/// <summary>
/// finishes a tactics run, moves graphics where it will be accessible to HTTP
/// </summary>
private void finishTactics()
{
if (currentStatusGraphics != null)
{
// move current StatusGraphics to last, to be available for HttpGet:
//lock (lockStatusGraphics)
{
StatusGraphics tmp = lastStatusGraphics;
lastStatusGraphics = currentStatusGraphics;
if (tmp != null)
{
tmp.Dispose();
}
currentStatusGraphics = null;
}
}
}
private const double DrawTopInterval = 1.0d; // allow thinking only after so many seconds
/// <summary>
/// prepares HTTP graphics and planner, can call _routePlanner.planRoute() if doPlanRoute is true
/// </summary>
/// <param name="doPlanRoute"></param>
private void initTactics(bool doPlanRoute)
{
bool canDrawTop = (DateTime.Now - lastDrawTop).TotalSeconds > DrawTopInterval;
if (currentStatusGraphics != null)
{
currentStatusGraphics.Dispose();
currentStatusGraphics = null;
}
// we limit drawing to the cycles when laser data comes in, to limit frequency of drawing:
if (canDrawTop)
{
lastDrawTop = DateTime.Now;
currentStatusGraphics = new StatusGraphics();
}
// ===== we can start writing to currentStatusGraphics bitmaps at will here.
//Tracer.Trace("calling planRoute()");
_routePlanner.ObstacleDistanceMeters = ((double)ObstacleDistanceMm) / 1000.0d * 1.5d;
if (doPlanRoute)
{
_currentRoutePlan = _routePlanner.planRoute();
}
else
{
_currentRoutePlan = null;
}
if (canDrawTop)
{
// draw laser sweep data and basic markings:
int fieldOfView = (int)Math.Round(_routePlanner.sweepAngleNormal / 2.0d); // to either side
//Tracer.Trace("calling GenerateTop()");
GenerateTop(_laserData, fieldOfView, _currentRoutePlan);
}
sPlan = "no good plan";
}
