public Form1()
{
InitializeComponent();
RunMode runMode = RunMode.Real;
if (!Constants.IsWinCE)
{
runMode= RunMode.Virtual;
}
Drive _drive = new Drive(runMode);
commonRunParameters1.SpeedChanged += new EventHandler(commonRunParameters1_SpeedChanged);
commonRunParameters1.AccelerationChanged += new EventHandler(commonRunParameters1_AccelerationChanged);
driveView1.Drive = _drive;
runLine1.Drive = _drive;
}
public Form1()
{
InitializeComponent();
drv = new Drive(RunMode.Real);
this.driveCtrlView1.DriveCtrl = drv.DriveCtrl;
this.runLineView1.drive = drv;
this.trackTurnView1.drive = drv;
this.driveView1.Drive = drv;
this.trackArc1.drive = drv;
drv.Power = true;
DigitalInHW inHW = new DigitalInHW(Constants.IOConsoleSWITCH);
s1= new Switch(inHW, Switches.Switch1);
s2 = new Switch(inHW,Switches.Switch2);
s3 = new Switch(inHW,Switches.Switch3);
s1.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s_SwitchStateChanged);
s2.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s2_SwitchStateChanged);
s3.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s3_SwitchStateChanged);
}
public void InterpretCommandTest()
{
RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual;
Drive drv = new Drive(actualMode);
Robot r = new Robot(actualMode);
World.Robot = r;
Interpreter interpreter = new Interpreter();
//Interpreter_Accessor target = new Interpreter_Accessor(); // TODO: Initialize to an appropriate value
Command cmd = new Command(); // TODO: Initialize to an appropriate value
cmd.Method = "RunLine";//RunLine(float length, float speed, float acceleration)
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
////cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//interpreter.InterpretCommand(cmd);
//target.InterpretCommand(cmd);
Assert.Inconclusive("A method that does not return a value cannot be verified.");
}
public FormWorldControl()
{
InitializeComponent();
RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual;
Drive drv = new Drive(actualMode);
Robot r = new Robot(actualMode);
drv.DriveCtrl.Power = true;
drv.DriveCtrl.PowerLeft = true;
drv.DriveCtrl.PowerRight = true;
this.runLineView1.drive = drv;
this.driveView1.Drive = drv;
this.trackArc1.drive = drv;
this.trackTurnView1.drive = drv;
r.ConfigurePathRecording(0.05f, 0.1f);
drv.Position = new PositionInfo(5.0f, 5.0f, 0.0f);
r.drv = drv;
r.Color = Color.Red;
World.Robot = r;
r.SwitchStateChanged += new EventHandler<SwitchEventArgs>(r_SwitchStateChanged);
RobotConsole rc = r.RobotConsole;
consoleView1.RobotConsole = rc;
if (r.RunMode == RunMode.Virtual)
{
World.ObstacleMap = new ObstacleMap(RobotView.Resource.ObstacleMap1c, xMin-0.25f, xMax+0.25f, yMin-0.25f, yMax-0.25f); //korrektur wg. doofen bildern
}
view = new FormWorldView(xMin, yMin, xMax, yMax);
view.ViewPort = new RobotView.ViewPort(xMin, xMax, yMin, yMax);
view.Show();
this.StartServices();
}
/// <summary>
/// Disposed das Drive-Objekt sowie die robotConsole.
/// Damit werden die Worker-Threads in diesen Objekten beendet
/// </summary>
public void Dispose()
{
Drive.Dispose();
this.robotConsole.Dispose();
}
public Robot()
{
this.robotConsole = new RobotConsole();
this.radar = new Radar(Constants.IORadarSensor);
Drive = new Drive();
}
public Robot()
{
this.robotConsole = new RobotConsole();
this.drive = new Drive();
}
private void initDrive()
{
Drive = new Drive(this.RunMode);
positions = new List<PositionInfo>();
}
