private string GetLinkState(ThreadLink link)
{
String state = "";
if (!link.Started)
{
state = "Initialisé";
}
else if (link.Ended)
{
state = "Terminé";
}
else if (link.Cancelled)
{
state = "Annulé";
}
else if (link.LoopPaused)
{
state = "En pause";
}
else
{
state = "En cours d'execution";
}
return(state);
}
private ColorPlus GetLinkColor(ThreadLink link)
{
ColorPlus color;
if (!link.Started)
{
color = ColorPlus.GetVeryLight(Color.Purple);
}
else if (link.Ended)
{
color = Color.LightGray;
}
else if (link.Cancelled)
{
color = ColorPlus.GetVeryLight(Color.Red);
}
else if (link.LoopPaused)
{
color = ColorPlus.GetVeryLight(Color.Orange);
}
else
{
color = ColorPlus.GetVeryLight(Color.Green);
}
return(color);
}
protected async Task <IBoardPostCollection> ReadThread(string resourceFile, ThreadLink link = null, int?firstPosts = null)
{
var jsonStr = await TestResources.ReadTestTextFile(resourceFile);
var dto = JsonConvert.DeserializeObject <BoardEntity2>(jsonStr);
if (firstPosts != null)
{
dto.Threads[0].Posts = dto.Threads[0].Posts.Take(firstPosts.Value).ToArray();
}
Assert.IsNotNull(dto, "dto != null");
var parser = _provider.FindNetworkDtoParser <ThreadData, IBoardPostCollectionEtag>();
Assert.IsNotNull(parser, "parser != null");
var param = new ThreadData()
{
Link = link ?? new ThreadLink()
{
Board = "mobi", Engine = MakabaConstants.MakabaEngineId, OpPostNum = 1153568
},
Etag = "##etag##",
LoadedTime = DateTimeOffset.Now,
Entity = dto
};
var collection = parser.Parse(param);
return(collection);
}
private void TestAsser(ThreadLink link)
{
link.RegisterName();
Robots.MainRobot.MoveForward(2000);
Robots.MainRobot.PivotRight(270);
Robots.MainRobot.MoveForward(200);
Robots.MainRobot.PivotRight(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.PivotRight(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.PivotRight(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.MoveBackward(1000);
Robots.MainRobot.PivotLeft(90);
Robots.MainRobot.MoveBackward(500);
Robots.MainRobot.PivotLeft(10);
Robots.MainRobot.MoveForward(1000);
Robots.MainRobot.PivotLeft(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.PivotLeft(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.PivotLeft(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.PivotLeft(10);
Robots.MainRobot.MoveForward(100);
Robots.MainRobot.GoToPosition(Recalibration.StartPosition);
Robots.MainRobot.MoveBackward(300);
}
private void btnAffichage_Click(object sender, EventArgs e)
{
if (btnAffichage.Text == "Lancer l'affichage")
{
_linkDisplay = ThreadManager.CreateThread(link => DisplayInfos());
_linkDisplay.Name = "Affichage des données";
_linkDisplay.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
Dessinateur.Start();
btnAffichage.Text = "Stopper l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Pause16;
}
else
{
_linkDisplay?.Cancel();
_linkDisplay?.WaitEnd();
_linkDisplay = null;
Dessinateur.Stop();
btnAffichage.Text = "Lancer l'affichage";
btnAffichage.Image = GoBot.Properties.Resources.Play16;
}
}
private void btnLaunch_Click(object sender, EventArgs e)
{
if (_linkPolling == null)
{
btnLaunch.Text = "Stopper";
btnLaunch.Image = Properties.Resources.Pause16;
_linkPolling = ThreadManager.CreateThread(link => Measure());
_linkPolling.StartInfiniteLoop(new TimeSpan(0));
_linkDrawing = ThreadManager.CreateThread(link => DrawMeasures());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 50));
}
else
{
btnLaunch.Text = "Lancer";
btnLaunch.Image = Properties.Resources.Play16;
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == Keys.Down)
{
_moveVertical = -1;
}
else if (keyData == Keys.Up)
{
_moveVertical = 1;
}
else if (keyData == Keys.Left)
{
_moveHorizontal = -1;
}
else if (keyData == Keys.Right)
{
_moveHorizontal = 1;
}
if ((_moveVertical != 0 || _moveHorizontal != 0) && _moveLoop == null)
{
_moveLoop = ThreadManager.CreateThread(o => ZoomStep());
_moveLoop.StartInfiniteLoop(20);
}
return(base.ProcessCmdKey(ref msg, keyData));
}
private void btnLateral_Click(object sender, EventArgs e)
{
_isOnLeft = !_isOnLeft;
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
if (!_isOnLeft)
{
Actionneur.ElevatorRight.DoPushInside();
btnLateral.Image = Properties.Resources.BigArrow;
}
else
{
Actionneur.ElevatorRight.DoPushOutside();
Bitmap bmp = new Bitmap(Properties.Resources.BigArrow);
bmp.RotateFlip(RotateFlipType.RotateNoneFlipX);
btnLateral.Image = bmp;
}
_linkAnimation = ThreadManager.CreateThread(link => ThreadLateral(!_isOnLeft ? -4 : 4));
_linkAnimation.StartInfiniteLoop(15);
picStorage.Focus();
}
private void ScoreAnimation(ThreadLink link)
{
link.RegisterName();
double progress = 0;
int startYScore = 600;
int endYScore = 241;
int startYSlogan = 507;
int endYSlogan = startYSlogan + (startYScore - endYScore);
int startYSubSlogan = 555;
int endYSubSlogan = startYSubSlogan + (startYScore - endYScore);
int startYLogo = 301;
int endYLogo = startYLogo + (startYScore - endYScore);
int animDuration = 1000;
int fps = 30;
do
{
progress += 1f / fps;
progress = Math.Min(1, progress);
this.InvokeAuto(() =>
{
Font f = new Font(lblScore.Font.Name, (float)(172 - (172 - 124) * Math.Max(0, (progress - 0.5) * 2)));
lblScore.Font = f;
pnlDetails.Location = new Point(pnlDetails.Left, (int)(startYScore - progress * (startYScore - endYScore)));
lblSlogan.Location = new Point(lblSlogan.Left, (int)(startYSlogan - progress * (startYSlogan - endYSlogan)));
lblSubSlogan.Location = new Point(lblSubSlogan.Left, (int)(startYSubSlogan - progress * (startYSubSlogan - endYSubSlogan)));
});
Thread.Sleep(animDuration / fps);
} while (progress < 1);
}
public static void Start()
{
PositionCurseur = new RealPoint();
_linkDisplay = ThreadManager.CreateThread(link => DisplayLoop());
_linkDisplay.Name = "Affichage de la table";
_linkDisplay.StartThread();
}
private void FormConfirm_Shown(object sender, EventArgs e)
{
btnTrap.Focus();
_countdown = 3;
btnStay.Text = "Rester (" + _countdown + ")";
_link = ThreadManager.CreateThread(link => Countdown());
_link.StartLoop(1000, _countdown + 2);
}
public CanServo(ServomoteurID id, iCanSpeakable communication)
{
_id = (ServomoteurID)((int)id % 100);
_communication = communication;
_lockResponse = new Semaphore(0, int.MaxValue);
_enableAutoCut = false;
_nextDisable = null;
}
protected override bool StartLoop()
{
_linkMeasures = ThreadManager.CreateThread(link => DoMeasure());
_linkMeasures.Name = "Mesure Hokuyo " + _id.ToString();
_linkMeasures.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
return(true);
}
public ExtendedPostingViewModel(IShell shell, IBoard board, PostInfo postInfo, ThreadLink threadLink) {
PostInfo = postInfo;
Shell = shell;
Board = board;
BoardId = threadLink.BoardId;
Parent = threadLink.ThreadNumber;
SetupProperties();
}
private void ThreadTrajectory(ThreadLink link)
{
link.RegisterName();
this.InvokeAuto(() => btnPathRPCentre.Enabled = false);
Robots.MainRobot.GoToPosition(new Position(positionArrivee.Angle.InDegrees, positionArrivee.Coordinates));
this.InvokeAuto(() => btnPathRPCentre.Enabled = true);
}
protected override void StopLoop()
{
if (_feedLink != null)
{
_manager.CloseChannelUDP();
_feedLink.Cancel();
_feedLink.WaitEnd();
_feedLink = null;
}
}
public override async Task<Thread> LoadThreadAsync(ThreadLink link, int startPosition = 0) {
var uri = UrlService.GetThreadUrl(link.BoardId, link.ThreadNumber, startPosition);
var json = await Get(uri);
var posts = DeserializeJson<IList<PostEntity>>(json);
var threadEntity = new ThreadEntity {
Posts = posts
};
return Mapper.MapThread(threadEntity, link);
}
private void DoFingersGrab()
{
ThreadLink left = ThreadManager.CreateThread(link => Actionneur.FingerLeft.DoGrabColor(Buoy.Red));
ThreadLink right = ThreadManager.CreateThread(link => Actionneur.FingerRight.DoGrabColor(Buoy.Green));
left.StartThread();
right.StartThread();
left.WaitEnd();
right.WaitEnd();
}
private void DoElevatorsDropoff(int level)
{
Color colorLeft = Color.Transparent, colorRight = Color.Transparent;
bool okColorLeft, okColorRight;
ThreadLink left = ThreadManager.CreateThread(link => colorLeft = Actionneur.ElevatorLeft.DoSequenceDropOff());
ThreadLink right = ThreadManager.CreateThread(link => colorRight = Actionneur.ElevatorRight.DoSequenceDropOff());
while (_zone.LoadsOnGreen < 4 && _zone.LoadsOnRed < 4 && Actionneur.ElevatorLeft.CountTotal > 0 && Actionneur.ElevatorRight.CountTotal > 0)
{
left.StartThread();
right.StartThread();
left.WaitEnd();
right.WaitEnd();
if (colorLeft != Color.Transparent)
{
_zone.SetBuoyOnRed(colorLeft, level);
okColorLeft = (colorLeft == Buoy.Red);
GameBoard.Score += (1 + (okColorLeft ? 1 : 0));
}
else
{
okColorLeft = false;
}
if (colorRight != Color.Transparent)
{
_zone.SetBuoyOnGreen(colorRight, level);
okColorRight = (colorRight == Buoy.Green);
GameBoard.Score += (1 + (okColorRight ? 1 : 0));
}
else
{
okColorRight = false;
}
if (okColorLeft && okColorRight)
{
GameBoard.Score += 2;
}
level++;
Robot.Move(-85);
}
// Pour ranger à la fin :
Actionneur.ElevatorLeft.DoPushInsideFast();
Actionneur.ElevatorRight.DoPushInsideFast();
}
public void AsyncAsserEnable(ThreadLink link)
{
link.RegisterName();
//TODO2020AllDevices.RecGoBot.Buzz(7000, 200);
Thread.Sleep(500);
TrajectoryFailed = true;
Stop(StopMode.Abrupt);
_lockFrame[UdpFrameFunction.FinDeplacement]?.Release();
//TODO2020AllDevices.RecGoBot.Buzz(0, 200);
}
private void btnUp_Click(object sender, EventArgs e)
{
if (_linkAnimation != null)
{
_linkAnimation.Cancel();
_linkAnimation.WaitEnd();
}
_linkAnimation = ThreadManager.CreateThread(link => ThreadVertical(4));
_linkAnimation.StartInfiniteLoop(10);
picStorage.Focus();
}
private void switchBouton_ValueChanged(object sender, bool value)
{
if (value)
{
trackBar.Min = _currentPositionnable.Minimum;
trackBar.Max = _currentPositionnable.Maximum;
_linkPolling = ThreadManager.CreateThread(link => PollingLoop());
_linkPolling.StartThread();
}
else
{
_linkPolling.Cancel();
}
}
private void btnFingerRight_Click(object sender, EventArgs e)
{
if (_linkFingerRight == null)
{
_linkFingerRight = Threading.ThreadManager.CreateThread(link => Actionneurs.Actionneur.FingerRight.DoDemoGrab(link));
_linkFingerRight.StartThread();
}
else
{
_linkFingerRight.Cancel();
_linkFingerRight.WaitEnd();
_linkFingerRight = null;
}
}
/// <summary>
/// Execute le match
/// </summary>
public void ExecuteMatch()
{
Robots.MainRobot.Historique.Log("DEBUT DU MATCH", TypeLog.Strat);
StartingDateTime = DateTime.Now;
GameBoard.StartMatch();
endMatchTimer = new System.Timers.Timer();
endMatchTimer.Elapsed += new ElapsedEventHandler(endMatchTimer_Elapsed);
endMatchTimer.Interval = MatchDuration.TotalMilliseconds;
endMatchTimer.Start();
_linkMatch = ThreadManager.CreateThread(link => Execute());
_linkMatch.StartThread();
}
private void btnColorLeft_ValueChanged(object sender, bool value)
{
if (value)
{
Robots.MainRobot.SetActuatorOnOffValue(ActuatorOnOffID.PowerSensorColorBuoyLeft, true);
Robots.MainRobot.SensorColorChanged += GrosRobot_SensorColorChanged;
ThreadManager.CreateThread(link => PollingColorLeft(link)).StartInfiniteLoop(50);
}
else
{
Robots.MainRobot.SetActuatorOnOffValue(ActuatorOnOffID.PowerSensorColorBuoyLeft, false);
_linkColorLeft.Cancel();
_linkColorLeft.WaitEnd();
_linkColorLeft = null;
}
}
private void switchButtonPort_ValueChanged(object sender, bool value)
{
if ((switchButtonPortA.Value || switchButtonPortB.Value || switchButtonPortC.Value) && _link == null)
{
_link = ThreadManager.CreateThread(link => AskValues());
_link.Name = "Ports numériques " + _board.ToString();
_link.StartInfiniteLoop(50);
}
if (!switchButtonPortA.Value & !switchButtonPortB.Value & !switchButtonPortC.Value & _link != null)
{
_link.Cancel();
_link.WaitEnd();
_link = null;
}
}
public RobotSimu(IDRobot idRobot) : base(idRobot, "Robot Simu")
{
_highResolutionAsservissement = true;
_rand = new Random();
_linkAsserv = ThreadManager.CreateThread(link => Asservissement());
_linkLogPositions = ThreadManager.CreateThread(link => LogPosition());
_lockMove = new Semaphore(1, 1);
_sensMove = SensAR.Avant;
_inRecalibration = false;
_asserChrono = null;
_currentPolarPoint = -1;
BatterieVoltage = 25;
}
private void btnOnOff_ValueChanged(object sender, bool value)
{
if (value)
{
ledState.Color = Robots.MainRobot.ReadSensorOnOff(_sensor) ? Color.LimeGreen : Color.Red;
_linkPolling = ThreadManager.CreateThread(link => PollingSensor());
_linkPolling.RegisterName(nameof(PollingSensor) + " " + lblName.Text);
_linkPolling.StartInfiniteLoop(50);
}
else
{
_linkPolling.Cancel();
_linkPolling.WaitEnd();
_linkPolling = null;
ledState.Color = Color.Gray;
}
}
private void PollingLoop()
{
double posValue;
double ticksCurrent, ticksMin, ticksRange;
int pointsParTour = 4096;
double toursRange = 5;
_linkPolling.RegisterName();
ticksCurrent = 0;//TODO2020 AllDevices.RecGoBot.GetCodeurPosition();
ticksMin = ticksCurrent;
ticksRange = pointsParTour * toursRange;
posValue = _currentPositionnable.Minimum;
while (!_linkPolling.Cancelled)
{
lock (this)
{
_linkPolling.LoopsCount++;
toursRange = trackBarSpeed.Value;
ticksRange = pointsParTour * toursRange;
Thread.Sleep(50);
ticksCurrent = 0;//TODO2020 AllDevices.RecGoBot.GetCodeurPosition();
if (ticksCurrent > ticksMin + ticksRange)
{
ticksMin = ticksCurrent - ticksRange;
}
else if (ticksCurrent < ticksMin)
{
ticksMin = ticksCurrent;
}
posValue = (ticksCurrent - ticksMin) / ticksRange * (_currentPositionnable.Maximum - _currentPositionnable.Minimum) + _currentPositionnable.Minimum;
posValue = Math.Min(posValue, _currentPositionnable.Maximum);
posValue = Math.Max(posValue, _currentPositionnable.Minimum);
}
SetPosition((int)posValue);
}
_linkPolling = null;
}
private void MainForm_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Down || e.KeyCode == Keys.Up)
{
_moveVertical = 0;
}
else if (e.KeyCode == Keys.Left || e.KeyCode == Keys.Right)
{
_moveHorizontal = 0;
}
if (_moveVertical == 0 && _moveHorizontal == 0 && _moveLoop != null)
{
_moveLoop.Cancel();
_moveLoop.WaitEnd();
_moveLoop = null;
}
}
protected override bool StartLoop()
{
bool ok;
if (_manager.CreateChannelUDP())
{
_feedLink = ThreadManager.CreateThread(link => FeedWatchDog());
_feedLink.Name = "R2000 Watchdog";
_feedLink.StartInfiniteLoop(1000);
ok = true;
}
else
{
ok = false;
}
return(ok);
}
private void boxTorque_ValueChanged(object sender, bool value)
{
if (value)
{
_linkPolling = ThreadManager.CreateThread(link => GetServoInfos());
_linkPolling.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 20));
_linkDrawing = ThreadManager.CreateThread(link => DrawTorqueCurve());
_linkDrawing.StartInfiniteLoop(new TimeSpan(0, 0, 0, 0, 100));
}
else
{
_linkPolling.Cancel();
_linkDrawing.Cancel();
_linkPolling.WaitEnd();
_linkDrawing.WaitEnd();
_linkPolling = null;
_linkDrawing = null;
}
}
public NavigateToThreadEventArgs(ThreadLink link) {
Link = link;
}