public RobotAndWallTests()
{
var map = TestMap1Factory.Create();
environment = new DefaultEnvironment(map);
robot = new LineAndWallDetectorRobot(environment);
}
public WallsAndLinesDemoBrainTests()
{
map = TestMap1Factory.Create();
environment = new DefaultEnvironment(map);
robot = new LineAndWallDetectorRobot(environment, 50);
brain = new WallsAndLinesDemoBrain(robot);
}
public WallsAndLinesDemoBrain(LineAndWallDetectorRobot robot) : base(robot)
{
robot.OnLineAppears += Robot_OnLineAppears;
robot.OnLineDisappears += Robot_OnLineDisappears;
robot.OnWallOnLeft += Robot_OnWallOnLeft;
robot.OnNoWallOnLeft += Robot_OnNoWallOnLeft;
robot.OnWallOnRight += Robot_OnWallOnRight;
robot.OnNoWallOnRight += Robot_OnNoWallOnRight;
}
public WallAndLineDetectorRobotTests()
{
var map = new Map(100, 100);
environment = new DefaultEnvironment(map);
robot = new LineAndWallDetectorRobot(environment);
SubscribeToAllRobotEvents();
map.DrawVLine(x: 60, y1: 0, y2: 99, value: 255); // Wall
map.DrawVLine(x: 20, y1: 0, y2: 99, value: 1); // Line
robot.Orientation = 0.0;
}
public RobotViewModel(LineAndWallDetectorRobot robot)
{
this.robot = robot;
this.Image = new BitmapImage
{
UriSource = new Uri(@"ms-appx:///Assets/Robot.png")
};
ImageCenterPoint = new Vector3(16.0F, 25.0F, 0.0F);
ImageCenterTranslation = new Vector3(-16.0F, -25.0F, 0.0F);
timer = new DispatcherTimer
{
Interval = TimeSpan.FromMilliseconds(500)
};
timer.Tick += Timer_Tick;
}
public MainPage()
{
this.InitializeComponent();
environment = new DefaultEnvironment(new Map(1, 1)); // Did not load the map yet...
EnvironmentTickSource = new EnvironmentTickSource(environment, SimulationCycleLengthMs);
var robot = new LineAndWallDetectorRobot(environment);
Brain = new WallsAndLinesDemoBrain(robot);
new LogCollector(Brain, this.LogViewModel); // Ctor performs registrations
this.RobotViewModel = new RobotViewModel(robot);
RobotImage.Source = RobotViewModel.Image;
this.MapViewModel = new MapViewModel();
InitButtonCommands();
}
public MainPage()
{
this.InitializeComponent();
environment = new DefaultEnvironment(new Map(1, 1)); // Did not load the map yet...
var robot = new LineAndWallDetectorRobot(environment, wallSensorMaxDistance: 50);
var brain = new WallsAndLinesDemoBrain(robot);
brain.AddCommand(new GenericSingleStateCommand(new FollowingLineState(5.0)));
this.RobotViewModel = new RobotViewModel(robot);
RobotImage.Source = RobotViewModel.Image;
this.MapViewModel = new MapViewModel();
SimulationTickTimer = new DispatcherTimer
{
Interval = TimeSpan.FromMilliseconds(500)
};
SimulationTickTimer.Tick += SimulationTickTimer_Tick;
}
public MainPage()
{
this.InitializeComponent();
environment = new DefaultEnvironment(new Map(1, 1)); // Did not load the map yet...
EnvironmentTickSource = new EnvironmentTickSource(environment, SimulationCycleLengthMs);
var robot = new LineAndWallDetectorRobot(environment);
Brain = new WallsAndLinesDemoBrain(robot);
var collector = new LogCollector(Brain, this.LogViewModel);
this.RobotViewModel = new RobotViewModel(robot);
RobotImage.Source = RobotViewModel.Image;
this.MapViewModel = new MapViewModel();
FollowLineCommand = new CommandButtonCommand(Brain, new FollowingLineState(5.0));
FollowLeftWallCommand = new CommandButtonCommand(Brain, new FollowingWallOnLeftState());
FollowRightWallCommand = new CommandButtonCommand(Brain, new FollowingWallOnRightState());
}
public WallsAndLinesDemoBrain(LineAndWallDetectorRobot robot, StandBase stand) : base(robot, stand)
{
CurrentState = new SelfDiagnosticState(this);
robot.OnLineAppears += Robot_OnLineAppears;
robot.OnLineDisappears += Robot_OnLineDisappears;
}
