public void ValidateRobotTrajectory(RobotDescartesTrajectory robotTrajectory)
{
var robotValidationResult = new RobotValidationResult();
robotValidationResult.RobotId = robotTrajectory.RobotId;
var trajectoryPoints = robotTrajectory.Trajectory;
bool result = true;
foreach (var trajectoryPoint in trajectoryPoints)
{
result = trajectoryPoint.X <= DescartesRobotFactory.Dimensions.Width && trajectoryPoint.Y <= DescartesRobotFactory.Dimensions.Height;
if (!result)
{
robotValidationResult.ValidationMessage = "Trajectory coordinare are out of bounds";
break;
}
}
robotValidationResult.ValidationResult = result;
OperationContext operationContext = OperationContext.Current;
IRobotTrajectoryValidationServiceCallback callback = operationContext.GetCallbackChannel <IRobotTrajectoryValidationServiceCallback>();
callback.RobotTrajectoryValidated(robotValidationResult);
}
public void SetupRobotTrajectory(RobotDescartesTrajectory robotTrajectory)
{
OnTrajectorySet(new TrajectorySetEventArguments(robotTrajectory));
OperationContext operationContext = OperationContext.Current;
IRobotTrajectoryMonitoringServiceCallback callback = operationContext.GetCallbackChannel <IRobotTrajectoryMonitoringServiceCallback>();
callback.RobotTrajectorySetCallback();
}
internal void SetupRobotTrajectory(Guid robotId, string robotTitle, List <Point> trajectoryPoints)
{
if (InnerDuplexChannel.State != CommunicationState.Faulted)
{
var robotTrajectory = new RobotDescartesTrajectory();
robotTrajectory.RobotId = robotId;
robotTrajectory.RobotTitle = robotTitle;
robotTrajectory.Trajectory = trajectoryPoints;
Channel.SetupRobotTrajectory(robotTrajectory);
}
}
internal void ValidateTrajectory(Guid robotId, List <Point> trajectoryPoints)
{
if (InnerChannel.State != CommunicationState.Faulted)
{
var robotTrajectory = new RobotDescartesTrajectory();
robotTrajectory.RobotId = robotId;
robotTrajectory.Trajectory = trajectoryPoints;
Channel.ValidateRobotTrajectory(robotTrajectory);
}
else
{
MessageBox.Show(string.Format("Channel is in faulted state: {0}", Channel.ToString()), "Trajectroy validation error", MessageBoxButton.OK, MessageBoxImage.Exclamation);
}
}
public TrajectorySetEventArguments(RobotDescartesTrajectory robotDescartesTrajectory)
{
RobotDescartesTrajectory = robotDescartesTrajectory;
}