private void stage_Unloaded(object sender, RoutedEventArgs e)
{
#if !NoHardware
Activity activity = new Activity(parameterManager);
if (activity.IsActive)
{
activity.Abort();
WriteLine(Properties.Strings.ActivityAbort);
}
#endif
Surface surface = Surface.GetInstance(parameterManager);
surface.OnMotorBottomLimited -= surfaceOnMotorBottom_Limited;
surface.LowBottomRecognized -= surfaceLowBottom_Recognized;
surface.LowTopRecognized -= surfaceLowTop_Recognized;
surface.UpBottomRecognized -= surfaceUpBottom_Recognized;
surface.UpTopRecognized -= surfaceUpTop_Recognized;
surface.Exited -= surface_Exited;
GridMarkSearch gs = GridMarkSearch.GetInstance(coordManager, parameterManager);
gs.Started -= gridMark_Started;
gs.Found -= gridMark_Found;
gs.Exited -= gridMark_Exited;
}
protected virtual void KeyHandleWorkspace_KeyDown(object sender, System.Windows.Input.KeyEventArgs e)
{
if (!IsControllable)
{
WriteLine(Properties.Strings.NoControllable);
return;
}
// アクティビティが実行中であれば中止する.
Activity activity = new Activity(parameterManager);
activity.Abort();
// モータが移動中であれば移動を中止する．
MotorControler mc = MotorControler.GetInstance(parameterManager);
if (mc.IsMoving)
{
mc.AbortMoving();
WriteLine(Properties.Strings.AbortMotor);
}
try {
#if !_NoHardWare
if (e.Key == Key.A)
{
mc.ContinuousDrive(VectorId.X, PlusMinus.Minus, mc.Speed.X);
}
else if (e.Key == Key.D)
{
mc.ContinuousDrive(VectorId.X, PlusMinus.Plus, mc.Speed.X);
}
else if (e.Key == Key.X)
{
mc.ContinuousDrive(VectorId.Y, PlusMinus.Minus, mc.Speed.Y);
}
else if (e.Key == Key.W)
{
mc.ContinuousDrive(VectorId.Y, PlusMinus.Plus, mc.Speed.Y);
}
else if (e.Key == Key.Q)
{
mc.ContinuousDrive(VectorId.Z, PlusMinus.Minus, mc.Speed.Z);
}
else if (e.Key == Key.E)
{
mc.ContinuousDrive(VectorId.Z, PlusMinus.Plus, mc.Speed.Z);
}
else if (e.Key == Key.N)
{
mc.MoveInSpiral();
}
else if (e.Key == Key.O)
{
mc.SetSpiralCenterPoint();
}
else if (e.Key == Key.I)
{
mc.BackToSpiralCenter();
}
else if (e.Key == Key.B)
{
mc.SpiralBack();
}
#endif
} catch (MotorException ex) {
WriteLine(ex.Message);
}
}
