public void TestToStringFromEnumAndJointObject()
{
var robotJoints = new RobotJoints {
joint1 = 0,
joint2 = 100,
joint3 = 0,
joint4 = 0,
joint5 = 0,
joint6 = 0,
gripper = 0
};
var expectedParameters = "0,100,0,0,0,0,0";
var expectedCommand = "12,0,100,0,0,0,0,0";
var expectedCode = 12;
string rawCommand = $"{(int) RobotCommand.CommandType.DriveTo},{robotJoints}";
Assert.Equal(expectedCommand, rawCommand);
RobotCommand robotCommand = RobotCommand.FromString(rawCommand);
Assert.True(robotCommand.Code.Equals(expectedCode), "Correct Command Code parsed");
Assert.Equal(expectedParameters, robotCommand.Parameters);
Assert.Equal(expectedCommand, robotCommand.ToString());
}
public bool RelativeMove(RobotJoints robotJoints)
{
Console.WriteLine($"RelMove: {(int) RobotCommand.CommandType.DriveTo},{robotJoints}");
var successfulWrite = true;
try {
_serialPort.WriteLine($"{(int) RobotCommand.CommandType.DriveTo},{robotJoints}");
} catch {
successfulWrite = false;
}
return(successfulWrite);
}
public void relMove([FromBody] RobotJoints robotJoints)
{
//_logger.LogError("Relative Move");
Console.WriteLine("Relative Move/DriveDist");
TryValidateModel(robotJoints);
if (ModelState.IsValid)
{
this._rosService.RelativeMove(robotJoints);
}
else
{
Console.WriteLine("Invalid Model");
}
}
public void AbsoluteMove(RobotJoints robotJoints)
{
//driveTo - einen Punkt anfahren
topics["DriveTo"].Publish(new std_msgs.String(robotJoints.ToString()));
}
public void RelativeMove(RobotJoints robotJoints)
{
//driveDist - Achsweise händisch verfahren um z.b. +10
topics["DriveDist"].Publish(new std_msgs.String(robotJoints.ToString()));
}
public void absMove([FromBody] RobotJoints robotJoints)
{
Console.WriteLine("Absolute Move/DriveTo");
this._rosService.AbsoluteMove(robotJoints);
}
public void AbsoluteMove(RobotJoints robotJoints)
{
Console.WriteLine($"AbsMove: {(int) RobotCommand.CommandType.DriveDist},{robotJoints}");
_serialPort.WriteLine($"{(int) RobotCommand.CommandType.DriveDist},{robotJoints}");
}
void IRobotInteractionService.RelativeMove(RobotJoints robotJoints)
{
throw new NotImplementedException();
}
public void AbsoluteMove(RobotJoints robotJoints)
{
Console.Write("-> Test - ", System.Reflection.MethodBase.GetCurrentMethod().Name + " ->");
Console.WriteLine(robotJoints.ToString() + " <-");
}
