Merge pull request #71 from THU-ASTA/develop

Fix bugs

Author: futrime

.github/ISSUE_TEMPLATE/bug_report.md

@@ -8,24 +8,30 @@ assignees: ''
 ---
 
 **Describe the bug**
+
 A clear and concise description of what the bug is.
 
 **To Reproduce**
+
 Steps to reproduce the behavior:
 1. Go to '...'
 2. Click on '....'
 3. Scroll down to '....'
 4. See error
 
 **Expected behavior**
+
 A clear and concise description of what you expected to happen.
 
 **Screenshots**
+
 If applicable, add screenshots to help explain your problem.
 
 **Platform (please complete the following information):**
+
  - OS: [e.g. Windows 10 21H2]
- - Version [e.g. v24.0.0]
+ - Version: [e.g. v24.0.0]
 
 **Additional context**
+
 Add any other context about the problem here.

Source/Game.cs

@@ -445,12 +445,6 @@ public void Refresh()
             this.End();
         }
 
-        // Actually, whether the CarPosition is null or not, the game should generate orders anyway.
-        // So, I take the function 'GenerateOrder' out of the function 'Refresh'
-        // For more details, please check the reference of this function-- 'Refresh'
-
-        // this.GenerateOrder();
-
         this.TakeAndDeliverOrder();
 
         this.ScoreMoving();
@@ -901,7 +895,7 @@ void TakeAndDeliverOrder()
             if (order.Status == OrderStatusType.Pending)
             {
                 // Check if the capacity is full.
-                if (deliveringOrderNumber > Game.OrderDeliveryCapacity)
+                if (deliveringOrderNumber >= Game.OrderDeliveryCapacity)
                 {
                     continue;
                 }

Source/MainWindow.cs

@@ -275,6 +275,12 @@ public MainWindow()
     /// </summary>
     private void RefreshAll()
     {
+        // Do not refresh if the camera is changing.
+        if (this._camera == null)
+        {
+            return;
+        }
+
         // Update the timer interval.
         if (this.timer.Interval != (int)(this._camera.Fps))
         {
@@ -479,7 +485,8 @@ private void Communicate()
                         id: -1
                     ));
 
-                if (this._orderToTransmitList.Count > 1) {
+                if (this._orderToTransmitList.Count > 1)
+                {
                     this._orderToTransmitList.RemoveAt(0);
                 }
 
@@ -507,9 +514,9 @@ private void Communicate()
     /// </summary>
     private void ProcessCameraFrame()
     {
-        // Read the camera frame.
+        // Read a frame from the camera.
         Mat frame = new Mat();
-        if (!Camera.Read(frame))
+        if (!this._camera.Read(frame))
         {
             return;
         }

Source/PacketGetStatusHost.cs

@@ -129,12 +129,10 @@ public PacketGetStatusHost(byte[] bytes)
 
     public override byte[] GetBytes()
     {
-        // Used to judge whether the lastest pending order is null, if not, the length of byte array will be added with 32;
-        bool lastestPendingOrderIsNull = (this._latestPendingOrder == null);
 
         var data = new byte[
             1 + 4 + 4 + 8 + 4 +
-            (1 + 28 * this._orderInDeliveryList.Count) + 28 * Convert.ToInt32(!lastestPendingOrderIsNull)
+            (1 + 28 * this._orderInDeliveryList.Count) + 28 * 1
         ];
 
         int index = 0;
@@ -222,7 +220,8 @@ public override byte[] GetBytes()
 
 
         #region The latest pending order.
-        if (!lastestPendingOrderIsNull)
+        // Used to judge whether the lastest pending order is null, if it is, then a null order with id -1 will be created;
+        if (this._latestPendingOrder != null)
         {
             #region The departure position.
 
@@ -255,6 +254,14 @@ public override byte[] GetBytes()
             BitConverter.GetBytes(this._latestPendingOrder.Id).CopyTo(data, index);
             index += 4;
         }
+        else
+        {
+            // The bytes of a null order is 0, except for -1 id
+            index += 4 * 6;
+            // The order ID.
+            BitConverter.GetBytes((int)-1).CopyTo(data, index);
+            index += 4;
+        }
         #endregion
 
         // Generate the header.

Source/SettingsWindow.cs

@@ -70,12 +70,13 @@ private void ApplyConfig()
         this._mainWindow.Config = this._config;
 
         // Apply the camera configurations
-        this._mainWindow.Camera.Release();
-
-        var camera = new VideoCapture();
+        var camera = this._mainWindow.Camera;
+        this._mainWindow.Camera = null;
+        camera.Release();
+        camera = new VideoCapture();
 
         camera.Open(this._mainWindow.Config.Camera);
-        
+
         this._mainWindow.CameraFrameSize = new OpenCvSharp.Size(
             camera.FrameWidth,
             camera.FrameHeight
@@ -245,7 +246,7 @@ private void SyncFormToConfig()
                     }
                 }
             },
-                Camera = Convert.ToInt32(this.comboBoxCamera.Text)
+                Camera = this.comboBoxCamera.SelectedIndex
             };
         }
         catch (System.FormatException)
@@ -303,9 +304,6 @@ private void SyncConfigToForm()
         this.comboBoxBaudrateVehicleB.Text =
             this._config.Vehicles[CampType.B].Baudrate.ToString();
 
-        this.comboBoxCamera.Text =
-            this._config.Camera.ToString();
-
         this.Refresh();
     }
 
@@ -329,7 +327,11 @@ private void UpdateAvailableCameras()
                 Action safeWrite = delegate
                 {
                     this.comboBoxCamera.Items.Add(cameraPort);
-                    if (this.comboBoxCamera.Items.Count > 0)
+                    if (this.comboBoxCamera.Items.Count > this._config.Camera)
+                    {
+                        this.comboBoxCamera.SelectedIndex = this._config.Camera;
+                    }
+                    else
                     {
                         this.comboBoxCamera.SelectedIndex = 0;
                     }
@@ -339,7 +341,11 @@ private void UpdateAvailableCameras()
             else
             {
                 this.comboBoxCamera.Items.Add(cameraPort);
-                if (this.comboBoxCamera.Items.Count > 0)
+                if (this.comboBoxCamera.Items.Count > this._config.Camera)
+                {
+                    this.comboBoxCamera.SelectedIndex = this._config.Camera;
+                }
+                else
                 {
                     this.comboBoxCamera.SelectedIndex = 0;
                 }