private void ViewModel_MakeNewWall(object sender, RobotEventArgs e)
{
int i = e.GetPosition / 10;
int j = e.GetPosition % 10;
_model.CreateWall(i, j);
}
private void OnLowBattery(object sender, RobotEventArgs robotEventArgs)
{
robotEventArgs._robot.ResetRobot();
}
private static void ResetRobot(RobotEventArgs robotEventArgs)
{
robotEventArgs._robot.ResetRobot();
}
public void OnMoveObstacle(object sender, RobotEventArgs robotEventArgs)
{
ResetRobot(robotEventArgs);
}
public void OnMoveOutOfRange(object sender, RobotEventArgs robotEventArgs)
{
ResetRobot(robotEventArgs);
}
public void OnVisitedCell(object sender, RobotEventArgs robotEventArgs)
{
ResetRobot(robotEventArgs);
}
private void Webcam_ImageGrabbed(object sender, EventArgs e)
{
RobotEventArgs args = new RobotEventArgs();
Image<Bgr, Byte> Frame = this.Webcam.RetrieveBgrFrame().Clone();
args.Photo = Frame.ToBitmap();
args.Date = DateTime.Now.ToLongTimeString();
args.ForceReading = ForceSensor.getSensorResistance(10e3);
args.DistanceReading = DistanceSensor.getDistance();
args.LightReading = LightSensor.getSensorResistance(10e3);
args.xAxisServoAngle = xAxisServo.Angle;
args.y1AxisServoAngle = yAxisServo1.Angle;
args.y2AxisServoAngle = yAxisServo2.Angle;
args.gripperServoAngle = gripperServo.Angle;
OnImageGrabbed(args);
}
private void OnImageGrabbed(RobotEventArgs e)
{
EventHandler<RobotEventArgs> handler = ImageTaken;
if (handler != null)
handler(this, e);
}
private async void Events_RobotEvent(object sender, RobotEventArgs e)
{
await ReportAsync("RobotEvent: " + e.EventType);
}
