private static void ParseTask(JSONNode taskJson, ref TaskStrategy task, List <TaskStrategy> strategies)
{
task.Name = taskJson["Name"];
task.NodeName = taskJson["NodeName"];
if (taskJson["BeginDate"] == null)
{
task.BeginDate = DateTime.Today;
}
else
{
string dateString = taskJson["BeginDate"];
var culture = CultureInfo.CreateSpecificCulture("pt-PT");
var styles = DateTimeStyles.AdjustToUniversal | DateTimeStyles.AssumeLocal;
DateTime date;
if (DateTime.TryParse(dateString, culture, styles, out date))
{
task.BeginDate = date;
}
}
if (taskJson["DependsOn"] != null)
{
for (int i = 0; i < taskJson["DependsOn"].Count; i++)
{
foreach (var strategy in strategies)
{
if (string.Equals(strategy.Name, taskJson["DependsOn"][i]))
{
task.DependsOn.Add(strategy);
}
}
}
}
}
public void Run()
{
//TaskQueue=Services.GetService<Queue<IProcess>>();
TaskQueue = new Queue <IProcess>();
//CurrentSessionParams.Context=Services.GetService<VDContext>();
TaskStrategy = Services.GetService <TaskStrategy>();
var serviceAccessor = Services.GetService <Func <ProcessState, ITask> >();
InitTask = serviceAccessor(ProcessState.Init);
CleanTask = serviceAccessor(ProcessState.Clean);
DownloadTask = serviceAccessor(ProcessState.Download);
UnzipTask = serviceAccessor(ProcessState.Unzip);
ImportDataTask = serviceAccessor(ProcessState.Import);
TaskQueue.Enqueue(new Processable(() => TaskStrategy.ChangeStrategy(InitTask).PerformTask()));
TaskQueue.Enqueue(new Processable(() => TaskStrategy.ChangeStrategy(CleanTask).PerformTask()));
TaskQueue.Enqueue(new Processable(() => TaskStrategy.ChangeStrategy(DownloadTask).PerformTask()));
TaskQueue.Enqueue(new Processable(() => TaskStrategy.ChangeStrategy(UnzipTask).PerformTask()));
TaskQueue.Enqueue(new Processable(() => TaskStrategy.ChangeStrategy(ImportDataTask).PerformTask()));
while (TaskQueue.Count > 0)
{
TaskQueue.Dequeue().Process();
}
}
public Task(Action action, TaskStrategy mode) : this()
{
if (mode == TaskStrategy.Coroutine)
{
throw new ArgumentException("Action tasks may not be coroutines");
}
this._action = action;
this.Strategy = mode;
}
public Task(IEnumerator action) : this()
{
if (action == null)
{
throw new ArgumentNullException("action");
}
this._routine = action;
this.Strategy = TaskStrategy.Coroutine;
}
/// <summary>
/// Creates a new background task
/// </summary>
/// <param name="action"></param>
public UnityTask(Action action)
{
_action = action;
#if UNITY_WEBGL
Strategy = TaskStrategy.MainThread;
#else
Strategy = TaskStrategy.BackgroundThread;
#endif
}
public Task(Delegate action, object paramater, TaskStrategy mode) : this()
{
if (mode == TaskStrategy.Coroutine)
{
throw new ArgumentException("Action tasks may not be coroutines");
}
this._action2 = action;
this.Strategy = mode;
this.Paramater = paramater;
}
public Task(IEnumerator action, object param) : this()
{
if (action == null)
{
throw new ArgumentNullException("action");
}
this._routine = action;
this.Strategy = TaskStrategy.Coroutine;
this.Paramater = param;
}
/// <summary>
/// Creates a new background task with a parameter
/// </summary>
/// <param name="action"></param>
/// <param name="paramater"></param>
public UnityTask(Delegate action, object paramater)
: this()
{
_action2 = action;
#if UNITY_WEBGL
Strategy = TaskStrategy.MainThread;
#else
Strategy = TaskStrategy.BackgroundThread;
#endif
Paramater = paramater;
}
private bool SaveCollSettings()
{
int newGrCollCycle;
try
{
newGrCollCycle = int.Parse(this.txtGRCollCycle.Text.Trim());
}
catch
{
MsgBox.Show("采集周期必须输入数字");
return(false);
}
if (newGrCollCycle < MIN_COLL_CYCLE)
{
MsgBox.Show("采集周期不能小于" + MIN_COLL_CYCLE + "分钟");
return(false);
}
if (newGrCollCycle > MAX_COLL_CYCLE)
{
MsgBox.Show("采集周期不能大于" + MIN_COLL_CYCLE + "分钟");
return(false);
}
XGConfig.Default.GrRealDataCollCycle = newGrCollCycle;
// refresh task coll cycle
//
TasksCollection tasks = Singles.S.TaskScheduler.Tasks;
foreach (Task t in tasks)
{
TaskStrategy s = t.TaskStrategy;
CommCmdBase cmd = t.CommCmd;
if (s is CycleTaskStrategy && cmd is GRCtrl.GRRealDataCommand)
{
CycleTaskStrategy cyc = s as CycleTaskStrategy;
cyc.Cycle = GetCycle(newGrCollCycle);
}
}
// TODO: update app.config file
//
return(true);
}
private void SetCollCycle()
{
TasksCollection tasks = Singles.S.TaskScheduler.Tasks;
foreach (Task t in tasks)
{
TaskStrategy s = t.TaskStrategy;
if (s is CycleTaskStrategy)
{
CycleTaskStrategy cyc = s as CycleTaskStrategy;
cyc.Cycle = GetCycle();
}
}
}
/// <summary>
/// Creates a new task with a specific strategy
/// </summary>
public UnityTask(Func <TResult> function, TaskStrategy mode)
: this()
{
if (function == null)
{
throw new ArgumentNullException("function");
}
if (mode == TaskStrategy.Coroutine)
{
throw new ArgumentException("Mode can not be coroutine");
}
_function = function;
Strategy = mode;
}
/// <summary>
/// Creates a new task with a specific strategy
/// </summary>
public UnityTask(Delegate function, object param, TaskStrategy mode)
: this()
{
if (function == null)
{
throw new ArgumentNullException("function");
}
if (mode == TaskStrategy.Coroutine)
{
throw new ArgumentException("Mode can not be coroutine");
}
_function2 = function;
Paramater = param;
Strategy = mode;
}
public static List <TaskStrategy> FromJson(JSONNode json)
{
var strategies = new List <TaskStrategy>();
foreach (var tasksPair in json["Tasks"].AsArray)
{
var taskJson = tasksPair.Value.AsObject;
TaskStrategy task = new TaskStrategy();
ParseTask(taskJson, ref task, strategies);
strategies.Add(task);
}
foreach (var tasksPair in json["OnceADaysTasks"].AsArray)
{
var taskJson = tasksPair.Value.AsObject;
TaskStrategy task = new OnceADayTaskStrategy();
ParseTask(taskJson, ref task, strategies);
strategies.Add(task);
}
return(strategies);
}
/// <summary>
/// Creates a new background task
/// </summary>
/// <param name="action"></param>
public AsyncTask(Action action)
{
_action = action;
Strategy = TaskStrategy.BackgroundThread;
}
/// <summary>
/// Creates a new Task in a Faulted state
/// </summary>
/// <param name="ex"></param>
public AsyncTask(Exception ex)
{
Exception = ex;
Strategy = TaskStrategy.Custom;
Status = TaskStatus.Faulted;
}
/// <summary>
/// Creates a new task
/// </summary>
public AsyncTask(TaskStrategy mode)
{
Strategy = mode;
}
/// <summary>
/// Creates a new Coroutine Task
/// </summary>
/// <param name="action"></param>
public UnityTask(IEnumerator action)
: this()
{
if (action == null)
throw new ArgumentNullException("action");
_routine = action;
Strategy = TaskStrategy.Coroutine;
}
/// <summary>
/// Creates a new Task
/// </summary>
/// <param name="action"></param>
/// <param name="mode"></param>
public UnityTask(Action action, TaskStrategy mode)
: this()
{
if (mode == TaskStrategy.Coroutine)
throw new ArgumentException("Action tasks may not be coroutines");
_action = action;
Strategy = mode;
}
/// <summary>
/// Creates a new background task
/// </summary>
/// <param name="action"></param>
public UnityTask(Action action)
{
_action = action;
#if UNITY_WEBGL
Strategy = TaskStrategy.MainThread;
#else
Strategy = TaskStrategy.BackgroundThread;
#endif
}
/// <summary>
/// Creates a new Task in a Faulted state
/// </summary>
/// <param name="ex"></param>
public UnityTask(Exception ex)
{
Exception = ex;
Strategy = TaskStrategy.Custom;
Status = TaskStatus.Faulted;
}
/// <summary>
/// Creates a new task
/// </summary>
public UnityTask(TaskStrategy mode)
{
Strategy = mode;
}
public Task(TaskStrategy mode) : this()
{
this.Strategy = mode;
}
/// <summary>
/// Creates a new task
/// </summary>
public UnityTask(TaskStrategy mode)
: this()
{
Strategy = mode;
}
public Task(Delegate action, object paramater) : this()
{
this._action2 = action;
this.Strategy = TaskStrategy.BackgroundThread;
this.Paramater = paramater;
}
public override void InitStrategy(int robotId, int teamId)
{
//Initialisation des taches de la stratégie
//Taches de bas niveau
taskBrasGauche = new TaskBrasGauche();
taskBrasGauche.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
taskBrasGauche.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
OnMotorCurrentReceiveForwardEvent += taskBrasGauche.OnMotorCurrentReceive;
taskBrasDroit = new TaskBrasDroit();
taskBrasDroit.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
taskBrasDroit.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
OnMotorCurrentReceiveForwardEvent += taskBrasDroit.OnMotorCurrentReceive;
taskBrasCentre = new TaskBrasCentre();
taskBrasCentre.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
taskBrasCentre.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
OnMotorCurrentReceiveForwardEvent += taskBrasCentre.OnMotorCurrentReceive;
taskBrasDrapeau = new TaskBrasDrapeau();
taskBrasDrapeau.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
taskBrasDrapeau.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
OnMotorCurrentReceiveForwardEvent += taskBrasDrapeau.OnMotorCurrentReceive;
taskBalade = new TaskBalade(this);
OnMotorCurrentReceiveForwardEvent += taskBalade.OnMotorCurrentReceive;
taskBalade.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
taskDepose = new TaskDepose(this);
OnMotorCurrentReceiveForwardEvent += taskDepose.OnMotorCurrentReceive;
taskDepose.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
taskWindFlag = new TaskWindFlag(this);
taskWindFlag.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
OnMotorCurrentReceiveForwardEvent += taskWindFlag.OnMotorCurrentReceive;
taskWindFlag.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
taskStrategy = new TaskStrategy(this);
OnIOValuesFromRobotEvent += taskStrategy.OnIOValuesFromRobotEvent;
taskStrategy.OnMirrorModeEvent += OnMirrorMode;
taskFinDeMatch = new TaskFinDeMatch(this);
taskFinDeMatch.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
OnMotorCurrentReceiveForwardEvent += taskFinDeMatch.OnMotorCurrentReceive;
taskFinDeMatch.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
taskPhare = new TaskPhare(this);
taskPhare.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
OnMotorCurrentReceiveForwardEvent += taskPhare.OnMotorCurrentReceive;
taskPhare.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
taskDistributeur = new TaskDistributeur(this);
taskDistributeur.OnHerkulexPositionRequestEvent += OnHerkulexPositionRequestForwardEvent;
taskDistributeur.OnPilotageVentouseEvent += OnSetSpeedConsigneToMotorEvent;
OnMotorCurrentReceiveForwardEvent += taskDistributeur.OnMotorCurrentReceive;
//On initialisae le timer de réglage récurrent
//Il permet de modifier facilement les paramètre des asservissement durant l'exécution
configTimer = new System.Timers.Timer(1000);
configTimer.Elapsed += ConfigTimer_Elapsed;
configTimer.Start();
//Config Eurobot des paramètre embarqués
OnOdometryPointToMeter(1.211037464120243e-06);
On4WheelsAngleSet(Toolbox.DegToRad(72), Toolbox.DegToRad(144), Toolbox.DegToRad(216), Toolbox.DegToRad(288));
On4WheelsToPolarSet(-3.967532e-01, -2.720655e-01, +2.720655e-01, 3.967532e-01,
+3.776278e-01, -3.776278e-01, -3.776278e-01, 3.776278e-01,
+2.106947e+00, +1.341329e+00, +1.341329e+00, +2.106947e+00);
OnEnableDisableMotorCurrentData(true);
}
public Task(Exception ex)
{
this.Exception = ex;
this.Strategy = TaskStrategy.Custom;
this.Status = TaskStatus.Faulted;
}
public Task(Action action) : this()
{
this._action = action;
this.Strategy = TaskStrategy.BackgroundThread;
}
