private T GetParValueOrDefault <T, parT>(string funName, string parName, BNT boolNumText)
{
parT par = GetUniquePar <parT>(parName);
if (par == null)
{
return(DefinitionAdmin.GetParDefault <T>(funName, parName));
}
switch (boolNumText)
{
case BNT.BOOL: return((T)((par as ParBool).GetBoolValue() as object));
case BNT.NUM: return((T)((par as ParNumber).GetValue() as object));
case BNT.TEXT: return((T)((par as ParBase).xmlValue as object));
}
throw new Exception("GetParValueOrDefault failed");
}
private void bntBtn_Click(object sender, EventArgs e)
{
/// robot.ReadLaserValues();
// robot.Rotate(90);
// return;
//Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
//Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
CreatePathForm createPathForm = new CreatePathForm();
createPathForm.FormClosing += (o, form) =>
{
var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text));
// LocationApproximator locationApproximator = new LocationApproximator();
// locationApproximator.SetUp(map);
// Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF);
// robot.Center = loc;
Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
bnt = new BNT(map, robot);
List <String> names = new List <string>(createPathForm.dstXtextBox.Text.Split(' '));
List <String> oo = new List <string>(createPathForm.dstYTextBox.Text.Split(' '));
List <Orientation> orientations = oo.ConvertAll(input =>
{
Orientation orientation;
Enum.TryParse <Orientation>(input, out orientation);
return(orientation);
});
// bnt.TEST(src, names, orientations);
bnt.Start(src, names, orientations);
Timer1.Enabled = true;
Render();
};
createPathForm.Show();
Render();
}
