Merge pull request #63 from THU-ASTA/develop

Develop

Author: futrime

Config.yml

@@ -0,0 +1,32 @@
+vehicles:
+  A:
+    locator:
+      hue:
+        item1: 100
+        item2: 150
+      saturation:
+        item1: 100
+        item2: 255
+      value:
+        item1: 100
+        item2: 255
+      minArea: 4
+    showMask: true
+    serialPort: ''
+    baudrate: 115200
+  B:
+    locator:
+      hue:
+        item1: 0
+        item2: 50
+      saturation:
+        item1: 200
+        item2: 255
+      value:
+        item1: 100
+        item2: 255
+      minArea: 4
+    showMask: false
+    serialPort: ''
+    baudrate: 115200
+camera: 0

Source/MainWindow.cs

@@ -33,7 +33,7 @@ public partial class MainWindow : Form
                     Locator = new LocatorConfigType
                     {
                         Hue = (100, 150),
-                        Saturation = (200, 255),
+                        Saturation = (100, 255),
                         Value = (100, 255),
                         MinArea = 4M
                     },
@@ -49,7 +49,7 @@ public partial class MainWindow : Form
                     Locator = new LocatorConfigType
                     {
                         Hue = (0, 50),
-                        Saturation = (200, 255),
+                        Saturation = (120, 255),
                         Value = (100, 255),
                         MinArea = 4M
                     },
@@ -446,8 +446,7 @@ private void Communicate()
 
 
             // Send default packet.
-            // Only send if the serial port is not writing and the count of orders is not zero.
-            if (this._serialPortDict[camp].BytesToWrite == 0 && this._game.OrderList.Count > 0)
+            if (this._serialPortDict[camp].BytesToWrite == 0)
             {
                 // Get the order in delivery list.
                 var orderInDeliveryList = new List<Order>();
@@ -459,14 +458,17 @@ private void Communicate()
                     }
                 }
 
+                // If the order list is empty, the latestPendingOrder will be null, which won't be added to the bytes of PacketGetStatusHost
+                Order latestPendingOrder = (this._game.OrderList.Count > 0 ? this._game.OrderList[this._game.OrderList.Count] : null);
+
                 var packet = new PacketGetStatusHost(
                     gameStatus: this._game.GameState,
                     gameTime: this._game.GameTime.GetValueOrDefault(0),
                     score: (double)this._game.Score[camp],
                     vehiclePosition: this._game.Vehicle[camp].Position.GetValueOrDefault(new Dot(0, 0)),
                     remainingDistance: this._game.Vehicle[camp].RemainingDistance,
                     orderInDeliveryList: orderInDeliveryList,
-                    latestPendingOrder: this._game.OrderList[this._game.OrderList.Count - 1]
+                    latestPendingOrder: latestPendingOrder
                 );
 
                 var bytesToWrite = packet.GetBytes();

Source/Order.cs

@@ -89,7 +89,7 @@ public OrderStatusType Status
     private long? _departureTime = null;
     private Dot _destinationPosition;
     private long _generationTime;
-    private int _id = Utility.GenerateUniqueId();
+    private int _id;
     private OrderStatusType _status = OrderStatusType.Ungenerated;
 
     #endregion
@@ -128,19 +128,21 @@ public static Order GenerateRandomOrder(
     }
 
     /// <summary>
-    /// Construct an Order object.
+    /// Constructs an Order object.
     /// </summary>
     /// <param name="departurePosition">The departure position</param>
     /// <param name="destinationPosition">The destination position</param>
     /// <param name="generationTime">The generation time</param>
     /// <param name="deliveryTimeLimit">The delivery time limit</param>
-    /// <param name="commission">The commission.</param>
+    /// <param name="commission">The commission</param>
+    /// <param name="id">The id</param>
     public Order(
         Dot departurePosition,
         Dot destinationPosition,
         long generationTime,
         long deliveryTimeLimit,
-        int commission
+        int commission,
+        int? id = null
     )
     {
         // Validate the delivery time limit
@@ -154,6 +156,7 @@ int commission
         this._generationTime = generationTime;
         this._deliveryTimeLimit = deliveryTimeLimit;
         this._commission = commission;
+        this._id = id.GetValueOrDefault(Utility.GenerateUniqueId());
     }
 
     /// <summary>

Source/PacketGetStatusHost.cs

@@ -129,9 +129,12 @@ 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 + 8 + 8 + 8 + 4 +
-            (4 + 28 * this._orderInDeliveryList.Count) + 28
+            (4 + 32 * this._orderInDeliveryList.Count) + 32 * Convert.ToInt32(!lastestPendingOrderIsNull)
         ];
 
         int index = 0;
@@ -208,32 +211,37 @@ public override byte[] GetBytes()
         }
         #endregion
 
+
         #region The latest pending order.
-        #region The departure position.
-        // The x.
-        BitConverter.GetBytes(this._latestPendingOrder.DeparturePosition.X).CopyTo(data, index);
-        index += 4;
-        // The y.
-        BitConverter.GetBytes(this._latestPendingOrder.DeparturePosition.Y).CopyTo(data, index);
-        index += 4;
-        #endregion
+        if (!lastestPendingOrderIsNull)
+        {
+            #region The departure position.
 
-        #region The destination position.
-        // The x.
-        BitConverter.GetBytes(this._latestPendingOrder.DestinationPosition.X).CopyTo(data, index);
-        index += 4;
-        // The y.
-        BitConverter.GetBytes(this._latestPendingOrder.DestinationPosition.Y).CopyTo(data, index);
-        index += 4;
-        #endregion
+            // The x.
+            BitConverter.GetBytes(this._latestPendingOrder.DeparturePosition.X).CopyTo(data, index);
+            index += 4;
+            // The y.
+            BitConverter.GetBytes(this._latestPendingOrder.DeparturePosition.Y).CopyTo(data, index);
+            index += 4;
+            #endregion
 
-        // The delivery time limit.
-        BitConverter.GetBytes(this._latestPendingOrder.DeliveryTimeLimit).CopyTo(data, index);
-        index += 8;
+            #region The destination position.
+            // The x.
+            BitConverter.GetBytes(this._latestPendingOrder.DestinationPosition.X).CopyTo(data, index);
+            index += 4;
+            // The y.
+            BitConverter.GetBytes(this._latestPendingOrder.DestinationPosition.Y).CopyTo(data, index);
+            index += 4;
+            #endregion
 
-        // The order ID.
-        BitConverter.GetBytes(this._latestPendingOrder.Id).CopyTo(data, index);
-        index += 4;
+            // The delivery time limit.
+            BitConverter.GetBytes(this._latestPendingOrder.DeliveryTimeLimit).CopyTo(data, index);
+            index += 8;
+
+            // The order ID.
+            BitConverter.GetBytes(this._latestPendingOrder.Id).CopyTo(data, index);
+            index += 4;
+        }
         #endregion
 
         // Generate the header.

Source/Utility.cs

@@ -29,6 +29,7 @@ public static long SystemTime
 
     #region Private fields.
 
+    // Note that static local variables are not permitted in C#.
     private static int _lastUniqueId = 0;
 
     #endregion