/// <summary>
/// Moves robot to specified position (sets target position).
/// </summary>
/// <param name="targetPosition">target position</param>
/// <param name="targetVelocity">target velocity (velocity after targetDuration)</param>
/// <param name="targetDuration">desired movement duration in seconds</param>
public void MoveTo(RobotVector targetPosition, RobotVector targetVelocity, double targetDuration)
{
if (!isInitialized)
{
throw new InvalidOperationException("Robot is not initialized");
}
if (!Limits.CheckPosition(targetPosition))
{
throw new ArgumentException("Target position is outside the available workspace:" +
$"{Environment.NewLine}{targetPosition}");
}
if (!Limits.CheckVelocity(targetVelocity))
{
throw new ArgumentException("target velocity exceeding max value " +
$"({Limits.MaxVelocity.XYZ} [mm/s], {Limits.MaxVelocity.ABC} [deg/s]):" +
$"{Environment.NewLine}{targetVelocity}");
}
lock (forceMoveSyncLock) {
if (forceMoveMode)
{
return;
}
}
generator.SetTargetPosition(targetPosition, targetVelocity, targetDuration);
}
/// <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 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);
}
public void MoveTo(RobotMovement[] movementsStack)
{
lock (forceMoveSyncLock) {
if (isForceMoveModeEnabled)
{
return;
}
}
if (!isInitialized)
{
throw new InvalidOperationException("Robot is not initialized");
}
for (int i = 0; i < movementsStack.Length; i++)
{
RobotMovement movement = movementsStack[i];
if (!Limits.CheckPosition(movement.TargetPosition))
{
throw new ArgumentException("Target position is outside the available workspace:" +
$"{Environment.NewLine}{movement.TargetPosition}");
}
if (!Limits.CheckVelocity(movement.TargetVelocity))
{
throw new ArgumentException("Target velocity exceeding max value:" +
$"{Environment.NewLine}{movement.TargetVelocity}");
}
}
RobotVector currentVelocity;
RobotVector currentAcceleration;
lock (generatorSyncLock) {
generator.SetMovements(movementsStack);
currentVelocity = generator.Velocity;
currentAcceleration = generator.Acceleration;
}
MovementChanged?.Invoke(this, new MovementChangedEventArgs {
Position = Position,
Velocity = currentVelocity,
Acceleration = currentAcceleration,
MovementsStack = movementsStack
});
}
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);
}
