private void SwitchStateChangedRunAroundObstacles(object sender, SwitchEventArgs e)
{
if (e.SwitchEnabled)
{
if (ActualDriveTask != null)
{
this.ActualDriveTask.Stop();
}
RunAroundObstacles drvTask = new RunAroundObstacles();
drvTask.DoorFoundEvent += new RunAroundObstacles.DoorFoundEventHandler(drvTask_DoorFoundEvent);
drvTask.FinishedEvent += new RunAroundObstacles.FinishedEventHandler(drvTask_FinishedEvent);
drvTask.StartedEvent += new RunAroundObstacles.StartedEventHandler(drvTask_StartedEvent);
this.ActualDriveTask = drvTask;
this.ActualDriveTask.Go();
}
else
{
if (this.ActualDriveTask != null)
{
this.ActualDriveTask.Stop();
}
}
}
void drvTask_DoorFoundEvent(object sender, RunAroundObstacles.DoorFoundEventArgs e)
{
//disable all blinking LEDS 2-3
RobotConsole[BlinkingLeds.BlinkingLed1].LedEnabled = false;
RobotConsole[BlinkingLeds.BlinkingLed2].LedEnabled = false;
RobotConsole[BlinkingLeds.BlinkingLed3].LedEnabled = false;
//Enable correct LED
RobotConsole[(BlinkingLeds)(3-e.FoundDoor)].LedEnabled = true;
}
