public void ProcessCommand(CmdMsg msg)
{
string str;
switch (msg.Type)
{
case Command.MoveXYZ:
str = String.Format("DS {0},{1},{2}",
msg.Vector.X,
msg.Vector.Y,
msg.Vector.Z);
Serial.WriteLine(str);
break;
case Command.MoveAngle:
str = String.Format("DJ {0},{1}",
msg.Vector.X,
msg.Vector.Y
);
Serial.WriteLine(str);
break;
case Command.ToolStraight:
str = MoveToolStraight(msg.Vector.X);
Serial.WriteLine(str);
break;
case Command.Where:
Serial.WriteLine("WH");
break;
case Command.Gripper:
str = GripperAction((Vector3)msg.Vector);
Serial.WriteLine(str);
break;
case Command.QueryPolar:
GrabPolar((PositionGrab)msg.Position);
break;
case Command.QueryPour:
MoveAroundCirclePoint((Circle3D)msg.Position);
break;
case Command.MovePosition:
MovePosition(msg.Position.ToMelfaPosString());
break;
default:
throw new NotImplementedException("No implementation to deal with this CmdMsg type");
}
;
Logger.Instance.Log($"Processing message: {msg.Type} Vector: {msg.Vector.ToString()}");
}
private void DataGrid_GotoButton_Click(object sender, RoutedEventArgs e)
{
Action <DataGrid, string> GotoSelectedGridPos = (grid, type) =>
{
var rows = grid.SelectedCells;
var pos = rows.ElementAt(0).Item as PolarPosition;
if (pos != null)
{
CmdMsg msg;
Logger.Instance.Log(pos.ToMelfaPosString());
if (type == "grab")
{
msg = new CmdMsg(Command.MovePosition, pos);
}
else
{
var pourPos = pos as Circle3D;
msg = new CmdMsg(Command.MovePosition, pourPos.GetPositionAtStartAngle());
}
RobotSend.Send(msg);
}
};
var btn = sender as Button;
if (btn == null)
{
return;
}
else if (btn.Name == "GotoGrab")
{
GotoSelectedGridPos(this.dataGrid, "grab");
}
else if (btn.Name == "GotoCircle")
{
GotoSelectedGridPos(this.dataCirclePourGrid, "pour");
}
}
public void Send(CmdMsg item)
{
Logger.Instance.Log("Added item to send queue");
this.CmdQueue.Add(item);
}
