private void DrawMap(Map map)
{
DrawBorder(map);
DrawCar(map);
DrawParking(map);
DrawObstacles(map);
Canvas_trackPlanner.UpdateLayout();
}
void glyphRecogniser_frameProcessed(object sender, GlyphRecognitionStudio.MainForm.FrameData frameData)
{
baseImage = frameData.getImage();
this.Dispatcher.Invoke(new Action(() => image_baseImagePicker.Source = loadBitmap(baseImage)));
if (waitingForNextBaseImage)
{
map = mapBuilder.BuildMap(baseImage, frameData.getGlyphs());
if (map != null)
{
this.Dispatcher.Invoke(new Action(() => TextBlock_marksInfo.Text = map.ToString()));
this.Dispatcher.Invoke(new Action(() => DrawMap(map)));
this.Dispatcher.Invoke(new Action(() => plannerBackGround.Source = loadBitmap(baseImage)));
this.Dispatcher.Invoke(new Action(() => Canvas_trackPlanner.UpdateLayout()));
}
else
{
this.Dispatcher.Invoke(new Action(() => TextBlock_marksInfo.Text = "Map couldn't be build basing on current image!"));
}
//waitingForNextBaseImage = false;
Console.WriteLine("New base frame acquired!");
}
else
{
if (map != null)
{
mapBuilder.UpdateCarPosition(map, frameData.getGlyphs());
this.Dispatcher.Invoke(new Action(() => DrawMap(map)));
Console.WriteLine("Car position updated!");
if (carUnderDriving)
{
CarSteering carSteering = carDriver.CalculateCarSteering(map);
this.Dispatcher.Invoke(new Action(() => TextBlock_CarSteeringInformations.Text = carSteering.ToString()));
carController.SetTargetSpeed(carSteering.speed);
carController.SetTargetWheelAngle(carSteering.angle);
carController.OverrideTargetBrakeSetting(carSteering.brake);
}
}
}
}
