private void addGlyph(Glyph g)
{
PositionRobot p = new PositionRobot();
p.Angle = (float)g.rotation;
p.Position = new PositionElement();
p.Position.X = g.Position[0];
p.Position.Y = g.Position[1];
p.Identifiant = g.getIdentifiant();
LstRbt.Add(p);
}
/* Fonction Robot */
private void mergePosition(List <PositionRobot> LstTmp)
{
if (LstTmp.Count == 0)
{
return;
}
List <PositionRobot> ListEnvoi = new List <PositionRobot>();
for (int i = 0; i < LstTmp.Count; i++)
{
bool Trouve = false;
PositionRobot tmp = LstTmp[i];
tmp.Position.X = (int)(ratioCmParPixel[0] * tmp.Position.X);
tmp.Position.Y = (int)(ratioCmParPixel[1] * tmp.Position.Y);
for (int j = 0; j < LstRobot.Count; j++)
{
if (LstRobot[j].Identifiant == LstTmp[i].Identifiant)
{
IntPoint itmp = new IntPoint((int)(tmp.Position.X), (int)(tmp.Position.Y));
IntPoint p = new IntPoint(LstRobot[j].Position.X, LstRobot[j].Position.Y);
if (p.DistanceTo(itmp) > 5) // Sueil a 2 cm
{
LstRobot[j] = tmp;
ListEnvoi.Add(tmp);
}
tmp.DerniereModification = DateTime.Now;
Trouve = true;
break;
}
}
if (Trouve == false)
{
tmp.DerniereModification = DateTime.Now;
ListEnvoi.Add(tmp);
LstRobot.Add(tmp);
}
}
if (ListEnvoi.Count > 0)
{
//Logger.GlobalLogger.debug("" + ListEnvoi.Count);
envoieListe(ListEnvoi);
}
for (int i = LstRobot.Count - 1; i >= 0; i--)
{
if (LstRobot[i].Position.X == -1)
{
LstRobot.RemoveAt(i);
}
}
}
protected void clean()
{
List <PositionRobot> pos = new List <PositionRobot>();
List <ObjColor> obj = new List <ObjColor>();
while (true)
{
pos.Clear();
obj.Clear();
int i = 0;
TimeSpan t;
/* Nettoye les glyphs disparut de la bibliotheque de Glyphs */
foreach (PositionRobot tmp in LstRobot)
{
t = DateTime.Now - tmp.DerniereModification;
if (t.Seconds > 3)
{
PositionRobot ta = tmp;
ta.Position.X = -1;
ta.Position.Y = -1;
pos.Add(ta);
i++;
}
else
{
pos.Add(tmp);
}
}
if (i > 0)
{
LstRobot = pos;
// Logger.GlobalLogger.debug("Suppression de " + i + " Glyphs");
}
Thread.Sleep(3000);
}
}
