public override void SendCommand(string windowCommand, params string[] values)
{
var cmd = GetRoombaCommand(windowCommand);
if (cmd == RoombaCmdEnum.Init)
{
init();
}
else if (cmd == RoombaCmdEnum.DisableSensorStream)
{
Invokers.SetChecked(cbSensorStream, false);
cbSensorStream_CheckedChanged(null, null);
}
else if (cmd == RoombaCmdEnum.EnableSensorStream)
{
Invokers.SetChecked(cbSensorStream, true);
cbSensorStream_CheckedChanged(null, null);
}
else if (cmd == RoombaCmdEnum.PowerOff)
{
_robotController.SetMode(Create2OI.Types.OperatingMode.OFF);
}
else if (cmd == RoombaCmdEnum.SeekDockingStation)
{
_robotController.Execute(Create2OI.Types.OpCode.FORCE_SEEKING_DOCK);
}
else if (cmd == RoombaCmdEnum.Clean)
{
_robotController.Execute(Create2OI.Types.OpCode.CLEAN);
}
else if (cmd == RoombaCmdEnum.MaxClean)
{
_robotController.Execute(Create2OI.Types.OpCode.MAX_CLEAN);
}
else if (cmd == RoombaCmdEnum.SpotClean)
{
_robotController.Execute(Create2OI.Types.OpCode.SPOT);
}
else
{
base.SendCommand(windowCommand, values);
}
//else if (cmd == RoombaCmdEnum.DisableAllBrushes)
// _roomba.DisableAllBrushes();
//else if (cmd == RoombaCmdEnum.MainBrushOff)
// _roomba.SetMainBrush(false);
//else if (cmd == RoombaCmdEnum.MainBrushOn)
// _roomba.SetMainBrush(true);
//else if (cmd == RoombaCmdEnum.SideBrushOff)
// _roomba.SetSideBrush(false);
//else if (cmd == RoombaCmdEnum.SideBrushOn)
// _roomba.SetSideBrush(true);
//else if (cmd == RoombaCmdEnum.VacuumOff)
// _roomba.SetVacuum(false);
//else if (cmd == RoombaCmdEnum.VacuumOn)
// _roomba.SetVacuum(true);
}
private void _robotController_OnError(object sender, Exception txt)
{
if (IsClosing)
{
return;
}
Invokers.SetChecked(cbSensorStream, false);
Invokers.SetAppendText(tbLog, true, txt.ToString());
}