private async void Button_Click(object sender, RoutedEventArgs e)
{
var x1 = float.Parse(Corner1X.Text);
var y1 = float.Parse(Corner1Y.Text);
_corner1 = new Navigation.Point(x1, y1);
var x2 = float.Parse(Corner2X.Text);
var y2 = float.Parse(Corner2Y.Text);
_corner2 = new Navigation.Point(x2, y2);
_map = new Map(_corner1, _corner2, 0.4f);
_visitedNodes.Clear();
var destX = float.Parse(DestX.Text);
var destY = float.Parse(DestY.Text);
_target = new Navigation.Point(destX, destY);
DrawMap(_map);
var bot = new DuckieBot(RoverAdress.Text, RoverId.Text);
bot.RouteCalculated += Bot_RouteCalculated;
bot.ObstaclesDetected += Bot_ObstaclesDetected;
await bot.MoveOnMap(_map, _target, new CancellationToken());
}
private void Bot_RouteCalculated(object sender, RouteArgs args)
{
var rover = (DuckieBot)sender;
_visitedNodes.Add(new Navigation.Point(rover.CurrentX, rover.CurrentY));
_plannedRoute = args.Route;
_plannedNext = args.NextPoint;
Application.Current.Dispatcher.Invoke(() => {
DrawMap(_map);
});
}
private void Bot_ObstaclesDetected(object sender, ObstaclesDetectedArgs args)
{
_obstacles = args.Obstacles;
_currentPosition = args.CurrentPosition;
_currentOrientation = args.CurrentOrientation;
var rover = (DuckieBot)sender;
Application.Current.Dispatcher.Invoke(() => {
DrawMap(_map);
});
}
public System.Windows.Point Transform(Navigation.Point point)
{
float minX = _corner1.X;
float minY = _corner1.Y;
float maxX = _corner2.X;
float maxY = _corner2.Y;
var transform = new TranslateTransform(0 - minX, 0 - minY);
var scale = new ScaleTransform((_actualWidth - 10) / Math.Abs(maxX - minX), (_actualHeight - 50) / Math.Abs(maxY - minY));
return(scale.Transform(transform.Transform(
new System.Windows.Point(point.X, -1 * point.Y))));
}