private void ButtonManualGoFourForward_Click(object sender, RoutedEventArgs e)
{
RobotController.SubmitCommand(RobotTranslator.EncodeTo(0, new List <RobotActions>()
{
RobotActions.Forward, RobotActions.Forward, RobotActions.Forward, RobotActions.Forward
}));
}
private void TextBoxDirectCommands_KeyDown(object sender, KeyEventArgs e)
{
if (e.Key == Key.Return)
{
try
{
// Add the command identifier and a wait time, if it was not supplied
string command = TextBoxDirectCommands.Text;
if (!command.StartsWith(RobotMessageResultServer.IDENTIFIER_GO))
{
command =
RobotMessageResultServer.IDENTIFIER_GO + CommunicationConstants.MSG_SUB_DELIMITER +
"0" + CommunicationConstants.MSG_SUB_DELIMITER +
command;
}
// Check whether the translation would raise an exception
RobotTranslator.DecodeTo(command);
// Submit the command
RobotController.SubmitCommand(command);
// Clear message window
TextBoxDirectCommands.Text = "";
}
catch (Exception)
{
LogMessage("Invalid command!");
}
}
}
private void EmulatedControlTreeViewItem_KeyDown(object sender, KeyEventArgs e)
{
if (e.Key == Key.Return)
{
TextBox castedSender = (TextBox)sender;
ClientInfo clientInfo = _inputBoxEmulatedControls[castedSender];
string message = castedSender.Text;
castedSender.Text = "";
try
{
ControlMessageResultClient messageResult = ControlTranslator.DecodeFrom(message);
string robotCommand;
switch (messageResult.Type)
{
case ControlMessageTypesClient.Path: robotCommand = _server.ConvertToRobCmd(messageResult.RobotID, messageResult.WaitTime, messageResult.Path); break;
case ControlMessageTypesClient.Pickup: robotCommand = RobotTranslator.EncodeToPickup(); break;
case ControlMessageTypesClient.Setdown: robotCommand = RobotTranslator.EncodeToSetdown(); break;
case ControlMessageTypesClient.Rest: robotCommand = RobotTranslator.EncodeToRest(); break;
case ControlMessageTypesClient.GetItem: robotCommand = RobotTranslator.EncodeToGetItem(); break;
case ControlMessageTypesClient.PutItem: robotCommand = RobotTranslator.EncodeToPutItem(); break;
default: throw new ArgumentException("Unknown command type: " + messageResult.Type.ToString());
}
_server.SendMsg(ClientType.R, messageResult.RobotID, robotCommand);
}
catch (Exception ex)
{
ShowMessage("Error: " + ex.Message);
}
}
}
private void ButtonManualGoStop_Click(object sender, RoutedEventArgs e)
{
RobotController.SubmitCommand(RobotTranslator.EncodeToRest());
}
