private void OnRaiseSystemEvents(object state)
{
try {
var e = new SystemEventState(null);
e.Initialize(
SystemContext,
null,
EventSeverity.Medium,
new LocalizedText("Raising Events"));
e.SetChildValue(SystemContext, BrowseNames.SourceNode, ObjectIds.Server, false);
e.SetChildValue(SystemContext, BrowseNames.SourceName, "Internal", false);
Server.ReportEvent(e);
var ae = new AuditEventState(null);
ae.Initialize(
SystemContext,
null,
EventSeverity.Medium,
new LocalizedText("Events Raised"),
true,
DateTime.UtcNow);
ae.SetChildValue(SystemContext, BrowseNames.SourceNode, ObjectIds.Server, false);
ae.SetChildValue(SystemContext, BrowseNames.SourceName, "Internal", false);
Server.ReportEvent(ae);
}
catch (Exception e) {
Utils.Trace(e, "Unexpected error in OnRaiseSystemEvents");
}
}
private void OnRaiseSystemEvents(object state)
{
try
{
SystemEventState e = new SystemEventState(null);
e.Initialize(
SystemContext,
null,
EventSeverity.Medium,
new LocalizedText("Raising Events"));
e.SetChildValue(SystemContext, BrowseNames.SourceNode, ObjectIds.Server, false);
e.SetChildValue(SystemContext, BrowseNames.SourceName, "Internal", false);
Server.ReportEvent(e);
AuditEventState ae = new AuditEventState(null);
ae.Initialize(
SystemContext,
null,
EventSeverity.Medium,
new LocalizedText("Events Raised"),
true,
DateTime.UtcNow);
ae.SetChildValue(SystemContext, BrowseNames.SourceNode, ObjectIds.Server, false);
ae.SetChildValue(SystemContext, BrowseNames.SourceName, "Internal", false);
Server.ReportEvent(ae);
}
catch (Exception e)
{
Utils.Trace(e, "Unexpected error in OnRaiseSystemEvents");
}
}
private void DoSimulation(object state)
{
try
{
lock (Lock)
{
var now = DateTime.Now;
double dt = (now - timestamp).TotalMilliseconds;
timestamp = now;
var mode = (short)modeState.Value;
if (mode != 1) // if not in man mode
{
double period = 30000;
switch ((short)speedState.Value)
{
case 1:
period = 20000;
break;
case 2:
period = 10000;
break;
case 3:
period = 5000;
break;
default:
period = 30000;
break;
}
if (mode == 2) // auto mode
{
masterAxis = (masterAxis + dt / period) % 1.0; // 0.0 to 1.0
}
axis1State.Value = (float)(Math.Sin(masterAxis * 2.0 * Math.PI) * 45.0);
axis2State.Value = (float)(Math.Cos(masterAxis * 2.0 * Math.PI) * 45.0);
axis3State.Value = (float)(Math.Sin(((masterAxis * 2.0) % 1.0) * 2.0 * Math.PI) * 45.0);
axis4State.Value = (float)(Math.Cos(masterAxis * 2.0 * Math.PI) * -180.0);
}
axis1State.Timestamp = now;
axis1State.ClearChangeMasks(SystemContext, false);
axis2State.Timestamp = now;
axis2State.ClearChangeMasks(SystemContext, false);
axis3State.Timestamp = now;
axis3State.ClearChangeMasks(SystemContext, false);
axis4State.Timestamp = now;
axis4State.ClearChangeMasks(SystemContext, false);
if (mode != prevmode)
{
prevmode = mode;
var e = new SystemEventState(null);
switch (mode)
{
case 1:
e.Initialize(SystemContext, this.robot1State, EventSeverity.Medium, new LocalizedText("Mode to Hand"));
break;
case 2:
e.Initialize(SystemContext, this.robot1State, EventSeverity.Medium, new LocalizedText("Mode to Auto"));
break;
default:
e.Initialize(SystemContext, this.robot1State, EventSeverity.Medium, new LocalizedText("Mode to Off"));
break;
}
this.robot1State.ReportEvent(SystemContext, e);
}
var laser = (bool)this.laserState.Value;
if (laser != prevlaser)
{
prevlaser = laser;
var e = new SystemEventState(null);
e.Initialize(SystemContext, this.robot1State, EventSeverity.Medium, new LocalizedText(laser ? "Laser activated." : "Laser deactivated."));
this.robot1State.ReportEvent(SystemContext, e);
}
}
}
catch (Exception e)
{
Utils.Trace(e, "Unexpected error doing simulation.");
}
}