OHV/Dev/OHVLoggerTest/OHVLoggerTest/Form1.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Dijkstra.NET.Graph;
using Dijkstra.NET.Graph.Simple;
using Dijkstra.NET.ShortestPath;
using GSG.NET.Concurrent;
using GSG.NET.Logging;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;

namespace OHVLoggerTest
{
    public partial class Form1 : Form
    {
        Logger frontWheelLogger = Logger.GetLogger( "PhysicalCheckup_Front" );
        Logger rearWheelLogger = Logger.GetLogger( "PhysicalCheckup_Rear" );
        Logger logger = Logger.GetLogger();

        ThreadCancel threadCancel = new ThreadCancel();

        List<point> Points = null;
        List<segment> Segments = null;

        Graph<int, string> graph = new Graph<int, string>();

        ZmqManager zmq = null;
        NetMq mq = null;

        public Form1()
        {
            InitializeComponent();

            this.Load += Form1_Load;
            this.FormClosing += Form1_FormClosing;
        }

        private void Form1_FormClosing( object sender, FormClosingEventArgs e )
        {
            this.threadCancel.Cancel();
            this.threadCancel.StopWaitAll();

            Redis.Instance.Dispose();
        }

        private void Form1_Load( object sender, EventArgs e )
        {
            Redis.Instance.Init();
            this.button1_Click( this, null );

            this.threadCancel.AddGo( Thread_Dowork );
            this.threadCancel.AddGo( Thread_DriveRun );

            this.zmq = new ZmqManager();
            //this.mq = new NetMq();
        }

        void Thread_Dowork()
        {
            while ( !this.threadCancel.Canceled )
            {
                try
                {
                    LockUtils.Wait( 1000 );

                    if ( Redis.Instance.GetMoveStart() )
                    {
                        Redis.Instance.ResetMoveStart();

                        this.RunDrive();
                    }

                }
                catch ( Exception e)
                {
                }
            }
        }

        bool isDriveRun = false;
        void Thread_DriveRun()
        {
            while ( !this.threadCancel.Canceled )
            {
                try
                {
                    LockUtils.Wait( 2000 );
                }
                catch ( Exception )
                {
                }
            }
        }

        void AddNode()
        {
            this.Points.ForEach( p =>
            {
                this.graph.AddNode( p.ID );
                logger.D( $"AddNode : {p.ID}" );
            } );

            this.graph.Connect( 20, 19, 20, null );
            this.graph.Connect( 1, 21, 10, null );
            this.graph.Connect( 2, 22, 10, null);
            this.graph.Connect( 3, 2, 10, null );
            this.graph.Connect( 4, 3, 10, null );
            this.graph.Connect( 5, 23, 10, null );

            this.graph.Connect( 6, 5, 10, null );
            this.graph.Connect( 7, 6, 20, null );
            this.graph.Connect( 8, 24, 10, null );
            this.graph.Connect( 9, 8, 10, null );
            this.graph.Connect( 10, 25, 10, null );
            this.graph.Connect( 10, 4, 20, null );

            this.graph.Connect( 11, 26, 10, null );
            this.graph.Connect( 12, 11, 10, null );
            this.graph.Connect( 13, 12, 10, null );
            this.graph.Connect( 14, 13, 10, null );
            this.graph.Connect( 15, 14, 10, null );

            this.graph.Connect( 16, 15, 10, null );
            this.graph.Connect( 17, 27, 10, null );
            this.graph.Connect( 18, 17, 10, null );
            this.graph.Connect( 19, 18, 10, null );

            this.graph.Connect( 20, 19, 10, null );

            this.graph.Connect( 21, 20, 10, null );
            this.graph.Connect( 22, 1, 10, null );
            this.graph.Connect( 23, 4, 10, null );
            this.graph.Connect( 24, 7, 10, null );
            this.graph.Connect( 25, 9, 10, null );

            this.graph.Connect( 26, 10, 10, null );
            this.graph.Connect( 27, 16, 10, null );
            this.graph.Connect( 27, 21, 20, null );


            //this.Segments.ForEach( s => 
            //{ 
            //    if ( s.Middle == null )
            //    {
            //        this.graph.Connect( (uint)s.Start.pointID, (uint)s.End.pointID, 10, $"Segment ID {s.ID}" );
            //        logger.D( $"Connect : {s.Start.pointID} -> {s.End.pointID} / SegmentID [{s.ID}]" );
            //    }
            //    else
            //    {
            //        this.graph.Connect( (uint)s.Start.pointID, (uint)s.Middle.pointID, 10, $"Segment ID {s.ID}" );
            //        logger.D( $"Connect : {s.Start.pointID} -> {s.Middle.pointID} / SegmentID [{s.ID}]" );
            //        this.graph.Connect( (uint)s.Middle.pointID, (uint)s.End.pointID, 10, $"Segment ID {s.ID}" );
            //        logger.D( $"Connect : {s.Middle.pointID} -> {s.End.pointID} / SegmentID [{s.ID}]" );
            //    }
            //} );
        }

        void RunDrive( )
        {
            var redis = Redis.Instance;
            var currentPoint = redis.CurrentPointID();
            var targetPoint = redis.GetMovePoint();

            List<int> routeIDList = new List<int>();
            routeIDList.Add( currentPoint );

            var cuttentSegment = this.Segments.Where( x => x.Start.pointID == currentPoint ).FirstOrDefault();

            uint f = (uint)currentPoint;
            uint t = (uint)targetPoint;
            ShortestPathResult result = this.graph.Dijkstra( f, t );
            var route = result.GetPath();

            //segment preS = null;
            //int noPoint = currentPoint;
            //foreach ( var s in this.Segments )
            //{

            //    if ( preS == null )
            //    {
            //        if ( s.Start.pointID == currentPoint )
            //            preS = s;
            //    }

            //    foreach ( var ss in this.Segments )
            //    {
            //        if ( ss.Start.pointID == noPoint )
            //        {
            //            noPoint = ss.End.pointID;
            //            routeIDList.Add( ss.Start.pointID );
            //            break;
            //        }
            //        else if ( ss.Middle != null )
            //        {
            //            if ( ss.Middle.pointID == noPoint )
            //            {
            //                noPoint = ss.End.pointID;
            //                routeIDList.Add( ss.Start.pointID );
            //                break;
            //            }
            //        }
            //        else { }
            //    }

            //    if ( s.End.pointID == 3 )
            //        break;
            //}


            var ll = route.ToList();

            redis.SetDriveMove();
            foreach ( var point in ll )
            {
                LockUtils.Wait( 1000 );
                redis.SetCurrentPointID( (int)point );
            }
            redis.ResetDriveMove();
        }

        private void button1_Click( object sender, EventArgs e )
        {
            if ( !System.IO.File.Exists( Application.StartupPath + @"\Json\ohv_testmap7.json" ) )
                return;

            using ( StreamReader r = new StreamReader( Application.StartupPath + @"\Json\ohv_testmap7.json" ) )
            {
                string json = r.ReadToEnd();
                var o = JObject.Parse( json );

                this.Points = o["points"].ToObject<List<point>>();
                this.Segments = o["segments"].ToObject<List<segment>>();
            }

            AddNode();
        }

        private void button2_Click( object sender, EventArgs e )
        {
            //RunDrive( 0 );
        }
    }

    public class point
    {
        public int ID { get; set; }
        public int x { get; set; }
        public int y { get; set; }
        public int barcode { get; set; }
    }

    public class segment
    {
        public int ID { get; set; }
        public string route_type { get; set; }
        public double speed { get; set; }
        public int steering { get; set; }

        [JsonProperty( "start" )]
        public segmentPart Start { get; set; }

        [JsonProperty( "middle" )]
        public segmentPart Middle { get; set; }

        [JsonProperty( "end" )]
        public segmentPart End { get; set; }
    }

    public class segmentPart
    {
        public int pointID { get; set; }
        public int skew { get; set; }
        public int slope { get; set; }
    }
}