private void btnLateral_Click(object sender, EventArgs e)
{
_isOnLeft = !_isOnLeft;
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
if (!_isOnLeft)
{
Actionneur.ElevatorRight.DoPushInside();
btnLateral.Image = Properties.Resources.BigArrow;
}
else
{
Actionneur.ElevatorRight.DoPushOutside();
Bitmap bmp = new Bitmap(Properties.Resources.BigArrow);
bmp.RotateFlip(RotateFlipType.RotateNoneFlipX);
btnLateral.Image = bmp;
}
_linkAnimation = ThreadManager.CreateThread(link => ThreadLateral(!_isOnLeft ? -4 : 4));
_linkAnimation.StartInfiniteLoop(15);
picStorage.Focus();
}
private void btnAffichage_Click(object sender, EventArgs e)
{
if (btnAffichage.Text == "Lancer l'affichage")
{
_linkDisplay = ThreadManager.CreateThread(link => DisplayInfos());
_linkDisplay.Name = "Affichage des données";
_linkDisplay.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
Dessinateur.Start();
btnAffichage.Text = "Stopper l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Pause16;
}
else
{
_linkDisplay?.Cancel();
_linkDisplay?.WaitEnd();
_linkDisplay = null;
Dessinateur.Stop();
btnAffichage.Text = "Lancer l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Play16;
}
}
private void btnLaunch_Click(object sender, EventArgs e)
{
if (_linkPolling == null)
{
btnLaunch.Text = "Stopper";
btnLaunch.Image = Properties.Resources.Pause16;
_linkPolling = ThreadManager.CreateThread(link => Measure());
_linkPolling.StartInfiniteLoop(new TimeSpan(0));
_linkDrawing = ThreadManager.CreateThread(link => DrawMeasures());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 50));
}
else
{
btnLaunch.Text = "Lancer";
btnLaunch.Image = Properties.Resources.Play16;
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
public override void DeInit()
{
_linkAsserv.Cancel();
_linkLogPositions.Cancel();
_linkAsserv.WaitEnd();
_linkLogPositions.WaitEnd();
}
protected override void StopLoop()
{
if (_feedLink != null)
{
_manager.CloseChannelUDP();
_feedLink.Cancel();
_feedLink.WaitEnd();
_feedLink = null;
}
}
private void DoFingersGrab()
{
ThreadLink left = ThreadManager.CreateThread(link => Actionneur.FingerLeft.DoGrabColor(Buoy.Red));
ThreadLink right = ThreadManager.CreateThread(link => Actionneur.FingerRight.DoGrabColor(Buoy.Green));
left.StartThread();
right.StartThread();
left.WaitEnd();
right.WaitEnd();
}
private void DoElevatorsDropoff(int level)
{
Color colorLeft = Color.Transparent, colorRight = Color.Transparent;
bool okColorLeft, okColorRight;
ThreadLink left = ThreadManager.CreateThread(link => colorLeft = Actionneur.ElevatorLeft.DoSequenceDropOff());
ThreadLink right = ThreadManager.CreateThread(link => colorRight = Actionneur.ElevatorRight.DoSequenceDropOff());
while (_zone.LoadsOnGreen < 4 && _zone.LoadsOnRed < 4 && Actionneur.ElevatorLeft.CountTotal > 0 && Actionneur.ElevatorRight.CountTotal > 0)
{
left.StartThread();
right.StartThread();
left.WaitEnd();
right.WaitEnd();
if (colorLeft != Color.Transparent)
{
_zone.SetBuoyOnRed(colorLeft, level);
okColorLeft = (colorLeft == Buoy.Red);
GameBoard.Score += (1 + (okColorLeft ? 1 : 0));
}
else
{
okColorLeft = false;
}
if (colorRight != Color.Transparent)
{
_zone.SetBuoyOnGreen(colorRight, level);
okColorRight = (colorRight == Buoy.Green);
GameBoard.Score += (1 + (okColorRight ? 1 : 0));
}
else
{
okColorRight = false;
}
if (okColorLeft && okColorRight)
{
GameBoard.Score += 2;
}
level++;
Robot.Move(-85);
}
// Pour ranger à la fin :
Actionneur.ElevatorLeft.DoPushInsideFast();
Actionneur.ElevatorRight.DoPushInsideFast();
}
private void btnFingerRight_Click(object sender, EventArgs e)
{
if (_linkFingerRight == null)
{
_linkFingerRight = Threading.ThreadManager.CreateThread(link => Actionneurs.Actionneur.FingerRight.DoDemoGrab(link));
_linkFingerRight.StartThread();
}
else
{
_linkFingerRight.Cancel();
_linkFingerRight.WaitEnd();
_linkFingerRight = null;
}
}
private void btnColorLeft_ValueChanged(object sender, bool value)
{
if (value)
{
Robots.MainRobot.SetActuatorOnOffValue(ActuatorOnOffID.PowerSensorColorBuoyLeft, true);
Robots.MainRobot.SensorColorChanged += GrosRobot_SensorColorChanged;
ThreadManager.CreateThread(link => PollingColorLeft(link)).StartInfiniteLoop(50);
}
else
{
Robots.MainRobot.SetActuatorOnOffValue(ActuatorOnOffID.PowerSensorColorBuoyLeft, false);
_linkColorLeft.Cancel();
_linkColorLeft.WaitEnd();
_linkColorLeft = null;
}
}
private void switchButtonPort_ValueChanged(object sender, bool value)
{
if ((switchButtonPortA.Value || switchButtonPortB.Value || switchButtonPortC.Value) && _link == null)
{
_link = ThreadManager.CreateThread(link => AskValues());
_link.Name = "Ports numériques " + _board.ToString();
_link.StartInfiniteLoop(50);
}
if (!switchButtonPortA.Value & !switchButtonPortB.Value & !switchButtonPortC.Value & _link != null)
{
_link.Cancel();
_link.WaitEnd();
_link = null;
}
}
private void btnOnOff_ValueChanged(object sender, bool value)
{
if (value)
{
ledState.Color = Robots.MainRobot.ReadSensorOnOff(_sensor) ? Color.LimeGreen : Color.Red;
_linkPolling = ThreadManager.CreateThread(link => PollingSensor());
_linkPolling.RegisterName(nameof(PollingSensor) + " " + lblName.Text);
_linkPolling.StartInfiniteLoop(50);
}
else
{
_linkPolling.Cancel();
_linkPolling.WaitEnd();
_linkPolling = null;
ledState.Color = Color.Gray;
}
}
private void MainForm_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Down || e.KeyCode == Keys.Up)
{
_moveVertical = 0;
}
else if (e.KeyCode == Keys.Left || e.KeyCode == Keys.Right)
{
_moveHorizontal = 0;
}
if (_moveVertical == 0 && _moveHorizontal == 0 && _moveLoop != null)
{
_moveLoop.Cancel();
_moveLoop.WaitEnd();
_moveLoop = null;
}
}
private void boxTorque_ValueChanged(object sender, bool value)
{
if (value)
{
_linkPolling = ThreadManager.CreateThread(link => GetServoInfos());
_linkPolling.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 20));
_linkDrawing = ThreadManager.CreateThread(link => DrawTorqueCurve());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
}
else
{
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
private void switchBouton_ValueChanged(object sender, bool value)
{
if (value)
{
_linkPolling = ThreadManager.CreateThread(link => AskValues());
_linkPolling.Name = "Ports analogiques " + Carte.ToString();
_linkPolling.StartInfiniteLoop(50);
_linkDraw = ThreadManager.CreateThread(link => ctrlGraphique.DrawCurves());
_linkDraw.Name = "Graph ports analogiques " + Carte.ToString();
_linkDraw.StartInfiniteLoop(100);
}
else
{
_linkPolling.Cancel();
_linkPolling.WaitEnd();
_linkPolling = null;
_linkDraw.Cancel();
_linkDraw.WaitEnd();
_linkDraw = null;
}
}
public static void Stop()
{
_linkDisplay?.Cancel();
_linkDisplay?.WaitEnd();
_linkDisplay = null;
}
protected override void SequenceBegin()
{
// TODOEACHYEAR Actions fixes au lancement du match
Robot robot = Robots.MainRobot;
fixedMovements = new List <Movement>();
// Ajouter les points fixes au score (non forfait, elements posés etc)
int initScore = 0;
initScore += 2; // Phare posé
initScore += 15; // 2 manches à air
GameBoard.Score = initScore;
// Sortir ICI de la zonde de départ
robot.UpdateGraph(GameBoard.ObstaclesAll);
// codé en bleu avec miroir
Elevator left = GameBoard.MyColor == GameBoard.ColorLeftBlue ? (Elevator)Actionneur.ElevatorLeft : Actionneur.ElevatorRight;
Elevator right = GameBoard.MyColor == GameBoard.ColorLeftBlue ? (Elevator)Actionneur.ElevatorRight : Actionneur.ElevatorLeft;
ThreadManager.CreateThread(link =>
{
left.DoGrabOpen();
Thread.Sleep(750);
left.DoGrabClose();
}).StartThread();
robot.MoveForward((int)(850 - 120 - Robots.MainRobot.LenghtBack + 50)); // Pour s'aligner sur le centre de l'écueil
left.DoGrabOpen();
robot.MoveBackward(50);
right.DoGrabOpen();
if (GameBoard.MyColor == GameBoard.ColorLeftBlue)
{
GameBoard.Elements.FindBuoy(new RealPoint(450, 510)).IsAvailable = false;
}
else
{
GameBoard.Elements.FindBuoy(new RealPoint(3000 - 450, 510)).IsAvailable = false;
}
robot.GoToAngle(-90);
robot.SetSpeedSlow();
robot.MoveForward(50);
ThreadLink grabLink = ThreadManager.CreateThread(l => right.DoSequencePickupColor(GameBoard.MyColor == GameBoard.ColorLeftBlue ? Buoy.Green : Buoy.Red));
grabLink.StartThread();
Thread.Sleep(1000);
Actionneur.ElevatorLeft.DoGrabOpen();
Actionneur.ElevatorRight.DoGrabOpen();
robot.MoveForward(450);
grabLink.WaitEnd();
//robot.MoveForward((int)(850 - 120 - Robots.MainRobot.LenghtBack)); // Pour s'aligner sur le centre de l'écueil
//robot.GoToAngle(-90);
//robot.SetSpeedSlow();
//Actionneur.ElevatorLeft.DoGrabOpen();
//Actionneur.ElevatorRight.DoGrabOpen();
//robot.MoveForward(500);
Threading.ThreadManager.CreateThread(link => { Actionneur.ElevatorLeft.DoSequencePickupColor(Buoy.Red); }).StartThread();
Threading.ThreadManager.CreateThread(link => { Actionneur.ElevatorRight.DoSequencePickupColor(Buoy.Green); }).StartThread();
List <Buoy> taken = GameBoard.Elements.Buoys.Where(b => b.Position.X <robot.Position.Coordinates.X + 200 && b.Position.X> robot.Position.Coordinates.X - 200 && b.Position.Y < 1000 && b.Position.Y > 0).ToList();
taken.ForEach(b => b.IsAvailable = false);
Thread.Sleep(500);
robot.MoveBackward(35);
robot.SetSpeedFast();
robot.Pivot(180);
// Ajouter ICI l'ordre de la strat fixe avant détection d'adversaire
if (GameBoard.MyColor == GameBoard.ColorLeftBlue)
{
fixedMovements.Add(new MovementGroundedZone(GameBoard.Elements.GroundedZones[2]));
fixedMovements.Add(new MovementBuoy(GameBoard.Elements.FindBuoy(new RealPoint(300, 400))));
fixedMovements.Add(new MovementLightHouse(GameBoard.Elements.LightHouses[0]));
fixedMovements.Add(new MovementGreenDropoff(GameBoard.Elements.RandomDropoffs[0]));
fixedMovements.Add(new MovementGroundedZone(GameBoard.Elements.GroundedZones[0]));
fixedMovements.Add(new MovementRedDropoff(GameBoard.Elements.RandomDropoffs[0]));
}
else
{
fixedMovements.Add(new MovementGroundedZone(GameBoard.Elements.GroundedZones[1]));
fixedMovements.Add(new MovementBuoy(GameBoard.Elements.FindBuoy(new RealPoint(2700, 400))));
fixedMovements.Add(new MovementLightHouse(GameBoard.Elements.LightHouses[1]));
fixedMovements.Add(new MovementGreenDropoff(GameBoard.Elements.RandomDropoffs[1]));
fixedMovements.Add(new MovementGroundedZone(GameBoard.Elements.GroundedZones[3]));
fixedMovements.Add(new MovementRedDropoff(GameBoard.Elements.RandomDropoffs[1]));
}
}
protected override bool MovementCore()
{
// TODO : Attrapage (avec test) des bouées exterieures, d'ailleurs prévoir de la place pour les attraper
ThreadLink link1 = ThreadManager.CreateThread(link => Actionneur.ElevatorRight.DoSequencePickupColor(GameBoard.MyColor == GameBoard.ColorLeftBlue ? Buoy.Green : Buoy.Red));
ThreadLink link2 = ThreadManager.CreateThread(link => Actionneur.ElevatorLeft.DoSequencePickupColor(GameBoard.MyColor == GameBoard.ColorLeftBlue ? Buoy.Red : Buoy.Green));
link1.StartThread();
link2.StartThread();
link1.WaitEnd();
link2.WaitEnd();
if (_zone.HasOutsideBuoys)
{
Robot.SetSpeedSlow();
Actionneur.ElevatorLeft.DoGrabOpen();
Actionneur.ElevatorRight.DoGrabOpen();
Robot.Move(250);
Robot.SetSpeedFast();
//ThreadManager.CreateThread(link => { Actionneur.ElevatorLeft.DoSequencePickupColor(Buoy.Red); }).StartThread();
//ThreadManager.CreateThread(link => { Actionneur.ElevatorRight.DoSequencePickupColor(Buoy.Green); }).StartThread();
Actionneur.ElevatorLeft.DoTakeLevel0(Buoy.Red);
Actionneur.ElevatorRight.DoTakeLevel0(Buoy.Green);
_zone.TakeOutsideBuoys();
Thread.Sleep(500);
Robot.PivotRight(180);
Robot.Move(-150);
}
else
{
Robot.Move(-400);
}
Robot.SetSpeedSlow();
if (_zone.HasInsideBuoys)
{
Robot.Recalibration(SensAR.Arriere, true, true);
// TODO recallage X et Y tant qu'à faire ?
DoFingersGrab(); // Attrapage des bouées initialement contre la bordure avec les fingers
_zone.TakeInsideBuoys();
Robot.SetSpeedFast();
Robot.Move(150);
Robot.PivotLeft(180);
Robot.Move(125);
Robot.SetSpeedSlow();
DoElevatorsDropoff(0);
}
else
{
// TODO, y'a surement des bouées posées, donc pas de recallage et avancer moins
}
bool hasLeft = Actionneur.FingerLeft.Loaded;
bool hasRight = Actionneur.FingerRight.Loaded;
if (hasLeft || hasRight)
{
Color cLeft = Actionneur.FingerLeft.Load;
Color cRight = Actionneur.FingerRight.Load;
Robot.MoveBackward(90);
Robot.PivotLeft(82);
_zone.SetPendingRight(cRight, new RealPoint(Robot.Position.Coordinates.X + 193.5, Robot.Position.Coordinates.Y + 86.5).Rotation(Robot.Position.Angle.InPositiveDegrees + 90, Robot.Position.Coordinates));
Actionneur.FingerRight.DoRelease();
Robot.PivotRight(164);
_zone.SetPendingLeft(cLeft, new RealPoint(Robot.Position.Coordinates.X - 193.5, Robot.Position.Coordinates.Y + 86.5).Rotation(Robot.Position.Angle.InPositiveDegrees + 90, Robot.Position.Coordinates));
Actionneur.FingerLeft.DoRelease();
Robot.PivotLeft(82);
int score = 0;
int level = _zone.GetAvailableLevel();
if (hasLeft)
{
_zone.SetBuoyOnGreen(cRight, level);
score += 2;
}
if (hasRight)
{
_zone.SetBuoyOnRed(cLeft, level);
score += 2;
}
_zone.RemovePending();
if (hasLeft && hasRight)
{
score += 2;
}
GameBoard.Score += score;
}
if (_zone.LoadsOnGreen > 4 || _zone.LoadsOnRed > 4)
{
Actionneur.ElevatorLeft.DoGrabOpen();
Actionneur.ElevatorRight.DoGrabOpen();
Thread.Sleep(150);
Robot.SetSpeedVerySlow();
Robot.MoveForward(170);
Robot.SetSpeedFast();
Robot.MoveBackward(170);
}
else
{
Robot.MoveBackward(100);
}
Actionneur.ElevatorLeft.DoGrabClose();
Actionneur.ElevatorRight.DoGrabClose();
Robot.SetSpeedFast();
return(true);
}
