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()); }