public SorterRobotTest()
{
_sorter = RobotFactory.CreateRobot<SorterRobot>();
var dict = new Dictionary<string, string>();
dict.Add("IPAddress", "192.168.1.201");
_sorter.SetParameters(dict);
_sorter.Initialise();
}
public Sorter(ClusterConfig config)
: base(config)
{
this.MaxShakeRetryAttempts = 1;
this._vision = new SorterVision(config.Cameras["SorterCamera"] as Camera);
this._robot = config.Robots[typeof(SorterRobot)] as SorterRobot;
this._cancelTokenSource = new CancellationTokenSource();
if (_vision == null)
{
throw new ArgumentException("Could not create SorterVision");
}
if (_robot == null)
{
throw new ArgumentException("Could not retrieve a SorterRobot from ClusterConfig");
}
_actionMap = new Dictionary<SorterAction, Action<SorterParams>>()
{
{ SorterAction.LoadToBuffer, (x) => LoadToBufferAsync() },
{ SorterAction.LoadToConveyor, (x) => LoadToConveyorAsync() },
{ SorterAction.Sort, (x) => SortAsync(x.Magazine) }
};
}