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);
}
protected override void _OnStart()
{
_programExecutor.Start();
}
