public override void Stop(StopMode mode)
{
Historique.AjouterAction(new ActionStop(this, mode));
_lockMove.WaitOne();
if (mode == StopMode.Smooth)
{
Position nouvelleDestination = new Position(Position.Angle, new RealPoint(_currentPosition.Coordinates.X, _currentPosition.Coordinates.Y));
if (IsInLineMove)
{
if (_sensMove == SensAR.Avant)
{
nouvelleDestination.Move(GetCurrentLineBreakDistance());
}
else
{
nouvelleDestination.Move(-GetCurrentLineBreakDistance());
}
}
_destination = nouvelleDestination;
}
else if (mode == StopMode.Abrupt)
{
_currentSpeed = 0;
_destination = Position;
}
_lockMove.Release();
}
public override void MoveForward(int distance, bool wait = true)
{
base.MoveForward(distance, wait);
IsInLineMove = true;
if (distance > 0)
{
if (!_inRecalibration)
{
Historique.AjouterAction(new ActionAvance(this, distance));
}
_sensMove = SensAR.Avant;
}
else
{
if (!_inRecalibration)
{
Historique.AjouterAction(new ActionRecule(this, -distance));
}
_sensMove = SensAR.Arriere;
}
_destination = new Position(Position.Angle, new RealPoint(Position.Coordinates.X + distance * Position.Angle.Cos, Position.Coordinates.Y + distance * Position.Angle.Sin));
// TODO2018 attente avec un sémaphore ?
if (wait)
{
while ((Position.Coordinates.X != _destination.Coordinates.X ||
Position.Coordinates.Y != _destination.Coordinates.Y) && !Execution.Shutdown)
{
Thread.Sleep(10);
}
}
}
public override void MoveBackward(int distance, bool wait = true)
{
base.MoveBackward(distance, wait);
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement] = new Semaphore(0, int.MaxValue);
}
IsInLineMove = true;
Frame frame;
if (distance < 0)
{
frame = UdpFrameFactory.Deplacer(SensAR.Avant, -distance, this);
}
else
{
frame = UdpFrameFactory.Deplacer(SensAR.Arriere, distance, this);
}
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionRecule(this, distance));
if (wait)
{
//if (!SemaphoresTrame[FrameFunction.FinDeplacement].WaitOne((int)SpeedConfig.LineDuration(distance).TotalMilliseconds))
// Thread.Sleep(1000); // Tempo de secours, on a jamais reçu la fin de trajectoire après la fin du délai théorique
_lockFrame[UdpFrameFunction.FinDeplacement].WaitOne();
}
}
private void SpeedConfig_ParamChange(bool lineAccelChange, bool lineDecelChange, bool lineSpeedChange, bool pivotAccelChange, bool pivotDecelChange, bool pivotSpeedChange)
{
if (lineSpeedChange)
{
Frame frame = UdpFrameFactory.VitesseLigne(SpeedConfig.LineSpeed, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionVitesseLigne(this, SpeedConfig.LineSpeed));
}
if (lineAccelChange || lineDecelChange)
{
Frame frame = UdpFrameFactory.AccelLigne(SpeedConfig.LineAcceleration, SpeedConfig.LineDeceleration, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionAccelerationLigne(this, SpeedConfig.LineAcceleration, SpeedConfig.LineDeceleration));
}
if (pivotSpeedChange)
{
Frame frame = UdpFrameFactory.VitessePivot(SpeedConfig.PivotSpeed, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionVitessePivot(this, SpeedConfig.PivotSpeed));
}
if (pivotAccelChange || pivotDecelChange)
{
Frame frame = UdpFrameFactory.AccelPivot(SpeedConfig.PivotAcceleration, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionAccelerationPivot(this, SpeedConfig.PivotAcceleration, SpeedConfig.PivotDeceleration));
}
}
public virtual void SetMotorSpeed(MotorID moteur, SensGD sens, int vitesse)
{
if (MotorState.ContainsKey(moteur))
{
MotorState[moteur] = vitesse == 0 ? false : true;
}
Historique.AjouterAction(new ActionMoteur(this, vitesse, moteur));
}
public override void SetActuatorOnOffValue(ActuatorOnOffID actuator, bool on)
{
ActuatorOnOffState[actuator] = on;
Frame frame = UdpFrameFactory.ActionneurOnOff(_boardActuatorOnOff[actuator], actuator, on);
Connections.UDPBoardConnection[_boardActuatorOnOff[actuator]].SendMessage(frame);
Historique.AjouterAction(new ActionOnOff(this, actuator, on));
}
public override void Stop(StopMode mode = StopMode.Smooth)
{
AsserEnable = (mode != StopMode.Freely);
IsInLineMove = false;
Frame frame = UdpFrameFactory.Stop(mode, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionStop(this, mode));
}
public override void Recalibration(SensAR sens, bool wait = true, bool sendOffset = false)
{
_inRecalibration = true;
Historique.AjouterAction(new ActionRecallage(this, sens));
if (wait)
{
RecalProcedure(sens);
}
else
{
ThreadManager.CreateThread(link => RecalProcedure(sens)).StartThread();
}
base.Recalibration(sens, wait, sendOffset);
}
public override void PivotRight(AngleDelta angle, bool wait = true)
{
base.PivotRight(angle, wait);
angle = Math.Round(angle, 2);
Historique.AjouterAction(new ActionPivot(this, angle, SensGD.Droite));
_destination = new Position(Position.Angle + angle, new RealPoint(Position.Coordinates.X, Position.Coordinates.Y));
_sensPivot = SensGD.Droite;
if (wait)
{
while (Position.Angle != _destination.Angle)
{
Thread.Sleep(10);
}
}
}
public override void Turn(SensAR sensAr, SensGD sensGd, int radius, AngleDelta angle, bool wait = true)
{
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement] = new Semaphore(0, int.MaxValue);
}
Frame frame = UdpFrameFactory.Virage(sensAr, sensGd, radius, angle, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionVirage(this, radius, angle, sensAr, sensGd));
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement].WaitOne();
}
}
public override void Recalibration(SensAR sens, bool wait = true, bool sendOffset = false)
{
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement] = new Semaphore(0, int.MaxValue);
}
Frame frame = UdpFrameFactory.Recallage(sens, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionRecallage(this, sens));
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement].WaitOne();
}
base.Recalibration(sens, wait, sendOffset);
}
public override void PivotRight(AngleDelta angle, bool wait = true)
{
base.PivotRight(angle, wait);
if (wait)
{
_lockFrame[UdpFrameFunction.FinDeplacement] = new Semaphore(0, int.MaxValue);
}
Frame frame = UdpFrameFactory.Pivot(SensGD.Droite, angle, this);
_asserConnection.SendMessage(frame);
Historique.AjouterAction(new ActionPivot(this, angle, SensGD.Droite));
if (wait)
{
//if (!SemaphoresTrame[FrameFunction.FinDeplacement].WaitOne((int)SpeedConfig.PivotDuration(angle, Entraxe).TotalMilliseconds))
// Thread.Sleep(1000); // Tempo de secours, on a jamais reçu la fin de trajectoire après la fin du délai théorique
_lockFrame[UdpFrameFunction.FinDeplacement].WaitOne();
}
}
public virtual void SetMotorAcceleration(MotorID moteur, int acceleration)
{
Historique.AjouterAction(new ActionMoteur(this, acceleration, moteur));
}
public override void SetActuatorOnOffValue(ActuatorOnOffID actuator, bool on)
{
// TODO
Historique.AjouterAction(new ActionOnOff(this, actuator, on));
}