private async Task <long> ReceiveDataAsync()
{
InputFrame receivedFrame = await rsiAdapter.ReceiveDataAsync();
if (!Limits.CheckAxisPosition(receivedFrame.AxisPosition))
{
Uninitialize();
throw new InvalidOperationException("Axis position limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.AxisPosition}");
}
if (!Limits.CheckPosition(receivedFrame.Position))
{
Uninitialize();
throw new InvalidOperationException("Available workspace limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.Position}");
}
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
axisPosition = receivedFrame.AxisPosition;
}
FrameReceived?.Invoke(this, new FrameReceivedEventArgs {
ReceivedFrame = receivedFrame
});
return(receivedFrame.IPOC);
}
/// <summary>
/// Receives data (IPOC, cartesian and axis position) from the robot asynchronously,
/// raises <see cref="KUKARobot.FrameRecived">FrameReceived</see> event
/// </summary>
private async Task ReceiveDataAsync()
{
InputFrame receivedFrame = await rsiAdapter.ReceiveDataAsync();
RobotVector correction = receivedFrame.Position - position;
if (!Limits.CheckCorrection(correction))
{
Uninitialize();
throw new InvalidOperationException("Correction limit has been exceeded:" +
$"{Environment.NewLine}{correction}");
}
if (!Limits.CheckAxisPosition(receivedFrame.AxisPosition))
{
Uninitialize();
throw new InvalidOperationException("Axis position limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.AxisPosition}");
}
if (!Limits.CheckPosition(receivedFrame.Position))
{
Uninitialize();
throw new InvalidOperationException("Available workspace limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.Position}");
}
lock (receivedDataSyncLock) {
IPOC = receivedFrame.IPOC;
position = receivedFrame.Position;
axisPosition = receivedFrame.AxisPosition;
}
FrameReceived?.Invoke(receivedFrame);
}
private long ReceiveDataAsync()
{
correctionBuffor.Add(correction);
RobotVector currentCorrection = RobotVector.Zero;
if (correctionBuffor.Count == 8)
{
currentCorrection = correctionBuffor[0];
correctionBuffor.RemoveAt(0);
}
InputFrame receivedFrame = new InputFrame {
Position = position + currentCorrection,
AxisPosition = RobotAxisVector.Zero,
IPOC = 0
};
if (!Limits.CheckAxisPosition(receivedFrame.AxisPosition))
{
Uninitialize();
throw new InvalidOperationException("Axis position limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.AxisPosition}");
}
if (!Limits.CheckPosition(receivedFrame.Position))
{
Uninitialize();
throw new InvalidOperationException("Available workspace limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.Position}");
}
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
axisPosition = receivedFrame.AxisPosition;
}
FrameReceived?.Invoke(this, new FrameReceivedEventArgs {
ReceivedFrame = receivedFrame
});
return(receivedFrame.IPOC);
}
