private void ActualPatternOnPatternFinished(object sender, EventArgs e)
{
World.Robot.RobotConsole[Leds.Led1].LedEnabled = false;
fww.worldView1.AddRobotParkSpot(World.Robot.Position);
_actualPattern = null;
}
private void OnSwitchStateChanged(object sender, SwitchEventArgs switchEventArgs)
{
if (commonRunParameters1.InvokeRequired) {
commonRunParameters1.Invoke(new Action(() => OnSwitchStateChanged(sender, switchEventArgs)));
}
if (switchEventArgs.SwitchEnabled)
{
if (_actualPattern == null)
{
World.Robot.RobotConsole[Leds.Led1].LedEnabled = switchEventArgs.SwitchEnabled;
_actualPattern = new FindSpaceAndParkPattern((float)commonRunParameters1.UPSpeed.Value / 1000f, (float)commonRunParameters1.UPAcceleration.Value / 1000f);
_actualPattern.PatternFinished += ActualPatternOnPatternFinished;
_actualPattern.Start();
}
else
{
_actualPattern.Restart();
}
}
else
{
if (_actualPattern != null)
{
_actualPattern.Halt();
}
}
}