public void IKP()
{
//try
//{
Debug.Log("IKP");
UpdateIKPParameters();
//if (IKPParams.)
//{
//}
_IKPResult = _hexaRequester.ReqIKP(IKPParams);
Debug.Log(_IKPResult.ResState);
if (_IKPResult.ResState == "OK")
{
UpdateIKPResults();
_hexaAnimationController.Animate(IKPParams, _IKPResult.AcuatorAngels);
Infobox.text = "Time of IKP calculation: " + _IKPResult.CalcTime.ToString() + " ms.";
}
else if (_IKPResult.ResState == "Failed")
{
Infobox.text = "Cannot calculate the IKP with the input parameters.";
Debug.Log("failed");
}
else
{
Infobox.text += _IKPResult.Message;
}
//}
//catch (System.Exception e)
//{
// Infobox.text += e.Message;
//}
}
public List <float> ReqIKP(List <float> IKPParameters)
{
ForceDotNet.Force();
IKPResult result = new IKPResult();
using (RequestSocket client = new RequestSocket())
{
client.Connect("tcp://localhost:5555");
IKPParameters IKPParams = new IKPParameters();
IKPParams.Type = "IKP";
IKPParams.EndEffectorPosition = new List <float>();
IKPParams.EndEffectorOrientation = new List <float>();
for (int i = 0; i < 3; i++)
{
IKPParams.EndEffectorPosition.Add(IKPParameters[i]);
IKPParams.EndEffectorOrientation.Add(IKPParameters[i + 3]);
}
string reqIKP = JsonConvert.SerializeObject(IKPParams, Formatting.Indented);
client.SendFrame(reqIKP);
string message = null;
bool gotMessage = false;
while (Running)
{
gotMessage = client.TryReceiveFrameString(out message); // this returns true if it's successful
if (gotMessage)
{
break;
}
}
result = JsonConvert.DeserializeObject <IKPResult>(message);
if (gotMessage)
{
Debug.Log("Received " + message);
}
}
NetMQConfig.Cleanup();
return(result.AcuatorAngels);
}
