private void RemoveBtn_Click(object sender, RoutedEventArgs e)
{
ZoneRegister zr = (sender as Button).DataContext as ZoneRegister;
trafficRounterService.ClearZoneRegister(zr.NameId);
trafficRounterService.SaveConfigZone(JsonConvert.SerializeObject(MainDataGrid.ItemsSource, Formatting.Indented));
}
public void TrafficUpdate()
{
while (true)
{
try
{
prioritLevel.IndexOnMainRoad = trafficManagementService.FindIndexZoneRegister(properties.pose.Position);
if (onFlagSupervisorTraffic)
{
// cập nhật vùng riskzone // update vùng risk area cho robot
ZoneRegister rZR = trafficManagementService.GetTypeZoneReg(properties.pose.Position, TrafficSetValue.YES);// trafficManagementService.Find(properties.pose.Position, 0, 200);
if (rZR != null)
{
properties.L1 = rZR.L1;
properties.L2 = rZR.L2;
properties.WS = rZR.WS;
properties.DistInter = rZR.distance;
L1Cv = rZR.L1 * properties.Scale;
L2Cv = rZR.L2 * properties.Scale;
WSCv = rZR.WS * properties.Scale;
DistInterCv = rZR.distance * properties.Scale;
//UpdateRiskAraParams(rZR.L1, rZR.L2, rZR.WS, rZR.distance);
}
else
{
UpdateRiskAraParams(DfL1, DfL2, DfWS, DfDistanceInter);
}
RobotBehavior();
}
// giám sát an toàn
}
catch { Console.WriteLine("TrafficRobotUnity Error in TrafficUpdate"); }
Thread.Sleep(500);
}
}
