public FormWorldControl()
{
InitializeComponent();
RunMode runMode = RunMode.Real;
if (!Constants.IsWinCE)
{
runMode = RunMode.Virtual;
}
Robot _robot = new Robot(runMode);
Drive _drive = _robot.Drive;
_drive.Power = true;
_drive.Position = new PositionInfo(0, 0, 90);
_robot.Color = Color.Red;
World.Robot = _robot;
driveView1.Drive = _drive;
_robot.RobotConsole.SwitchChanged += new EventHandler(robotConsole1_SwitchChanged);
consoleView1.RobotConsole = _robot.RobotConsole;
createWorldView();
}
public Form1()
{
InitializeComponent();
robot = new RobotCtrl.Robot(); // new Robot object
// --------- Initialization ---------
// Drive
robot.Drive.Power = true; // Motor power ON
driveView.Drive = robot.Drive;
runArcView.Drive = robot.Drive;
runTurnView.Drive = robot.Drive;
runLineView.Drive = robot.Drive;
// Initalization for the Start
commonRunParameters_AccelerationChanged(null, EventArgs.Empty);
commonRunParameters_SpeedChanged(null, EventArgs.Empty);
// LED view
consoleView.Console = robot.RobotConsole;
robot.RobotConsole[Switches.Switch1].SwitchStateChanged += (s, e) => { robot.RobotConsole[Leds.Led1].LedEnabled = robot.RobotConsole[Switches.Switch1].SwitchEnabled; };
robot.RobotConsole[Switches.Switch2].SwitchStateChanged += (s, e) => { robot.RobotConsole[Leds.Led2].LedEnabled = robot.RobotConsole[Switches.Switch2].SwitchEnabled; };
robot.RobotConsole[Switches.Switch3].SwitchStateChanged += (s, e) => { robot.RobotConsole[Leds.Led3].LedEnabled = robot.RobotConsole[Switches.Switch3].SwitchEnabled; };
robot.RobotConsole[Switches.Switch4].SwitchStateChanged += (s, e) => { robot.RobotConsole[Leds.Led4].LedEnabled = robot.RobotConsole[Switches.Switch4].SwitchEnabled; };
robot.RobotConsole[Switches.Switch1].SwitchStateChanged += StartParkingManoveur;
// Radar view
radarView.Radar = robot.Radar;
// FSM state
fsmState = State.IDLE;
// Parking status
label_ParkingState.Text = "Bereit zum starten";
// No barrier value
noBarrier = 0.0f;
// Thread Initalization
ultrasonicSensorThread = new Thread(UltrasonicRead);
}
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();
}
