public static void showStatus()
{
if (null != status)
{
Console.WriteLine("");
Console.WriteLine("status = " + status);
Schemas.CRCL.Status.CommandStatusType cst = status.CommandStatus;
if (null != cst)
{
Console.WriteLine("CommandId = " + cst.CommandID);
Console.WriteLine("State = " + cst.CommandState);
Console.WriteLine("StatusId = " + cst.StatusID);
}
Schemas.CRCL.Status.PoseStatusType poseStatus = status.PoseStatus;
if (null != poseStatus)
{
Schemas.CRCL.Status.PoseType pose = poseStatus.Pose;
if (null != pose)
{
Console.WriteLine("Pose.Point = " + pose.Point.X + "," + pose.Point.Y + "," + pose.Point.Z);
Console.WriteLine("Pose.XAxis = " + pose.XAxis.I + "," + pose.XAxis.J + "," + pose.XAxis.K);
Console.WriteLine("Pose.ZAxis = " + pose.ZAxis.I + "," + pose.ZAxis.J + "," + pose.ZAxis.K);
}
}
Console.WriteLine("");
}
}
public static void showHelp()
{
Console.WriteLine("");
Console.WriteLine("Available commands:");
Console.WriteLine("");
Console.WriteLine("quit");
Console.WriteLine("\t-- quits the client");
Console.WriteLine("");
Console.WriteLine("init");
Console.WriteLine("\t-- sends InitCanonType command.");
Console.WriteLine("");
Console.WriteLine("end");
Console.WriteLine("\t-- sends EndCanonType command.");
Console.WriteLine("");
Console.WriteLine("move [Point.X] [Point.Y] [Point.Z] [XAxis.I] [XAxis.J] [XAxis.K] [ZAxis.I] [ZAxis.J] [ZAxis.K]");
Console.WriteLine("\t-- sends MoveToType command (arguments are optional)");
Console.WriteLine("examples:");
double px = 0;
double py = 0;
double pz = 0;
if (null != status)
{
Schemas.CRCL.Status.PoseStatusType poseStatus = status.PoseStatus;
if (null != poseStatus)
{
Schemas.CRCL.Status.PoseType pose = poseStatus.Pose;
if (null != pose)
{
px = pose.Point.X;
py = pose.Point.Y;
pz = pose.Point.Z;
}
}
}
Console.WriteLine("move " + px + " " + py + " " + pz);
Console.WriteLine("move " + px + " " + py + " " + pz + " 1 0 0 0 0 -1");
Console.WriteLine("");
Console.WriteLine("Press enter on empty line to see status.");
Console.WriteLine("");
}