private Task GetTaskFromName(string taskName, string taskType, string controllerip, int controllerport)
{
string apiParameters = string.Format("scene/{0}/task/?format=json&limit=1&name={1}&fields=pk,tasktype",
this.scenePrimaryKey, taskName);
Dictionary <string, object> jsonMessage = controllerClient.GetJsonMessage(HttpMethod.GET, apiParameters);
List <object> tasks = (List <object>)jsonMessage["objects"];
if (tasks.Count == 0)
{
return(null);
}
Dictionary <string, object> resultMap = (Dictionary <string, object>)tasks[0];
string taskPrimaryKey = (string)resultMap["pk"];
string taskTypeResult = (string)resultMap["tasktype"];
if (!taskType.Equals(taskTypeResult))
{
throw new ClientException("unsupported task type: " + taskTypeResult);
}
return(new BinPickingTask(taskPrimaryKey, taskName, controllerip, controllerport, this.controllerClient));
}
public RobotState GetJointValues(long timeOutMilliseconds = 30000)
{
string apiParameters = string.Format("task/{0}/?format=json&fields=pk", this.taskPrimaryKey);
Dictionary <string, object> apistring = new Dictionary <string, object>();
apistring["controllerip"] = this.controllerip;
apistring["controllerport"] = this.controllerport;
apistring["command"] = "GetJointValues";
Dictionary <string, object> command = new Dictionary <string, object>();
command["tasktype"] = "binpicking";
command["taskparameters"] = apistring;
string message = JSON.ToJSON(command);
// Update task
controllerClient.GetJsonMessage(HttpMethod.PUT, apiParameters, message);
Dictionary <string, object> result = this.Execute(timeOutMilliseconds);
Dictionary <string, object> jointValuesMap = (Dictionary <string, object>)result["output"];
RobotState state = new RobotState();
List <object> jointnames = (List <object>)jointValuesMap["jointnames"];
state.jointNames = new string[jointnames.Count];
for (int i = 0; i < jointnames.Count; i++)
{
state.jointNames[i] = (string)jointnames[i];
}
List <object> currentjointvalues = (List <object>)jointValuesMap["currentjointvalues"];
Debug.Assert(currentjointvalues.Count == jointnames.Count);
state.jointValues = new double[currentjointvalues.Count];
for (int i = 0; i < currentjointvalues.Count; ++i)
{
state.jointValues[i] = (double)currentjointvalues[i];
}
Dictionary <string, object> tools = (Dictionary <string, object>)jointValuesMap["tools"];
state.tools = new Dictionary <string, double[]>();
foreach (KeyValuePair <string, object> keyvalue in tools)
{
List <object> toolvalues = (List <object>)keyvalue.Value;
Debug.Assert(toolvalues.Count == 6);
double[] dsttoolvalues = new double[6];
for (int i = 0; i < 6; ++i)
{
dsttoolvalues[i] = (double)toolvalues[i];
}
state.tools[keyvalue.Key] = dsttoolvalues;
}
return(state);
}
