private void OnServiceRobotTrajectorySet(object sender, TrajectorySetEventArguments e)
{
var robotId = e.RobotDescartesTrajectory.RobotId;
var item = RobotMonitoringItems.FirstOrDefault(robotMonitoringItem => robotMonitoringItem.Guid == robotId);
if (item != null)
{
item.StartPoint = e.RobotDescartesTrajectory.Trajectory.First();
item.Trajectory = new PointCollection(e.RobotDescartesTrajectory.Trajectory);
item.Title = e.RobotDescartesTrajectory.RobotTitle;
}
else
{
var random = new Random();
var robotMonitoringItem = new RobotMonitoringItemViewModel
{
StartPoint = e.RobotDescartesTrajectory.Trajectory.First(),
Trajectory = new PointCollection(e.RobotDescartesTrajectory.Trajectory),
Color = Color.FromRgb(Convert.ToByte(random.Next(256)), Convert.ToByte(random.Next(256)), Convert.ToByte(random.Next(256))),
Guid = e.RobotDescartesTrajectory.RobotId,
Title = e.RobotDescartesTrajectory.RobotTitle
};
RobotMonitoringItems.Add(robotMonitoringItem);
}
}
protected virtual void OnTrajectorySet(TrajectorySetEventArguments e)
{
RobotTrajectorySet?.Invoke(this, e);
}