private static void handleCommmands(string input, BaRobotDriverDllCSharp.BaRobot brw)
{
DateTime start = DateTime.Now;
string output = String.Empty;
switch (input)
{
case "1":
if (brw.StartCommunication())
output = "Device Successfully connected";
else
output = "Could not connect Device";
break;
case "2":
if (brw.StopCommunication())
output = "Device Successfully disconnected";
else
output = "Could not disconnect Device. Was it connected?";
break;
case "3":
//TODO: Sendstring
break;
case "4":
output = brw.StoreCommandList(STORE, STORE.Length);
break;
case "5":
output = brw.GetCommandList();
break;
case "6":
output = brw.EraseCommandList();
break;
case "7":
Console.WriteLine("Demo2Mode Started!!!");
Demo2Mode(brw);
break;
case "8":
changeComport(brw);
break;
case "9":
output = brw.ToString();
break;
case "e":
break;
case "OPEN":
output = brw.OpenGripper();
break;
case "CLOSE":
output = brw.CloseGripper();
break;
case "CLS":
Console.Clear();
break;
default:
output = brw.SendStringAndGetAnswer(input);
speed = brw.GetSpeed();
break;
}
Con.WriteLine(output);
Con.Write("Press any key...");
Con.ReadKey();
}
private static void DemoMode(BaRobotDriverDllCSharp.BaRobot brw)
{
String executeCommand = "ON";
DateTime end = DateTime.Now;
DateTime start = DateTime.Now;
String output = brw.StartCommunication().ToString();
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
System.Threading.Thread.Sleep(sleepSeconds[speed]);
executeCommand = "MOVE;0;15;1;120;2;140;3;120;4;90";
start = DateTime.Now;
output = brw.SendStringAndGetAnswer(executeCommand).ToString();
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
System.Threading.Thread.Sleep(7000);
executeCommand = "MOVE;0;165;1;90;2;160;3;180;4;30";
start = DateTime.Now;
output = brw.SendStringAndGetAnswer(executeCommand).ToString();
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
System.Threading.Thread.Sleep(7000);
executeCommand = "OFF";
start = DateTime.Now;
output = brw.StopCommunication().ToString();
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
}
private static void Demo2Mode(BaRobotDriverDllCSharp.BaRobot brw)
{
String executeCommand = "ON";
DateTime end = DateTime.Now;
DateTime start = DateTime.Now;
String output = String.Empty;
if (brw.StartCommunication())
output = "Device Successfully connected";
else
output = "Could not connect Device";
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
System.Threading.Thread.Sleep(sleepSeconds[speed]);
executeCommand = "LISTPOS;0;1;2";
start = DateTime.Now;
output = brw.SendStringAndGetAnswer(executeCommand).ToString();
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
System.Threading.Thread.Sleep(15000);
executeCommand = "OFF";
start = DateTime.Now;
if (brw.StopCommunication())
output = "Device Successfully disconnected";
else
output = "Could not disconnect Device. Was it connected?";
end = DateTime.Now;
PrintMessage(executeCommand, output, start, end);
}
private static void changeComport(BaRobotDriverDllCSharp.BaRobot brw)
{
Con.Write("Select Mode (USB or COM): ");
string mode = Con.ReadLine();
if (mode.ToLower() == "usb")
{
brw.SetMode(BaRobotDriverDllCSharp.Constants.TransferMode.USB);
usedMode = "USB";
usedCom = brw.GetComport();
}
else if (mode.ToLower() == "com")
{
brw.SetMode(BaRobotDriverDllCSharp.Constants.TransferMode.COM);
usedMode = "COM";
string comp = String.Empty;
Con.Write("Comport Number: ");
comp = Con.ReadLine();
try
{
int temp = Convert.ToInt32(comp);
brw.SetComport(temp);
usedCom = temp;
}
catch (Exception e)
{
Con.WriteLine(e.ToString());
}
}
else
{
Con.WriteLine("Wrong Mode...");
Con.ReadKey();
brw.SetMode(BaRobotDriverDllCSharp.Constants.TransferMode.COM);
usedMode = "COM";
usedCom = brw.GetComport();
}
}
