private void TimerStrategy_Elapsed(object sender, ElapsedEventArgs e)
{
if (isLocked == false)
{
lock (strategyLock)
{
isLocked = true;
InitRobotRoleDeterminationZones();
//Le joueur détermine sa stratégie
sw.Restart();
DetermineRobotRole(); //if (displayConsole) Console.WriteLine("Tps calcul détermination des rôles : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
IterateStateMachines(); //if (displayConsole) Console.WriteLine("Tps calcul State machines : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
GenerateStrategyHeatMap(); //if (displayConsole) Console.WriteLine("Tps calcul Heatmap Destination : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
var optimalPosition = GetOptimalStrategyDestination(); //if (displayConsole) Console.WriteLine("Tps calcul Get Optimal Destination : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
List <LocationExtended> obstacleList = new List <LocationExtended>();
double seuilDetectionObstacle = 0.4;
//Construction de la liste des obstacles en enlevant le robot lui-même
lock (globalWorldMap)
{
if (globalWorldMap.obstacleLocationList != null)
{
foreach (var obstacle in globalWorldMap.obstacleLocationList)
{
if (Toolbox.Distance(new PointD(obstacle.X, obstacle.Y), new PointD(robotCurrentLocation.X, robotCurrentLocation.Y)) > seuilDetectionObstacle)
{
obstacleList.Add(obstacle);
}
}
}
if (globalWorldMap.teammateLocationList != null)
{
foreach (var teammate in globalWorldMap.teammateLocationList)
{
if (teammate.Key != robotId)
{
obstacleList.Add(new LocationExtended(teammate.Value.X, teammate.Value.Y, 0, 0, 0, 0, ObjectType.Robot));
}
}
}
}
// if (displayConsole) Console.WriteLine("Tps calcul Génération obstacles : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
OnHeatMapStrategy(robotId, strategyHeatMap); // if (displayConsole) Console.WriteLine("Tps envoi strat Heatmap : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
///On copie la heatmap de strategy dans la heatmap de waypoint pour la compléter sans abimer la première
CopyStrategyHeatMapToWayPointHeatMap();
/// Calcul de la HeatMap WayPoint
WayPointHeatMap.ExcludeMaskedZones(new PointD(robotCurrentLocation.X, robotCurrentLocation.Y), obstacleList, ObstacleAvoidanceDistance); //if (displayConsole) Console.WriteLine("Tps calcul zones exclusion obstacles : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
OnHeatMapWayPoint(robotId, WayPointHeatMap); //if (displayConsole) Console.WriteLine("Tps calcul HeatMap WayPoint : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
var optimalWayPoint = GetOptimalWayPointDestination(); //if (displayConsole) Console.WriteLine("Tps calcul Get Optimal Waypoint : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); sw.Restart();
//Mise à jour de la destination
if (optimalPosition == null)
{
OnDestination(robotId, new Location((float)robotCurrentLocation.X, (float)robotCurrentLocation.Y, (float)robotOrientation, 0, 0, 0));
}
else
{
OnDestination(robotId, new Location((float)optimalPosition.X, (float)optimalPosition.Y, (float)robotOrientation, 0, 0, 0));
}
if (optimalWayPoint == null)
{
OnWaypoint(robotId, new Location((float)robotCurrentLocation.X, (float)robotCurrentLocation.Y, (float)robotOrientation, 0, 0, 0));
}
else
{
OnWaypoint(robotId, new Location((float)optimalWayPoint.X, (float)optimalWayPoint.Y, (float)robotOrientation, 0, 0, 0));
}
//if (displayConsole) Console.WriteLine("Tps events waypoint et destination : " + sw.Elapsed.TotalMilliseconds.ToString("N4") + " ms"); // Affichage de la mesure
//if (displayConsole) Console.WriteLine("Tps calcul Global Stratégie : " + swGlobal.Elapsed.TotalMilliseconds.ToString("N4") + " ms \n\n"); // Affichage de la mesure globale
//Thread.Sleep(100);
isLocked = false;
}
}
else
{
Console.WriteLine("Calcul de strategie déjà en cours");
}
}
