void UpdateStatusLeds()
{
//UR
URConnected.Fill = App.Current.URController.IsUniversalRobotConnected ? App.Current.ThemeColor : Brushes.Gray;
URReady.Fill = App.Current.URController.URRobotStatus.RobotMode == 7 ? App.Current.ThemeColor : Brushes.Gray;
URDistanceInRange.Fill = !double.IsNaN(UniversalRobotHelperFunctions.GetCurrentZDistance()) ? App.Current.ThemeColor : Brushes.Gray;
URHomed.Fill = App.Current.MachineHomed ? App.Current.ThemeColor : Brushes.Gray;
URFault.Fill = App.Current.URSecondController.GetCurrentSafetyStatus() != URSecondaryController.SafetyType.Normal ? Brushes.Tomato : Brushes.Gray;
URFreedrive.Fill = App.Current.URController.GetFreeDriveStatus() ? App.Current.ThemeColor : Brushes.Gray;
URErrorMessageBox.Text = App.Current.URSecondController.GetCurrentSafetyStatus().ToString();
SettingsOn.Content = App.Current.URController.URRobotStatus.RobotMode == 7 ? "Off" : "On";
double currentDistanceMM = UniversalRobotHelperFunctions.GetCurrentZDistance();
if (double.IsNaN(currentDistanceMM))
{
URDistanceValue.Text = "Out of range.";
}
else
{
double roundedDistance = Math.Round(currentDistanceMM);
URDistanceValue.Text = roundedDistance.ToString() + " mm";
}
//polaris
PolarisConnected.Fill = App.Current.PolarisController.IsPolarisConnected ? App.Current.ThemeColor : Brushes.Gray;
RobotMarkerVisible.Fill = App.Current.PolarisController.GetURRobotRigidBody().isInRange ? App.Current.ThemeColor : Brushes.Gray;
Patientent1MarkerVisible.Fill = App.Current.PolarisController.GetUserRigidBodyOne().isInRange ? App.Current.ThemeColor : Brushes.Gray;
PatientMarker2Visible.Fill = App.Current.PolarisController.GetUserRigidBodyTwo().isInRange ? App.Current.ThemeColor : Brushes.Gray;
//force sensor
ForceOverLimit.Fill = UniversalRobotHelperFunctions.IsForceOverLimit() ? Brushes.Tomato : Brushes.Gray;
TrackButton.IsEnabled = App.Current.MachineHomed;
}
Point3D TrackZAndUpdateStartPoint(Point3D inputPoint, double mmToAddToDistance)
{
double analogConverted = UniversalRobotHelperFunctions.GetCurrentZDistance();
double currentZDistance = coilToTargetDistance + mmToAddToDistance;
if (double.IsNaN(analogConverted) ||
double.IsNaN(currentZDistance))
{
string errorMessage = "Cannot read a valid distance from the laser. Unable to perform move!";
if (CheckRunThroughAll())
{
errorMessage += " The Run Through All moves will now be cancelled.";
}
MessageBox.Show(errorMessage, "Unable to perform move!", MessageBoxButton.OK, MessageBoxImage.Error);
return(new Point3D(
App.Current.URController.URRobotStatus.ToolVectorActual_1,
App.Current.URController.URRobotStatus.ToolVectorActual_2,
App.Current.URController.URRobotStatus.ToolVectorActual_3));
}
if (analogConverted < currentZDistance)
{
startPoint = UniversalRobotHelperFunctions.AdjustLocationToLaser(startPoint, lookDirection, analogConverted, currentZDistance);
}
return(UniversalRobotHelperFunctions.AdjustLocationToLaser(inputPoint, lookDirection, analogConverted, currentZDistance));
}
private void MoveToZ_Click(object sender, RoutedEventArgs e)
{
double analogConverted = UniversalRobotHelperFunctions.GetCurrentZDistance();
double currentZDistance = App.Current.ApplicationSettings.CoilToTargetDistanceMM;
if (double.IsNaN(analogConverted) ||
double.IsNaN(currentZDistance))
{
MessageBox.Show("Cannot read a valid distance from the laser. Unable to perform move!", "Unable to perform move!", MessageBoxButton.OK, MessageBoxImage.Error);
}
else
{
Point3D move = UniversalRobotHelperFunctions.AdjustLocationToLaser(GetCurrentPoint(), GetCurrentLookDirection(), analogConverted, currentZDistance);
MoveToPoint(move, GetCurrentLookDirectionAsPoint(), false);
}
}
Point3D TrackZ(Point3D inputPoint, double mmToAddToDistance)
{
double analogConverted = UniversalRobotHelperFunctions.GetCurrentZDistance();
double currentZDistance = coilToTargetDistance + mmToAddToDistance;
if (double.IsNaN(analogConverted) ||
double.IsNaN(currentZDistance))
{
MessageBox.Show("Cannot read a valid distance from the laser. Unable to perform move!", "Unable to perform move!", MessageBoxButton.OK, MessageBoxImage.Error);
return(new Point3D(
App.Current.URController.URRobotStatus.ToolVectorActual_1,
App.Current.URController.URRobotStatus.ToolVectorActual_2,
App.Current.URController.URRobotStatus.ToolVectorActual_3));
}
return(UniversalRobotHelperFunctions.AdjustLocationToLaser(inputPoint, lookDirection, analogConverted, currentZDistance));
}