private void ButtonNeuralOpenPanel_Click(object sender, RoutedEventArgs e)
{
WindowNeuralControlPanel wnd = new WindowNeuralControlPanel();
wnd.Show();
if (wnd.DialogResult == true)
{
SARNeural neural = new SARNeural();
MWArray output = neural.Predict(wnd.X1, wnd.X2, wnd.X3, wnd.X4, wnd.X5, wnd.X6, wnd.X7, wnd.X8, wnd.X9, wnd.X10, wnd.X11, wnd.X12);
double[,] values = (double[, ])((MWNumericArray)output).ToArray(MWArrayComponent.Real);
RecorderCommand command = new RecorderCommand
{
Duration = TimeSpan.FromSeconds(2.0),
Joints = new List <CostumeJoint>
{
new CostumeJoint()
{
Name = "R.ShoulderF", Value = (float)values[0, 0]
},
new CostumeJoint()
{
Name = "R.ShoulderS", Value = (float)values[0, 1]
},
new CostumeJoint()
{
Name = "R.ElbowR", Value = (float)values[0, 2]
},
new CostumeJoint()
{
Name = "R.Elbow", Value = (float)values[0, 3]
},
new CostumeJoint()
{
Name = "R.WristR", Value = (float)values[0, 4]
},
new CostumeJoint()
{
Name = "R.WritsS", Value = (float)values[0, 5]
}
}
};
RobotAnswer answer = Robot.ExecuteCommand(command.Joints, command.Duration);
AppLog.Write(answer.ToString());
}
}
private void ButtonPlayStart_Click(object sender, RoutedEventArgs e)
{
if (commands == null)
{
AppLog.Write("Невозможно воспроизвести запись. Не загружен список команд для робота.");
return;
}
if (!Robot.Connected)
{
AppLog.Write("Невозможно воспроизвести запись. Отсутствует соединение с роботом.");
return;
}
foreach (RecorderCommand command in commands)
{
RobotAnswer answer = Robot.ExecuteCommand(command.Joints, command.Duration);
AppLog.Write(answer.ToString());
}
}
private String RobotAnswerToString(RobotAnswer robotAnswer)
{
return(robotAnswer.ToString());
}