public BotGrid(int rows, int cols, int rowHeight, int colWidth, Canvas mapCanvas, int scale, RobotPose botPose, ObstaclePositions obstaclePositions)
{
_rows = rows;
_cols = cols;
_mapCanvas = mapCanvas;
_rowHeight = rowHeight;
_colWidth = colWidth;
_scale = scale;
_botPose = botPose;
_instance = this;
_obstaclePositions = obstaclePositions;
_obstaclePositions.PropertyChanged += ObstaclePositionsOnPropertyChanged;
_botPose.PropertyChanged += BotPoseOnPropertyChanged;
}
protected override void OnNavigatedTo(NavigationEventArgs e)
{
RefreshSerialDevices();
//int rows = 24, cols = 40;
int rows = 50, cols = 50;
int scale = 5; // 5cm Real World per pixel
MapCanvas.Width = cols * 50;
MapCanvas.Height = rows * 50;
int colWidth = (int)MapCanvas.Width / (2 * cols);
int rowHeight = colWidth;
mapController = new MapController();
RobotShape.DataContext = mapController.BotPose;
botGrid = new BotGrid(rows, cols, rowHeight, colWidth, MapCanvas, scale, mapController.BotPose, mapController.obstaclePositons);
botGrid.DrawGrid();
}
