private void ResetButton_Click(object sender, RoutedEventArgs e)
{
_dataContext.AddOutput("Reset Button is clicked!");
var resetCommand = new PoseCommand(0, 0, 0);
_commands.Enqueue(resetCommand);
new Thread(CommandExecutor.SharedInstance.Execute).Start();
Scroller.ScrollToBottom();
}
public void addPoseCommandAction(PoseCommandAction action, String mode)
{
PoseCommand command;
if (!modePoseCommands.TryGetValue(mode, out command))
{
command = new PoseCommand();
modePoseCommands.Add(mode, command);
}
command.addAction(action);
}
public void Execute(PoseCommand command)
{
if ((SerialPort == null) || !SerialPort.IsConnected)
{
return;
}
command.SendTimeStamp = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
// command text is based on target pose and current pose
SerialPort.WriteLine(command.CommandText);
}
public void Callback(SerialPort sender, PoseCommand command)
{
var sp = sender;
while (sp.BytesToRead > 0)
{
var d = sp.ReadLine();
if (command != null)
{
command.Receive(d);
LogHandler?.Invoke(command.ToReceiveLog());
// if the gcommand is executed
if (d.Equals("OK\r", StringComparison.InvariantCultureIgnoreCase))
{
// update the current position
if (command.NextPosePosition != null)
{
CommandStore.SharedInstance.CurrentPosePosition = command.NextPosePosition;
}
// report current position
CommandExecutor.SharedInstance.brain.Arm.ReportPose(
CommandExecutor.SharedInstance.RegisterId.Value,
command.SendTimeStamp.ToString(),
CommandStore.SharedInstance.CurrentPosePosition.X,
CommandStore.SharedInstance.CurrentPosePosition.Y,
CommandStore.SharedInstance.CurrentPosePosition.Z);
LogHandler?.Invoke($"Reported Pose: {CommandStore.SharedInstance.CurrentPosePosition.X}, {CommandStore.SharedInstance.CurrentPosePosition.Y}, {CommandStore.SharedInstance.CurrentPosePosition.Z}");
// clean the current command
CommandStore.SharedInstance.CurrentCommand = null;
// clean the waiting flag
lock (CommandExecutor.SharedInstance)
{
IsWaitingResponse = false;
}
}
}
}
}
