public static void showStatus() { if (null != status) { Console.WriteLine(""); Console.WriteLine("status = " + status); Schemas.CRCL.Status.CommandStatusType cst = status.CommandStatus; if (null != cst) { Console.WriteLine("CommandId = " + cst.CommandID); Console.WriteLine("State = " + cst.CommandState); Console.WriteLine("StatusId = " + cst.StatusID); } Schemas.CRCL.Status.PoseStatusType poseStatus = status.PoseStatus; if (null != poseStatus) { Schemas.CRCL.Status.PoseType pose = poseStatus.Pose; if (null != pose) { Console.WriteLine("Pose.Point = " + pose.Point.X + "," + pose.Point.Y + "," + pose.Point.Z); Console.WriteLine("Pose.XAxis = " + pose.XAxis.I + "," + pose.XAxis.J + "," + pose.XAxis.K); Console.WriteLine("Pose.ZAxis = " + pose.ZAxis.I + "," + pose.ZAxis.J + "," + pose.ZAxis.K); } } Console.WriteLine(""); } }
public static void showHelp() { Console.WriteLine(""); Console.WriteLine("Available commands:"); Console.WriteLine(""); Console.WriteLine("quit"); Console.WriteLine("\t-- quits the client"); Console.WriteLine(""); Console.WriteLine("init"); Console.WriteLine("\t-- sends InitCanonType command."); Console.WriteLine(""); Console.WriteLine("end"); Console.WriteLine("\t-- sends EndCanonType command."); Console.WriteLine(""); Console.WriteLine("move [Point.X] [Point.Y] [Point.Z] [XAxis.I] [XAxis.J] [XAxis.K] [ZAxis.I] [ZAxis.J] [ZAxis.K]"); Console.WriteLine("\t-- sends MoveToType command (arguments are optional)"); Console.WriteLine("examples:"); double px = 0; double py = 0; double pz = 0; if (null != status) { Schemas.CRCL.Status.PoseStatusType poseStatus = status.PoseStatus; if (null != poseStatus) { Schemas.CRCL.Status.PoseType pose = poseStatus.Pose; if (null != pose) { px = pose.Point.X; py = pose.Point.Y; pz = pose.Point.Z; } } } Console.WriteLine("move " + px + " " + py + " " + pz); Console.WriteLine("move " + px + " " + py + " " + pz + " 1 0 0 0 0 -1"); Console.WriteLine(""); Console.WriteLine("Press enter on empty line to see status."); Console.WriteLine(""); }