Beispiel #1
0
        private void RemoveBtn_Click(object sender, RoutedEventArgs e)
        {
            ZoneRegister zr = (sender as Button).DataContext as ZoneRegister;

            trafficRounterService.ClearZoneRegister(zr.NameId);
            trafficRounterService.SaveConfigZone(JsonConvert.SerializeObject(MainDataGrid.ItemsSource, Formatting.Indented));
        }
Beispiel #2
0
        public void TrafficUpdate()
        {
            while (true)
            {
                try
                {
                    prioritLevel.IndexOnMainRoad = trafficManagementService.FindIndexZoneRegister(properties.pose.Position);
                    if (onFlagSupervisorTraffic)
                    {
                        // cập nhật vùng riskzone // update vùng risk area cho robot
                        ZoneRegister rZR = trafficManagementService.GetTypeZoneReg(properties.pose.Position, TrafficSetValue.YES);// trafficManagementService.Find(properties.pose.Position, 0, 200);
                        if (rZR != null)
                        {
                            properties.L1        = rZR.L1;
                            properties.L2        = rZR.L2;
                            properties.WS        = rZR.WS;
                            properties.DistInter = rZR.distance;


                            L1Cv        = rZR.L1 * properties.Scale;
                            L2Cv        = rZR.L2 * properties.Scale;
                            WSCv        = rZR.WS * properties.Scale;
                            DistInterCv = rZR.distance * properties.Scale;
                            //UpdateRiskAraParams(rZR.L1, rZR.L2, rZR.WS, rZR.distance);
                        }
                        else
                        {
                            UpdateRiskAraParams(DfL1, DfL2, DfWS, DfDistanceInter);
                        }

                        RobotBehavior();
                    }
                    // giám sát an toàn
                }
                catch { Console.WriteLine("TrafficRobotUnity Error in TrafficUpdate"); }
                Thread.Sleep(500);
            }
        }