private void InitArmHandler()
{
_armHandler = new ArmHandler(12345, Helpers.ConfigHelper.GetInstance().JointTimer);
_armHandler.OffsetUpdated += new ArmHandler.DeleOffsetUpdated(OnOffsetUpdated);
_armHandler.ButtonStateUpdated += new ArmHandler.DeleButtonStareUpdated(OnButtonStateUpdated);
//_jointHandler.DataIn += new JointHandler.GetData(Joint_DataIn);
}
private void Form1_Load(object sender, EventArgs e)
{
this.axShockwaveFlash1.Movie = Application.StartupPath + "\\main.swf";
_jointHandler = new ArmHandler(12345);
_jointHandler.DataIn += new ArmHandler.GetData(JointHandler_DataIn);
//_jointHandler.OffsetUpdated += new JointHandler.DeleOffsetUpdated(OnOffsetUpdated);
}
private void Form1_Load(object sender, EventArgs e)
{
this.axShockwaveFlash1.Movie = Application.StartupPath + "\\main.swf";
_jointHandler = new ArmHandler(12345);
_jointHandler.DataIn += new ArmHandler.GetData(JointHandler_DataIn);
//_jointHandler.OffsetUpdated += new JointHandler.DeleOffsetUpdated(OnOffsetUpdated);
}
public void TestGetButtonState()
{
string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82|button:1";
ArmHandler a = new ArmHandler(12345);
var state = a.GetButtonState(baseString);
Assert.AreEqual(1, state);
}
public void TestCoord()
{
ArmHandler jh = new ArmHandler(12345);
string testString = "roll:-74.60|pitch:8.41|yaw:-169|roll2:-33.45|pitch2:36.33|yaw2:104";
double[] datas = jh.ResolveCoordinates(testString);
Assert.AreEqual(-74.60, datas[0]);
Assert.AreEqual(8.41, datas[1]);
Assert.AreEqual(-11, datas[2]);
Assert.AreEqual(-33.45, datas[3]);
Assert.AreEqual(36.33, datas[4]);
Assert.AreEqual(76, datas[5]);
}
public void TestCalcOffset()
{
ArmHandler_Accessor target = new ArmHandler_Accessor(12345); // TODO: 初始化为适当的值
ArmHandler jh = new ArmHandler(12345);
string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82";
string testString = "roll:-75.60|pitch:6.41|yaw:169.16|roll2:-33.45|pitch2:37.33|yaw2:-102.82";
target._baseData = target.ResolveCoordinates(baseString);
target._latestData = target.ResolveCoordinates(testString);
target.CalcOffset();
Assert.AreEqual(-1, target._offsetData[0]);
Assert.AreEqual(-2, target._offsetData[1]);
Assert.AreEqual(338.32, target._offsetData[2]);
Assert.AreEqual(-66.9, target._offsetData[3]);
Assert.AreEqual(1, target._offsetData[4]);
Assert.AreEqual(2, target._offsetData[5]);
}
public void TestCalcOffset()
{
ArmHandler_Accessor target = new ArmHandler_Accessor(12345); // TODO: 初始化为适当的值
ArmHandler jh = new ArmHandler(12345);
string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82";
string testString = "roll:-75.60|pitch:6.41|yaw:169.16|roll2:-33.45|pitch2:37.33|yaw2:-102.82";
target._baseData = target.ResolveCoordinates(baseString);
target._latestData = target.ResolveCoordinates(testString);
target.CalcOffset();
Assert.AreEqual( -1,target._offsetData[0]);
Assert.AreEqual(-2, target._offsetData[1]);
Assert.AreEqual(338.32, target._offsetData[2]);
Assert.AreEqual(-66.9, target._offsetData[3]);
Assert.AreEqual(1, target._offsetData[4]);
Assert.AreEqual(2, target._offsetData[5]);
}
public void TestGetButtonState()
{
string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82|button:1";
ArmHandler a = new ArmHandler(12345);
var state = a.GetButtonState(baseString);
Assert.AreEqual(1, state);
}
public void TestCoord()
{
ArmHandler jh = new ArmHandler(12345);
string testString = "roll:-74.60|pitch:8.41|yaw:-169|roll2:-33.45|pitch2:36.33|yaw2:104";
double[] datas = jh.ResolveCoordinates(testString);
Assert.AreEqual(-74.60, datas[0]);
Assert.AreEqual(8.41, datas[1]);
Assert.AreEqual(-11, datas[2]);
Assert.AreEqual(-33.45, datas[3]);
Assert.AreEqual(36.33, datas[4]);
Assert.AreEqual(76, datas[5]);
}
private void InitArmHandler()
{
_armHandler = new ArmHandler(12345, Helpers.ConfigHelper.GetInstance().JointTimer);
_armHandler.OffsetUpdated += new ArmHandler.DeleOffsetUpdated(OnOffsetUpdated);
_armHandler.ButtonStateUpdated += new ArmHandler.DeleButtonStareUpdated(OnButtonStateUpdated);
//_jointHandler.DataIn += new JointHandler.GetData(Joint_DataIn);
}
