private UInt64 cp(byte mod, float x, float y, float z, float velocity)
{
CPCmd pdbCmd;
UInt64 cmdIndex = 0;
pdbCmd.cpMode = mod;
pdbCmd.x = x;
pdbCmd.y = y;
pdbCmd.z = z;
pdbCmd.velocity = velocity;
while (true)
{
int ret = DobotDll.SetCPCmd(ref pdbCmd, true, ref cmdIndex);
if (ret == 0)
{
break;
}
}
return(cmdIndex);
}
// event handle
private void ProcessEvt(object sender, EventArgs e)
{
if (!isConnectted)
{
return;
}
Button obj = (Button)sender;
String con = obj.Content.ToString();
UInt64 cmdIndex = 0;
float x, y, z, r, gripper, pTime;
if (!float.TryParse(X.Text, out x) || !float.TryParse(Y.Text, out y) || !float.TryParse(Z.Text, out z) || !float.TryParse(rHead.Text, out r) ||
!float.TryParse(isGripper.Text, out gripper) || !float.TryParse(pauseTime.Text, out pTime))
{
Msg("Please input float formate", MsgInfoType.Error);
return;
}
Msg("", MsgInfoType.Info);
switch (con)
{
case "SendPlaybackCmd":
{
PTPCmd pdbCmd;
obj.IsEnabled = false;
pdbCmd.ptpMode = (byte)modeStyle.SelectedIndex;
pdbCmd.x = x;
pdbCmd.y = y;
pdbCmd.z = z;
pdbCmd.rHead = r;
int ret = DobotDll.SetPTPCmd(ref pdbCmd, true, ref cmdIndex);
while (true)
{
UInt64 retIndex = 0;
int ind = DobotDll.GetQueuedCmdCurrentIndex(ref retIndex);
if (ind == 0 && cmdIndex <= retIndex)
{
obj.IsEnabled = true;
break;
}
}
float waitTime = 0;
if (float.TryParse(pauseTime.Text, out waitTime) && waitTime > 0)
{
WAITCmd waitcmd;
waitcmd.timeout = (uint)waitTime;
DobotDll.SetWAITCmd(ref waitcmd, false, ref cmdIndex);
}
} break;
case "SendCPCmd":
{
CPCmd cpCmd;
cpCmd.x = x;
cpCmd.y = y;
cpCmd.z = z;
cpCmd.velocity = 100;
cpCmd.cpMode = (byte)ContinuousPathMode.CPAbsoluteMode;
int ret = DobotDll.SetCPCmd(ref cpCmd, true, ref cmdIndex);
while (true)
{
UInt64 retIndex = 0;
int ind = DobotDll.GetQueuedCmdCurrentIndex(ref retIndex);
if (ind == 0 && cmdIndex <= retIndex)
{
obj.IsEnabled = true;
break;
}
}
} break;
default:
break;
}
}
