static void Main(string[] args)
{
Console.WriteLine("Starting mouse6D daemon");
device = new TDx.TDxInput.Device();
var connect = false;
try
{
device.Connect();
connect = true;
}
catch (Exception ex)
{
Console.WriteLine("Mouse connection failed !: ", ex.Data);
}
var oldX = 0.0;
var oldY = 0.0;
var oldZ = 0.0;
var oldRX = 0.0;
var oldRY = 0.0;
var oldRZ = 0.0;
var oldAngle = 0.0;
while (connect)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
try
{
if (oldX != translation.X || oldY != translation.Y || oldZ != translation.Z || oldRX != rotation.X || oldRY != rotation.Y || oldRZ != rotation.Z || oldAngle != rotation.Angle)
{
ServiceMouse.MouseSoapClient service = new ServiceMouse.MouseSoapClient();
Console.WriteLine("Translation : {0}\r\nRotation : {1}",
string.Format("X={0} Y={1} Z={2}", translation.X, translation.Y, translation.Z),
string.Format("X={0} Y={1} Z={2} Angle={3}", rotation.X, rotation.Y, rotation.Z, rotation.Angle));
service.SendMousePosition(translation.X, translation.Y, translation.Z, rotation.X, rotation.Y, rotation.Z, rotation.Angle);
}
}
catch (Exception e) { Console.WriteLine(e.Data); }
oldX = translation.X;
oldY = translation.Y;
oldZ = translation.Z;
oldRX = rotation.X;
oldRY = rotation.Y;
oldRZ = rotation.Z;
oldAngle = rotation.Angle;
Thread.Sleep(150);
}
Console.WriteLine("Daemon mouse closed !");
Console.ReadKey();
}
// Fonction permettant de récupérer les données de mouvement de la souris
public void Data_Mouse()
{
device = new TDx.TDxInput.Device();
device.Connect();
Console.WriteLine("start thread");
// je démarre le thread réalisant la boucle de manipulation de la souris.
myThread.Start();
}
// Fonction permettant de récupérer les données de mouvement de la souris
public void Data_Mouse()
{
device = new TDx.TDxInput.Device();
device.Connect();
Console.WriteLine("start thread");
// je démarre le thread réalisant la boucle de manipulation de la souris.
myThread.Start();
}
private volatile bool _shouldStop; // Attribut qui permet d'arreter le thread et accessible par d'autre thread (volatile)
#endregion
#region Constructeur
/// <summary>
/// Fonction qui initialise la classe
/// </summary>
public Mouse()
{
#region Mouse connection
Mouse6d = new TDx.TDxInput.Device();
if (Mouse6d != null)
{
Mouse6d.Connect();
}
#endregion
MoveByVector = new TDx.TDxInput.Vector3D(0.0, 0.0, 0.0);
RotateByVector = new TDx.TDxInput.Vector3D(0.0, 0.0, 0.0);
}
static void Main(string[] args)
{
device = new TDx.TDxInput.Device();
device.Connect();
Console.WriteLine("Hello world");
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
Console.WriteLine("translation X : " + translation.X);
Console.WriteLine("Rotation X : " + rotation.X);
System.Threading.Thread.Sleep(1000);
}
}
static void Main(string[] args)
{
device = new TDx.TDxInput.Device();
device.Connect();
Console.WriteLine("Hello world");
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
Console.WriteLine("translation X : " + translation.X);
Console.WriteLine("Rotation X : " + rotation.X);
System.Threading.Thread.Sleep(1000);
}
}
public void OnImportsSatisfied()
{
try
{
FDevice = new TDx.TDxInput.Device();
FSensor = FDevice.Sensor;
FKeyboard = FDevice.Keyboard;
// Add the event handlers
FDevice.DeviceChange += DeviceChange;
// Connect everything up
FDevice.Connect();
FDeviceType = FDevice.Type;
}
catch (COMException e)
{
FLogger.Log(LogType.Error, "SpaceMouse: " + e.Message);
}
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
Console.WriteLine(keyboard.Keys);
Console.WriteLine("nombre de touches programmable : ");
Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
static void Main(string[] args)
{
/* Declaration des variables */
double x_Min = 0;
double y_Min = 0;
double z_Min = 0;
double x_Max = 0;
double y_Max = 0;
double z_Max = 0;
double valeurX;
double valeurY;
double valeurZ;
Console.WriteLine("Start...");
device = new TDx.TDxInput.Device();
device.Connect();
robotController = new NLX.Robot.Kuka.Controller.RobotController();
//robotController.Connect("192.168.1.1");
ConsoleKeyInfo info;
String bouton = device.Keyboard.GetKeyName(1);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(2);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(3);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(4);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(5);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(6);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(7);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(8);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(9);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(10);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(11);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(12);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(13);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(14);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(15);
Console.WriteLine(bouton);
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
/* Affichage des translations et des rotations */
//Console.WriteLine("Translation: " + translation.X + " : " + translation.Y + " : " + translation.Z);
//Console.WriteLine("Rotation: " + rotation.X + " : " + rotation.Y + " : " + rotation.Z + "\n");
valeurX = translation.X / 2353;
valeurY = translation.Y / 2702;
valeurZ = translation.Z / 2648;
System.Threading.Thread.Sleep(200);
}
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
* Console.WriteLine(keyboard.Keys);
*
* Console.WriteLine("nombre de touches programmable : ");
* Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
static void Main(string[] args)
{
/* Declaration des variables */
double x_Min = 0;
double y_Min = 0;
double z_Min = 0;
double x_Max = 0;
double y_Max = 0;
double z_Max = 0;
double valeurX;
double valeurY;
double valeurZ;
Console.WriteLine("Start...");
device = new TDx.TDxInput.Device();
device.Connect();
robotController = new NLX.Robot.Kuka.Controller.RobotController();
//robotController.Connect("192.168.1.1");
ConsoleKeyInfo info;
String bouton = device.Keyboard.GetKeyName(1);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(2);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(3);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(4);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(5);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(6);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(7);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(8);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(9);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(10);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(11);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(12);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(13);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(14);
Console.WriteLine(bouton);
bouton = device.Keyboard.GetKeyName(15);
Console.WriteLine(bouton);
while (true)
{
var translation = device.Sensor.Translation;
var rotation = device.Sensor.Rotation;
/* Affichage des translations et des rotations */
//Console.WriteLine("Translation: " + translation.X + " : " + translation.Y + " : " + translation.Z);
//Console.WriteLine("Rotation: " + rotation.X + " : " + rotation.Y + " : " + rotation.Z + "\n");
valeurX = translation.X / 2353;
valeurY = translation.Y / 2702;
valeurZ = translation.Z / 2648;
System.Threading.Thread.Sleep(200);
}
}
public void connect()
{
device = new TDx.TDxInput.Device();
device.Connect();
}
