctrlキーが押されています。");
* if ((Control.ModifierKeys & Keys.Alt) == Keys.Alt)
* Console.WriteLine("Altキーが押されています。");
*/
if (checkBoxCheckPointModifi.Checked)
{
LocationSystem LocSys = BrainCtrl.LocSys;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = formDraw.GetMapWndowCenterX(picbox_AreaMap); // (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = formDraw.GetMapWndowCenterY(picbox_AreaMap); //(picbox_AreaMap.Height * 0.5) + (picbox_AreaMap.Height * 0.1);
int msPosX = e.X - (int)((-drawCenter.x + viewCenterX) - viewScrollX);
int msPosY = e.Y - (int)((-drawCenter.y + viewCenterY) - viewScrollY);
MarkPoint mouseRosPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
if (radioButtonPointMove.Checked && (Control.ModifierKeys & Keys.Control) == Keys.Control)
{
// 移動チェックポイント選択
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
// 移動チェックポイント取得
moveCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
}
else
{
// スクロール
bMouseMove = true;
}
}
else if (radioButtonPointAdd.Checked)
{
// チェックポイント新規追加
Vector3 baseCpPos = new Vector3(mouseRosPos.x, mouseRosPos.y, 0.0);
LocSys.RTS.AddCheckPoint((int)numericUD_CheckPoint.Value, baseCpPos);
}
else if (radioButtonPointDelete.Checked)
{
// チェックポイント削除
Vector3 baseCpPos = new Vector3(mouseRosPos.x, mouseRosPos.y, 0.0);
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
LocSys.RTS.RemoveCheckPoint(selCpIndex);
}
selCpIndex = -1;
}
else
{
// スクロール
bMouseMove = true;
}
}
else
{
// スクロール
bMouseMove = true;
}
MouseStX = e.X;
MouseStY = e.Y;
viewMoveAddX = 0;
viewMoveAddY = 0;
}
}
protected override void LoadState()
{
locations = new(ParsedFileLines(Trip.Parse));
}
