void RouterPositionUpdate(object o, EventArgs e)
{
IRobotCommandWithStatus status = o as IRobotCommandWithStatus;
if (status != null)
{
Vector3 position = status.CurrentPosition;
float time = status.Time;
float distance = (lastPosition - position).Length;
if ((lastPosition - position).Length > 0.0001f)
{
lock (previousPoints)
{
//Console.WriteLine("{0},{1}", time, distance);
while (previousPoints.Count > 1000)
{
previousPoints.RemoveAt(0);
}
previousPoints.Add(new PreviousPoint(time, position));
lastPosition = position;
}
}
}
}
void RobotStatusUpdate(object o, EventArgs e)
{
if (this.InvokeRequired && !this.Disposing)
{
try
{
this.Invoke(new EventHandler(RobotStatusUpdate), new object[] { o, e });
}
catch (ObjectDisposedException)
{
}
}
else
{
IRobotCommandWithStatus status = o as IRobotCommandWithStatus;
if (status != null)
{
this.runButton.Enabled = true;
this.steppersEnabledBox.Enabled = true;
this.zbox.Enabled = true;
this.zGo.Enabled = true;
this.steppersEnabledBox.Checked = status.SteppersEnabled;
if (status.Pausing)
{
pause_resume_button.Text = "Pausing...";
pause_resume_button.Enabled = false;
}
else
{
if (status.Paused)
{
if (pause_resume_button.Text != "Resume")
{
cancelButton.Enabled = true;
pause_resume_button.Text = "Resume";
}
}
else
{
if (pause_resume_button.Text != "Pause")
{
pause_resume_button.Text = "Pause";
}
}
pause_resume_button.Enabled = true;
}
}
}
}