/// <summary>
/// Initializes a new instance of the <see cref="NavMapComponent" /> class.
/// </summary>
/// <param name="robot">The robot.</param>
internal NavMapComponent(Robot robot) : base(robot)
{
this.navMapFeed = new AsyncEventLoop <NavMapFeedResponse>(
(token) => robot.StartStream(client => client.NavMapFeed(new NavMapFeedRequest()
{
Frequency = Frequency
}, cancellationToken: token)),
(response) =>
{
var navMapUpdateEventArgs = new NavMapUpdateEventArgs(response);
LatestNavMap = navMapUpdateEventArgs.NavMap;
NavMapUpdate?.Invoke(this, navMapUpdateEventArgs);
},
() => OnPropertyChanged(nameof(IsFeedActive)),
robot.PropagateException
);
}
/// <summary>
/// Initializes a new instance of the <see cref="NavMapUpdateEventArgs" /> class.
/// </summary>
/// <param name="response">The response.</param>
internal NavMapUpdateEventArgs(ExternalInterface.NavMapFeedResponse response)
{
NavMap = new NavMapGrid(response);
}