///<summary>Asynchronously navigates a robot.</summary>
public static void Navigate(this IRobot robot, Navigation.INavigator navigator)
{
if (robot == null) throw new ArgumentNullException("robot");
if (navigator == null) throw new ArgumentNullException("navigator");
var iterator = navigator.Execute(robot);
Action stepRunner = null;
stepRunner = delegate {
try {
if (!iterator.MoveNext())
iterator.Dispose();
else
iterator.Current.Execute(robot, stepRunner); //StepRunner is captured by reference, so it will use the Contextified version
} catch {
iterator.Dispose();
throw;
}
};
stepRunner = Contextify(stepRunner); //The parameter is captured by value, so this won't create a recursive loop.
stepRunner();
}
