remove unnecessary task run

This commit is contained in:
lwh9346
2024-08-18 21:28:03 +08:00
parent 57138a7be0
commit 8f64c0ca4e

View File

@@ -87,7 +87,7 @@ public class PathExecutor
internal static async Task MoveTo(Waypoint waypoint)
{
var position = await Task.Run(Navigation.GetPosition);
var position = Navigation.GetPosition();
var targetOrientation = Navigation.GetTargetOrientation(waypoint, Navigation.GetPosition());
TaskControl.Logger.LogInformation("粗略接近路径点,当前位置({x1},{y1}),目标位置({x2},{y2})", position.X, position.Y, waypoint.X, waypoint.Y);
await WaitUntilRotatedTo(targetOrientation, 10);
@@ -105,7 +105,7 @@ public class PathExecutor
TaskControl.Logger.LogWarning("执行超时,跳过路径点");
break;
}
position = await Task.Run(Navigation.GetPosition);
position = Navigation.GetPosition();
var distance = Navigation.GetDistance(waypoint, position);
TaskControl.Logger.LogInformation("接近目标点中,距离为{distance}", distance);
if (distance < 4)
@@ -187,7 +187,7 @@ public class PathExecutor
internal static async Task MoveCloseTo(Waypoint waypoint)
{
var position = await Task.Run(Navigation.GetPosition);
var position = Navigation.GetPosition();
var targetOrientation = Navigation.GetTargetOrientation(waypoint, Navigation.GetPosition());
TaskControl.Logger.LogInformation("精确接近路径点,当前位置({x1},{y1}),目标位置({x2},{y2})", position.X, position.Y, waypoint.X, waypoint.Y);
if (waypoint.MoveType == MoveType.Fly && IsFlying())
@@ -207,7 +207,7 @@ public class PathExecutor
TaskControl.Logger.LogWarning("精确接近超时");
break;
}
position = await Task.Run(Navigation.GetPosition);
position = Navigation.GetPosition();
if (Navigation.GetDistance(waypoint, position) < 2)
{
TaskControl.Logger.LogInformation("已到达路径点");