/// <summary>
/// Fire this event.
/// </summary>
public override void Fire()
{
try
{
Logger.Log(this, "Planning route...");
route = Planner.PlanRoute(NaoState.Instance.Map, locations);
if (route != null && route.Count != 0)
{
Logger.Log(this, "Path found, walking...");
}
else
{
Logger.Log(this, "No path found.");
ReportFailure();
return;
}
Logger.Log(this, "RouteEntries: " + route.Count);
foreach (RouteEntry entry in route)
{
Logger.Log(entry);
}
foreach (RouteEntry entry in route)
{
if (!Aborted)
{
Logger.Log(this, "Turning to " + entry.Direction + "...");
Walk.Instance.TurnTo(entry.Direction);
MarkerSearchWorker worker = Walk.Instance.WalkTowardsMarker(entry.MarkerID, entry.WantedDistance);
worker.Start();
}
}
if (Aborted)
{
ReportFailure();
}
else
{
ReportSuccess();
}
}
catch (System.Exception e)
{
Logger.Log(this, "Unexpected exception caught: " + e.Message);
ReportFailure();
}
}
/// <summary>
/// Fire this event.
/// </summary>
public override void Fire()
{
try
{
if (!Aborted)
{
Logger.Log("GoToMarker: start");
worker = Walk.Instance.WalkTowardsMarker(markerID, distance);
worker.Start();
}
}
catch (Exception e)
{
Logger.Log(this, e.Message);
}
}