/// <summary>
/// propagates device commands to task events
/// </summary>
/// <param name="command"></param>
public void ControlDeviceCommand(string command)
{
//Debug.WriteLine("TaskDispatcher: ControlDeviceCommand: " + command);
ControlDeviceEventArgs args = new ControlDeviceEventArgs()
{
command = command
};
foreach (var task in tasks)
{
task.OnControlDeviceCommand(args);
}
}
/// <summary>
/// interprets the command from control device (i.e. a joystick)
/// see ...\ControlDevices\RumblePad2.cs
/// </summary>
/// <param name="command"></param>
void Behavior_controlDeviceEvent(object sender, ControlDeviceEventArgs e)
{
string command = e.command;
double speed = 0.0d;
double turn = 0.0d;
switch (command)
{
case "button2":
fullAuto = true;
break;
case "button3":
fullAuto = false;
break;
default:
if (command.StartsWith("speed|"))
{
string[] split = command.Split(new char[] { '|' });
speed = double.Parse(split[1]); // -100...+100
turn = double.Parse(split[2]); // -100...+100
}
break;
}
if (fullAuto)
{
// cruise control
desiredSpeed = fullAutoSpeed;
desiredTurn = 0.0d;
}
else
{
desiredSpeed = speed;
desiredTurn = turn;
}
}
public virtual void OnControlDeviceCommand(ControlDeviceEventArgs e)
{
controlDeviceEvent?.Invoke(this, e);
}
/// <summary>
/// propagates device commands to task events
/// </summary>
/// <param name="command"></param>
public void ControlDeviceCommand(string command)
{
//Debug.WriteLine("TaskDispatcher: ControlDeviceCommand: " + command);
ControlDeviceEventArgs args = new ControlDeviceEventArgs() { command = command };
foreach (var task in tasks)
{
task.OnControlDeviceCommand(args);
}
}
public virtual void OnControlDeviceCommand(ControlDeviceEventArgs e)
{
controlDeviceEvent?.Invoke(this, e);
}