public void trigger(string command, string[] args)
{
if (command == "cruise")
{
_impl.Context.log("Cruise control enabled");
if (args.Length > 0)
{
_impl.Context._desiredSpeed = Math.Min(Math.Max(float.Parse(args[0]), 0), 100.0);
_impl.Context.transition(new CruiseControlState());
}
else
{
_impl.Context.transition(new InitializeDesiredSpeedState());
}
}
else if (command == "cancel_cruise")
{
_impl.Context.log("Cruise control disabled");
_impl.Context.transition(MyContext.Stopped);
}
else if (command == "debug")
{
CruiseDebug debug = (CruiseDebug)Enum.Parse(typeof(CruiseDebug), args[0]);
if (_impl.Context._debug == debug)
{
// toggle
debug = CruiseDebug.None;
}
_impl.Context._debug = debug;
}
}
public void trigger(string command, string[] args)
{
if (command == "cruise")
{
_impl.Context.log("Cruise control enabled");
double desiredSpeed = Math.Min(Math.Max(float.Parse(args[0]), 0), 100.0);
double desiredRollSpeed_rpm = 0;
if (args.Length > 1)
{
desiredRollSpeed_rpm = float.Parse(args[1]);
}
double desiredRollSpeed_radsPerSec = desiredRollSpeed_rpm / 60 * 2 * Math.PI;
_impl.Context.setDesiredSpeed(desiredSpeed, desiredRollSpeed_radsPerSec);
_impl.Context.transition(new CruiseControlState());
}
else if (command == "reverse")
{
_impl.Context.log("Cruise control enabled");
if (args.Length > 0)
{
_impl.Context.setDesiredSpeed(-Math.Min(Math.Max(float.Parse(args[0]), 0), 100.0), 0);
if (!(_impl.Context.State is CruiseControlState))
{
_impl.Context.transition(new CruiseControlState());
}
}
}
else if (command == "cancel_cruise")
{
_impl.Context.log("Cruise control disabled");
_impl.Context.transition(MyContext.Stopped);
}
else if (command == "debug")
{
CruiseDebug debug = (CruiseDebug)Enum.Parse(typeof(CruiseDebug), args[0]);
if (_impl.Context._debug == debug)
{
// toggle
debug = CruiseDebug.None;
}
_impl.Context._debug = debug;
}
}
