public ActionVirage(Robot r, int dist, int a, SensAR ar, SensGD gd)
{
robot = r;
distance = dist;
angle = a;
sensAR = ar;
sensGD = gd;
}
public abstract void Virage(SensAR sensAr, SensGD sensGd, int rayon, int angle, bool attendre = true);
protected void Virage_Click(SensAR sensAr, SensGD sensGd)
{
int distance = 0;
int angle = 0;
bool ok = true;
if (!Int32.TryParse(txtDistance.Text, out distance) || distance == 0)
{
txtDistance.ErrorMode = true;
ok = false;
}
if (!Int32.TryParse(txtAngle.Text, out angle) || angle == 0)
{
txtAngle.ErrorMode = true;
ok = false;
}
if (ok)
Robot.Virage(sensAr, sensGd, distance, angle, false);
}
public ActionPivot(Robot r, double a, SensGD s)
{
robot = r;
angle = a;
sens = s;
}
public static Trame Virage(SensAR sensAr, SensGD sensGd, int rayon, double angle, Robot robot)
{
byte[] tab = new byte[8];
tab[0] = (byte)robot.Carte;
tab[1] = (byte)FonctionMove.Virage;
tab[2] = (byte)sensAr;
tab[3] = (byte)sensGd;
tab[4] = (byte)ByteDivide(rayon, true);
tab[5] = (byte)ByteDivide(rayon, false);
tab[6] = (byte)ByteDivide((int)(angle * 100), true);
tab[7] = (byte)ByteDivide((int)(angle * 100), false);
Trame retour = new Trame(tab);
return retour;
}
public static Trame Pivot(SensGD sens, double angle, Robot robot)
{
//angle = angle * Math.PI * 268.471260977282 / 2.0 / 180.0;
byte[] tab = new byte[7];
tab[0] = (byte)robot.Carte;
tab[1] = (byte)FonctionMove.Pivot;
tab[2] = (byte)sens;
tab[3] = ByteDivide((int)(angle * 100.0), true);
tab[4] = ByteDivide((int)(angle * 100.0), false);
Trame retour = new Trame(tab);
return retour;
}
public override void Virage(SensAR sensAr, SensGD sensGd, int rayon, int angle, bool attendre = true)
{
// TODO
}
public override void PivotGauche(double angle, bool attendre = true)
{
base.PivotGauche(angle, attendre);
angle = Math.Round(angle, 2);
Historique.AjouterAction(new ActionPivot(this, angle, SensGD.Gauche));
Destination = new Position(new Angle(Position.Angle.AngleDegres - angle, AnglyeType.Degre), new PointReel(Position.Coordonnees.X, Position.Coordonnees.Y));
SensPivot = SensGD.Gauche;
if (attendre)
while (Position.Angle != Destination.Angle)
Thread.Sleep(50);
}
public override void Virage(SensAR sensAr, SensGD sensGd, int rayon, int angle, bool attendre = true)
{
if (attendre)
SemaphoresMove[FonctionMove.FinDeplacement] = new Semaphore(0, int.MaxValue);
Historique.AjouterAction(new ActionVirage(this, rayon, angle, sensAr, sensGd));
Trame trame = TrameFactory.Virage(sensAr, sensGd, rayon, angle, this);
Connexion.SendMessage(trame);
if (attendre)
SemaphoresMove[FonctionMove.FinDeplacement].WaitOne();
}
public static int Factor(this SensGD sens)
{
return(sens == SensGD.Droite ? 1 : -1);
}
