public void ValidateRobotTrajectory(RobotDescartesTrajectory robotTrajectory)
{
var robotValidationResult = new RobotValidationResult();
robotValidationResult.RobotId = robotTrajectory.RobotId;
var trajectoryPoints = robotTrajectory.Trajectory;
bool result = true;
foreach (var trajectoryPoint in trajectoryPoints)
{
result = trajectoryPoint.X <= DescartesRobotFactory.Dimensions.Width && trajectoryPoint.Y <= DescartesRobotFactory.Dimensions.Height;
if (!result)
{
robotValidationResult.ValidationMessage = "Trajectory coordinare are out of bounds";
break;
}
}
robotValidationResult.ValidationResult = result;
OperationContext operationContext = OperationContext.Current;
IRobotTrajectoryValidationServiceCallback callback = operationContext.GetCallbackChannel <IRobotTrajectoryValidationServiceCallback>();
callback.RobotTrajectoryValidated(robotValidationResult);
}
private void TrajectoryValidatedCallback(RobotValidationResult robotValidationResult)
{
OnTrajectoryValidated(new TrajectoryValidatedEventArguments(robotValidationResult.RobotId, robotValidationResult.ValidationResult, robotValidationResult.ValidationMessage));
if (robotValidationResult.ValidationResult)
{
SetupTrajectory();
}
}
public void RobotTrajectoryValidated(RobotValidationResult robotValidation)
{
callback(robotValidation);
}
