/// <summary>
/// Apply Attach Tool Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionAttachTool action)
{
// Sanity: this is a fix for pre-0.8.x compatibility where Attach came with the Tool object, not the name.
// Older versions of Machina would yield error searching for `null` key on `availableTools`
if (action.toolName == null)
{
logger.Error($"Obsolete version of AttachTool; please update Machina to latest update.");
return(false);
}
// Sanity
if (!availableTools.ContainsKey(action.toolName))
{
logger.Warning($"No tool named \"{action.toolName}\" defined in this robot; please use \"DefineTool\" first.");
return(false);
}
// This would not work in case the user had defined a new tool with different values but same name (not great practice, but technically possible anyway...)
//if (action.toolName == this.tool.name)
//{
// logger.Verbose($"Attaching the same tool? No changes...");
// return true;
//}
// The cursor has now a tool attached to it
Tool prevTool = this.tool;
this.tool = availableTools[action.toolName];
// Shim for lack of IK
// If coming from axes motion, no need to transform the TCP
if (this.position == null || this.rotation == null)
{
logger.Warning($"Attaching tool without TCP values, inconsistent results may follow...?");
}
// Otherwise transform the TCP
else
{
if (prevTool != null)
{
logger.Debug($"Detaching tool {prevTool.name} before attaching {this.tool.name}.");
UndoToolTransformOnCursor(this, prevTool, logger, _logRelativeActions);
}
ApplyToolTransformToCursor(this, this.tool, logger, _logRelativeActions);
}
return(true);
}
//██████╗ ██████╗ ██╗██╗ ██╗ █████╗ ████████╗███████╗
//██╔══██╗██╔══██╗██║██║ ██║██╔══██╗╚══██╔══╝██╔════╝
//██████╔╝██████╔╝██║██║ ██║███████║ ██║ █████╗
//██╔═══╝ ██╔══██╗██║╚██╗ ██╔╝██╔══██║ ██║ ██╔══╝
//██║ ██║ ██║██║ ╚████╔╝ ██║ ██║ ██║ ███████╗
//╚═╝ ╚═╝ ╚═╝╚═╝ ╚═══╝ ╚═╝ ╚═╝ ╚═╝ ╚══════╝
// THIS IS NOW A TASK FOR THE ControlManager.SetCommunicationObject()
/// <summary>
/// Initializes the Communication object.
/// </summary>
/// <returns></returns>
//private bool InitializeCommunication()
//{
// Console.WriteLine("InitializeCommunication");
// // If there is already some communication going on
// if (_driver != null)
// {
// Console.WriteLine("Communication protocol might be active. Please CloseControllerCommunication() first.");
// return false;
// }
// // @TODO: shim assignment of correct robot model/brand
// //_driver = new DriverABB(this);
// if (this.parentRobot.Brand == RobotType.ABB)
// {
// _driver = new DriverABB(this);
// }
// else if (this.parentRobot.Brand == RobotType.UR)
// {
// _driver = new DriverUR(this);
// }
// else
// {
// throw new NotImplementedException();
// }
// // Pass the streamQueue object as a shared reference
// //comm.LinkStreamQueue(streamQueue);
// if (_controlMode == ControlType.Stream)
// {
// _driver.LinkWriteCursor(ref writeCursor);
// }
// return true;
//}
/// <summary>
/// Disconnects and resets the Communication object.
/// </summary>
/// <returns></returns>
private bool DropCommunication()
{
if (_driver == null)
{
logger.Debug("Communication protocol not established, no DropCommunication() performed.");
return(false);
}
bool success = _driver.DisconnectFromDevice();
_driver = null;
return(success);
}