private void onExecutionEnd(object sender, EventArgs e)
{
var executor = sender as IProgramExecutor;
lock (runningExecutorsMutex)
{
RunningExecutors.Remove(executor);
}
ProgramExecutionCompleted?.Invoke(this, new ProgramExecutionServiceProgramEventArgs(executor.Program));
}
public IProgramExecutor Execute(IProgram program, IRobot robot)
{
if (CanExecute(program, robot) == false)
{
throw new RobotsException("Robot is already running a program!");
}
IProgramExecutor executor = ExecutorFactory.Create(program, robot);
lock (runningExecutorsMutex)
{
RunningExecutors.Add(executor);
}
executor.ProgramExecutionEnd += onExecutionEnd;
executor.Start();
ProgramExecutionStarted?.Invoke(this, new ProgramExecutionServiceProgramEventArgs(program));
return(executor);
}
public bool IsProgramRunning(IProgram program)
{
return(RunningExecutors.Any(e => e.Program == program));
}
public bool CanExecute(IProgram program, IRobot robot)
{
return(RunningExecutors.Any(e => e.Robot == robot) == false);
}
