private void ButtonNeuralOpenPanel_Click(object sender, RoutedEventArgs e)
{
WindowNeuralControlPanel wnd = new WindowNeuralControlPanel();
wnd.Show();
if (wnd.DialogResult == true)
{
SARNeural neural = new SARNeural();
MWArray output = neural.Predict(wnd.X1, wnd.X2, wnd.X3, wnd.X4, wnd.X5, wnd.X6, wnd.X7, wnd.X8, wnd.X9, wnd.X10, wnd.X11, wnd.X12);
double[,] values = (double[, ])((MWNumericArray)output).ToArray(MWArrayComponent.Real);
RecorderCommand command = new RecorderCommand
{
Duration = TimeSpan.FromSeconds(2.0),
Joints = new List <CostumeJoint>
{
new CostumeJoint()
{
Name = "R.ShoulderF", Value = (float)values[0, 0]
},
new CostumeJoint()
{
Name = "R.ShoulderS", Value = (float)values[0, 1]
},
new CostumeJoint()
{
Name = "R.ElbowR", Value = (float)values[0, 2]
},
new CostumeJoint()
{
Name = "R.Elbow", Value = (float)values[0, 3]
},
new CostumeJoint()
{
Name = "R.WristR", Value = (float)values[0, 4]
},
new CostumeJoint()
{
Name = "R.WritsS", Value = (float)values[0, 5]
}
}
};
RobotAnswer answer = Robot.ExecuteCommand(command.Joints, command.Duration);
AppLog.Write(answer.ToString());
}
}
private void buttonSend_Click(object sender, EventArgs e)
{
Cursor.Current = Cursors.WaitCursor;
buttonSend.Enabled = false;
String command = String.Empty;
try
{
if (checkBoxReset.Checked)
{
// RESET Command text
command = "ROBOT:MOTORS:R.ShoulderF;R.Elbow:POSSET:0;0";
}
else
{
command = textBoxCommand.Text;
}
Int32 timeInSeconds = 0;
Int32.TryParse(textBoxTime.Text, out timeInSeconds);
TimeSpan time = TimeSpan.FromSeconds(timeInSeconds);
float seconds = (float)time.TotalSeconds;
CultureInfo cultureInfo = new CultureInfo("en-US");
command = String.Format("{0}:{1}", command, seconds.ToString(cultureInfo));
byte[] bytes = Encoding.ASCII.GetBytes(command.Trim() + Environment.NewLine);
networkStream.Write(bytes, 0, bytes.Length);
RobotAnswer robotAnswer = (RobotAnswer)networkStream.ReadByte();
labelRobotAnswer.Text = RobotAnswerToString(robotAnswer);
}
catch (Exception E)
{
// Try to reconnect
// buttonConnection.PerformClick();
// buttonConnection.PerformClick();
ReConnect();
// Send the command again
byte[] bytes = Encoding.ASCII.GetBytes(command.Trim() + Environment.NewLine);
networkStream.Write(bytes, 0, bytes.Length);
RobotAnswer robotAnswer = (RobotAnswer)networkStream.ReadByte();
labelRobotAnswer.Text = RobotAnswerToString(robotAnswer);
}
buttonSend.Enabled = true;
Cursor.Current = Cursors.Default;
}
private void ButtonPlayStart_Click(object sender, RoutedEventArgs e)
{
if (commands == null)
{
AppLog.Write("Невозможно воспроизвести запись. Не загружен список команд для робота.");
return;
}
if (!Robot.Connected)
{
AppLog.Write("Невозможно воспроизвести запись. Отсутствует соединение с роботом.");
return;
}
foreach (RecorderCommand command in commands)
{
RobotAnswer answer = Robot.ExecuteCommand(command.Joints, command.Duration);
AppLog.Write(answer.ToString());
}
}
private RobotAnswer SendData(string msg)
{
if (!_client.Connected)
{
Connected = false;
return(RobotAnswer.NoConnection);
}
_wait = true;
// Переводим секунды в милисекунды
//int time = (int)(waitTime *1000);
try
{
byte[] bytes = Encoding.ASCII.GetBytes(msg.Trim() + Environment.NewLine);
_stream.Write(bytes, 0, bytes.Length);
}
catch (Exception E)
{
Connected = false;
_wait = false;
throw new Exception($"Возникла ошибка при отправке пакета данных роботу. {E.Message}");
}
try
{
RobotAnswer exitCode = (RobotAnswer)_stream.ReadByte();;
Connected = true;
return(exitCode);
}
catch (Exception E)
{
Connected = false;
_wait = false;
ErrorOccured?.Invoke("Возникла ошибка при отправке команды. " + E.Message);
return(RobotAnswer.ExceptionOccured);
}
}
private String RobotAnswerToString(RobotAnswer robotAnswer)
{
return(robotAnswer.ToString());
}