private void createWorldView()
{
// WorldView erstellen und anzeigen
fww = new FormWorldView();
fww.ViewPort = new RobotView.ViewPort(-1.25, 1.25, -0.25, 2.25);
fww.Show();
#if !WindowsCE
this.StartPosition = FormStartPosition.Manual;
fww.StartPosition = FormStartPosition.Manual;
World.ObstacleMap = new ObstacleMap(
RobotView.Resource.ObstacleMap1, -1.25f, 1.25f, -0.25f, 2.25f);
#endif
this.Location = new Point(0, 0);
int width = Math.Min(
Screen.PrimaryScreen.WorkingArea.Height,
Screen.PrimaryScreen.WorkingArea.Width - this.Width);
fww.Width = width;
fww.ClientSize = new Size(fww.ClientSize.Width, fww.ClientSize.Width);
fww.Location = new Point(Screen.PrimaryScreen.WorkingArea.Width - fww.Width, 0);
}
public FormWorldControl()
{
InitializeComponent();
RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual;
Drive drv = new Drive(actualMode);
Robot r = new Robot(actualMode);
drv.DriveCtrl.Power = true;
drv.DriveCtrl.PowerLeft = true;
drv.DriveCtrl.PowerRight = true;
this.runLineView1.drive = drv;
this.driveView1.Drive = drv;
this.trackArc1.drive = drv;
this.trackTurnView1.drive = drv;
r.ConfigurePathRecording(0.05f, 0.1f);
drv.Position = new PositionInfo(5.0f, 5.0f, 0.0f);
r.drv = drv;
r.Color = Color.Red;
World.Robot = r;
r.SwitchStateChanged += new EventHandler<SwitchEventArgs>(r_SwitchStateChanged);
RobotConsole rc = r.RobotConsole;
consoleView1.RobotConsole = rc;
if (r.RunMode == RunMode.Virtual)
{
World.ObstacleMap = new ObstacleMap(RobotView.Resource.ObstacleMap1c, xMin-0.25f, xMax+0.25f, yMin-0.25f, yMax-0.25f); //korrektur wg. doofen bildern
}
view = new FormWorldView(xMin, yMin, xMax, yMax);
view.ViewPort = new RobotView.ViewPort(xMin, xMax, yMin, yMax);
view.Show();
this.StartServices();
}
