private async void DoWork(object sender, DoWorkEventArgs e)
{
while (_worker != null && !_worker.CancellationPending)
{
var result = await ServiceBusHelper.ReceiveAndDeleteMessage();
switch (result)
{
case "SMR":
await _uln2003Driver.TurnAsync(90, TurnDirection.Right);
break;
case "SML":
await _uln2003Driver.TurnAsync(90, TurnDirection.Left);
break;
case "F":
_twoMotorsDriver.MoveForward();
isMovingForward = true;
break;
case "S":
_twoMotorsDriver.Stop();
isMovingForward = false;
break;
case "R":
await _twoMotorsDriver.TurnRightAsync();
isMovingForward = false;
break;
case "L":
await _twoMotorsDriver.TurnLeftAsync();
isMovingForward = false;
break;
case "B":
_twoMotorsDriver.MoveBackward();
isMovingForward = false;
break;
case "TR":
await _twoMotorsDriver.TurnRightAsync(45);
isMovingForward = false;
break;
case "TL":
await _twoMotorsDriver.TurnLeftAsync(45);
isMovingForward = false;
break;
case "BR":
await _twoMotorsDriver.TurnRightAsync(100);
isMovingForward = false;
break;
case "BL":
await _twoMotorsDriver.TurnLeftAsync(100);
isMovingForward = false;
break;
}
await Task.Delay(1000);
}
}
