public void OnDestinationReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (e.RobotId == robotId)
{
destinationLocation = e.Location;
}
}
public void OnPhysicalPositionReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (robotId == e.RobotId)
{
currentLocation = e.Location;
}
}
public void OnGhostLocationReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (localWorldMap == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId)
{
localWorldMap.robotGhostLocation = e.Location;
}
}
public void OnWaypointReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (localWorldMap == null)
{
return;
}
if (RobotId == e.RobotId)
{
localWorldMap.waypointLocation = e.Location;
}
}
public void OnPhysicalPositionReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (localWorldMap == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId)
{
localWorldMap.robotLocation = e.Location; //Update de la robot Location dans la local world map
OnLocalWorldMapForDisplayOnly(localWorldMap); //Event de transmission de la local world map
}
}
public void OnPhysicalPositionReceived(object sender, EventArgsLibrary.LocationArgs e)
{
if (!swTimeInterPhysicalPositionReceived.IsRunning)
{
swTimeInterPhysicalPositionReceived.Start();
}
double InstantPhysicalPositionReceived = swTimeInterPhysicalPositionReceived.ElapsedMilliseconds;
double elapsedTimeBetweenSamples = (InstantPhysicalPositionReceived - InstantPhysicalPositionReceived_1) / 1000;
InstantPhysicalPositionReceived_1 = InstantPhysicalPositionReceived;
if (robotId == e.RobotId)
{
currentLocationRefTerrain = e.Location;
CalculateGhostPosition(elapsedTimeBetweenSamples);
PIDPosition(elapsedTimeBetweenSamples);
}
}
//Input Events
public void OnWaypointReceived(object sender, EventArgsLibrary.LocationArgs e)
{
wayPointLocation = e.Location;
}