public void UpdateRobotPosition(RobotDescartesTrajectoryPosition robotPosition)
{
OnRobotPositionUpdated(new RobotPositionUpdatedEventArguments(robotPosition));
OperationContext operationContext = OperationContext.Current;
IRobotTrajectoryMonitoringServiceCallback callback = operationContext.GetCallbackChannel <IRobotTrajectoryMonitoringServiceCallback>();
callback.RobotTrajectoryUpdatedCallback();
}
internal void UpdateRobotPosition(Guid robotId, Point position)
{
if (InnerDuplexChannel.State != CommunicationState.Faulted)
{
var robotTrajectoryPosition = new RobotDescartesTrajectoryPosition();
robotTrajectoryPosition.RobotId = robotId;
robotTrajectoryPosition.CurrentPosition = position;
Channel.UpdateRobotPosition(robotTrajectoryPosition);
}
}
public RobotPositionUpdatedEventArguments(RobotDescartesTrajectoryPosition robotDescartesTrajectoryPosition)
{
RobotDescartesTrajectoryPosition = robotDescartesTrajectoryPosition;
}
