void CameraVehicle_MotorSpeedChanged(object sender, MotorSpeedChangedEventArgs e)
{
backgroundImage = null;
Dispatcher.Invoke(() =>
{
currentTimeTextBlock.Text = e.Tick.ToString();
leftWheelSpeedTextBlock.Text = e.LeftSpeed.ToString("f2");
rightWheelSpeedTextBlock.Text = e.RightSpeed.ToString("f2");
});
if (saveToFileCheckBox.IsChecked.GetValueOrDefault(false) && saveToFileCheckBox.IsEnabled)
{
actionList.Add(e);
}
if (e.LeftSpeed == 0 && e.RightSpeed == 0 && lastMotorEvent != null)
{
if (lastMotorEvent.LeftSpeed == lastMotorEvent.RightSpeed)
{
double distance = (e.Tick - lastMotorEvent.Tick) / 1000 * lastMotorEvent.LeftSpeed;
//vehicle.Forward(distance);
MapWindow w = GetMapWindow();
w.startingVehicleState = vehicle.State;
w.Draw();
}
}
lastMotorEvent = e;
}
protected virtual void OnMotorSpeedChanged(MotorSpeedChangedEventArgs e)
{
var handler = MotorSpeedChanged;
if (handler != null)
{
handler(this, e);
}
}
private void MoveStateChanged()
{
double leftSpeed, rightSpeed;
GetRearWheelSpeeds(SteeringAngle, MidSpeed, out leftSpeed, out rightSpeed);
MotorSpeedChangedEventArgs e = new MotorSpeedChangedEventArgs
{
Tick = DateTime.UtcNow.GetUnixTimestamp(),
LeftSpeed = leftSpeed,
RightSpeed = rightSpeed
};
Debug.WriteLine("调用线程：" + System.Threading.Thread.CurrentThread.GetHashCode());
leftMotor.On((sbyte)-CalculateMotorPower(leftSpeed));
rightMotor.On((sbyte)-CalculateMotorPower(rightSpeed));
base.OnMotorSpeedChanged(e);
}