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 Robot()
{
rsiAdapter = new RSIAdapter();
generator = new TrajectoryGenerator();
position = RobotVector.Zero;
axisPosition = RobotAxisVector.Zero;
HomePosition = RobotVector.Zero;
}
public RobotEmulator(RobotVector homePosition)
{
HomePosition = homePosition;
generator = new TrajectoryGenerator();
position = RobotVector.Zero;
axisPosition = RobotAxisVector.Zero;
correctionBuffor = new List <RobotVector>();
correction = RobotVector.Zero;
}
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);
}
public InputFrame(string data)
{
IPOC = long.Parse(new Tag(data, "IPOC").Value);
Position = ExtractPosition(new Tag(data, "RIst"));
AxisPosition = ExtractAxisPosition(new Tag(data, "AIPos"));
}
