using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  using System.Threading.Tasks;
  using System.Windows;
  using System.Windows.Controls;
  using System.Windows.Media;

  using System.Windows.Media.Animation;

  using System.Windows.Shapes;
  
  namespace RoboforkApp
  {
      public class ScheduleCanvas : Canvas
      {

          private simulationRobo simulation;

          public void CreateSimulation()

          {

              if(simulation != null || this.Children.Count < 2)
              {
                  return;
              }

              PathGeometry animationPath = new PathGeometry();
              PathFigure pFigure = new PathFigure();
              pFigure.StartPoint = new Point(50, 65);
              LineSegment lineSegment = new LineSegment();
              lineSegment.Point = new Point(1270, 65);
              pFigure.Segments.Add(lineSegment);
              animationPath.Figures.Add(pFigure);
  
              // Freeze the PathGeometry for performance benefits.
              animationPath.Freeze();
  
              // Create a MatrixAnimationUsingPath to move the
              // button along the path by animating
              // its MatrixTransform.
              MatrixAnimationUsingPath matrixAnimation = new MatrixAnimationUsingPath();
              matrixAnimation.PathGeometry = animationPath;
              matrixAnimation.Duration = TimeSpan.FromSeconds(10);
              //matrixAnimation.RepeatBehavior = RepeatBehavior.Forever;
              matrixAnimation.AutoReverse = false;
              matrixAnimation.DoesRotateWithTangent = true;
  
              // Set the animation to target the Matrix property
              // of the MatrixTransform named "ButtonMatrixTransform".
              Storyboard.SetTargetName(matrixAnimation, "fl");
              Storyboard.SetTargetProperty(matrixAnimation, new PropertyPath(MatrixTransform.MatrixProperty));
  
              // Create a Storyboard to contain and apply the animation.
              Storyboard pathAnimationStoryboard = new Storyboard();
              pathAnimationStoryboard.Children.Add(matrixAnimation);
  
              simulation = new simulationRobo();
              simulation.storyBoard = pathAnimationStoryboard;
              this.Children.Add(simulation);

          }
      }
  }