/// <summary>
/// Apply a Push or Pop Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionPushPop action)
{
if (action.push)
{
return(this.settingsBuffer.Push(this));
}
else
{
Settings s = settingsBuffer.Pop(this);
if (s != null)
{
this.acceleration = s.Acceleration;
this.speed = s.Speed;
this.rotationSpeed = s.RotationSpeed;
this.jointSpeed = s.JointSpeed;
this.jointAcceleration = s.JointAcceleration;
this.precision = s.Precision;
this.motionType = s.MotionType;
this.referenceCS = s.RefCS;
this.extrusionRate = s.ExtrusionRate;
return(true);
}
}
return(false);
}
/// <summary>
/// Minimum information necessary to initialize a robot object.
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="joints"></param>
/// <returns></returns>
public bool Initialize(Vector position, Rotation rotation, Joints joints,
double speed, double acceleration, double rotationSpeed, double jointSpeed, double jointAcceleration,
double precision, MotionType mType, ReferenceCS refCS)
{
if (position != null)
{
this.position = new Vector(position);
this.prevPosition = new Vector(position);
}
if (rotation != null)
{
this.rotation = new Rotation(rotation);
this.prevRotation = new Rotation(rotation);
}
if (joints != null)
{
this.joints = new Joints(joints);
this.prevJoints = new Joints(joints);
}
this.acceleration = acceleration;
this.speed = speed;
this.rotationSpeed = rotationSpeed;
this.jointSpeed = jointSpeed;
this.jointAcceleration = jointAcceleration;
this.precision = precision;
this.motionType = mType;
this.referenceCS = refCS;
this.initialized = true;
return(this.initialized);
}
/// <summary>
/// Minimum information necessary to initialize a robot object.
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="joints"></param>
/// <returns></returns>
public bool Initialize(Vector position, Rotation rotation, Joints joints,
double speed, double acceleration, double rotationSpeed, double jointSpeed, double jointAcceleration,
double precision, MotionType mType, ReferenceCS refCS)
{
if (position != null)
{
this.position = new Vector(position);
this.prevPosition = new Vector(position);
}
if (rotation != null)
{
this.rotation = new Rotation(rotation);
this.prevRotation = new Rotation(rotation);
}
if (joints != null)
{
this.joints = new Joints(joints);
this.prevJoints = new Joints(joints);
}
this.acceleration = acceleration;
this.speed = speed;
this.rotationSpeed = rotationSpeed;
this.jointSpeed = jointSpeed;
this.jointAcceleration = jointAcceleration;
this.precision = precision;
this.motionType = mType;
this.referenceCS = refCS;
this.externalAxes = new double?[] { null, null, null, null, null, null }; // @TODO: should this be passed as an argument?
this.initialized = true;
return(this.initialized);
}
public Settings(double speed, double acc, double precision, MotionType mType, ReferenceCS refcs, double extrusionRate)
{
this.Speed = speed;
this.Acceleration = acc;
this.Precision = precision;
this.MotionType = mType;
this.RefCS = refcs;
this.ExtrusionRate = extrusionRate;
}
/// <summary>
/// Minimum information necessary to initialize a robot object.
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="joints"></param>
/// <returns></returns>
public bool Initialize(Vector position, Rotation rotation, Joints joints, ExternalAxes extAx,
double speed, double acceleration, double precision, MotionType mType, ReferenceCS refCS)
{
if (position != null)
{
this.position = new Vector(position);
this.prevPosition = new Vector(position);
}
if (rotation != null)
{
this.rotation = new Rotation(rotation);
this.prevRotation = new Rotation(rotation);
}
if (joints != null)
{
this.axes = new Joints(joints);
this.prevAxes = new Joints(joints);
}
if (extAx != null)
{
// @TODO split this definition
this.externalAxesCartesian = new ExternalAxes(extAx);
this.externalAxesJoints = new ExternalAxes(extAx);
}
this.acceleration = acceleration;
this.speed = speed;
this.precision = precision;
this.motionType = mType;
this.referenceCS = refCS;
this.availableTools = new Dictionary <string, Tool>();
// Add a "noTool" default object and make it the default.
//this.availableTools["noTool"] = Tool.Create("noTool", 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.001, 0, 0, 0);
//this.tool = this.availableTools["noTool"];
this.tool = null; // reverted back to default `null` tool...
this.digitalOutputs = new Dictionary <string, bool>();
this.analogOutputs = new Dictionary <string, double>();
// Initialize temps to zero
this.partTemperature = new Dictionary <RobotPartType, double>();
foreach (RobotPartType part in Enum.GetValues(typeof(RobotPartType)))
{
partTemperature[part] = 0;
}
isExtruding = false;
extrusionRate = 0;
extrudedLength = 0;
this.initialized = true;
return(this.initialized);
}
///// <summary>
///// If there was a running Communication protocol, drop it and restart it again.
///// </summary>
///// <returns></returns>
//private bool ResetCommunication()
//{
// if (_driver == null)
// {
// Console.WriteLine("Communication protocol not established, please initialize first.");
// }
// DropCommunication();
// return InitializeCommunication();
//}
/// <summary>
/// Initializes all instances of robotCursors with base information
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="joints"></param>
/// <returns></returns>
internal bool InitializeRobotCursors(Point position = null, Rotation rotation = null, Joints joints = null,
double speed = Control.DEFAULT_SPEED, double acc = Control.DEFAULT_ACCELERATION, double rotationSpeed = Control.DEFAULT_ROTATION_SPEED,
double jointSpeed = Control.DEFAULT_JOINT_SPEED, double jointAcceleration = Control.DEFAULT_JOINT_ACCELERATION,
double precision = Control.DEFAULT_PRECISION,
MotionType mType = Control.DEFAULT_MOTION_TYPE, ReferenceCS refCS = Control.DEFAULT_REFCS)
{
bool success = true;
success &= virtualCursor.Initialize(position, rotation, joints, speed, acc, jointSpeed, jointAcceleration, rotationSpeed, precision, mType, refCS);
success &= writeCursor.Initialize(position, rotation, joints, speed, acc, jointSpeed, jointAcceleration, rotationSpeed, precision, mType, refCS);
success &= motionCursor.Initialize(position, rotation, joints, speed, acc, jointSpeed, jointAcceleration, rotationSpeed, precision, mType, refCS);
_areCursorsInitialized = success;
return(success);
}
public bool IssueCoordinatesRequest(ReferenceCS referenceCS) => IssueApplyActionRequest(new ActionCoordinates(referenceCS));
/// <summary>
/// Apply ReferenceCS Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionCoordinates action)
{
this.referenceCS = action.referenceCS;
return(true);
}
///// <summary>
///// If there was a running Communication protocol, drop it and restart it again.
///// </summary>
///// <returns></returns>
//private bool ResetCommunication()
//{
// if (_driver == null)
// {
// Console.WriteLine("Communication protocol not established, please initialize first.");
// }
// DropCommunication();
// return InitializeCommunication();
//}
/// <summary>
/// Initializes all instances of robotCursors with base information
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="joints"></param>
/// <returns></returns>
internal bool InitializeRobotCursors(Point position = null, Rotation rotation = null, Joints joints = null, ExternalAxes extAx = null,
double speed = Control.DEFAULT_SPEED, double acc = Control.DEFAULT_ACCELERATION, double precision = Control.DEFAULT_PRECISION,
MotionType mType = Control.DEFAULT_MOTION_TYPE, ReferenceCS refCS = Control.DEFAULT_REFCS)
{
bool success = true;
success &= IssueCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);
success &= ReleaseCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);
success &= ExecutionCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);
_areCursorsInitialized = success;
return(success);
}
public ActionCoordinates(ReferenceCS referenceCS) : base()
{
this.type = ActionType.Coordinates;
this.referenceCS = referenceCS;
}
public static ActionCoordinates Coordinates(ReferenceCS referenceCS)
{
return(new ActionCoordinates(referenceCS));
}
public ActionCoordinates(ReferenceCS referenceCS) : base()
{
this.referenceCS = referenceCS;
}
