private void onReceived(AgilusMessageFromRobot current)
{
AgilusMessageFromRobot previous = this.LastMessage.Get();
if (previous != null)
{
// Compare current and previous message action
if (previous.CmdAct != 0 && current.CmdAct == 0)
{
// Transition from any other value to zero means a completed job
//TODO BÖÖÖSE!!!!
//this.JobDone.Invoke();
}
}
// Store the received message as last one
this.LastMessage.Set(current);
}
/// <summary>
/// Returns the current position of the robot as Axis Position
/// </summary>
/// <remarks>
/// This method uses the last received message from the robot.
/// Thereby, the result of this method can be wrong, if the robot is not connected.
/// </remarks>
public AxisPosition GetCurrentAxisPosition()
{
AgilusMessageFromRobot lastMessage = this.LastMessage.Get();
return(lastMessage.CurrentAxisPosition);
}
/// <summary>
/// Returns the current position of the robot as TCP coordinate
/// </summary>
/// <remarks>
/// This method uses the last received message from the robot.
/// Thereby, the result of this method can be wrong, if the robot is not connected.
/// </remarks>
public TcpCoordinate GetCurrentTcpPosition()
{
AgilusMessageFromRobot lastMessage = this.LastMessage.Get();
return(lastMessage.CurrentTcpPosition);
}