/// <inheritdoc /> public async Task <MapBoundaries> GetMapBoundariesAsync(GetMapBoundaries parameters, CancellationToken cancellationToken = default) { var state = await GetRobotStateAsync(cancellationToken).ConfigureAwait(false); if (state.AvailableServices.Maps == null) { throw new Exception("Robot does not support service maps"); } switch (state.AvailableServices.Maps) { case "basic-1": case "basic-2": case "advanced-1": case "macro-1": var response = await _nucleoClient.GetMapBoundariesAsync(parameters, cancellationToken).ConfigureAwait(false); return(response.Data); } return(null); }
/// <inheritdoc /> public Task <StandardResponse <MapBoundaries> > GetMapBoundariesAsync(GetMapBoundaries parameters, CancellationToken cancellationToken = default) => SendCommandAsync <StandardResponse <MapBoundaries> >(CommandType.GetMapBoundaries, parameters, cancellationToken);