public void TestToStringFromEnumAndJointObject() { var robotJoints = new RobotJoints { joint1 = 0, joint2 = 100, joint3 = 0, joint4 = 0, joint5 = 0, joint6 = 0, gripper = 0 }; var expectedParameters = "0,100,0,0,0,0,0"; var expectedCommand = "12,0,100,0,0,0,0,0"; var expectedCode = 12; string rawCommand = $"{(int) RobotCommand.CommandType.DriveTo},{robotJoints}"; Assert.Equal(expectedCommand, rawCommand); RobotCommand robotCommand = RobotCommand.FromString(rawCommand); Assert.True(robotCommand.Code.Equals(expectedCode), "Correct Command Code parsed"); Assert.Equal(expectedParameters, robotCommand.Parameters); Assert.Equal(expectedCommand, robotCommand.ToString()); }
public bool RelativeMove(RobotJoints robotJoints) { Console.WriteLine($"RelMove: {(int) RobotCommand.CommandType.DriveTo},{robotJoints}"); var successfulWrite = true; try { _serialPort.WriteLine($"{(int) RobotCommand.CommandType.DriveTo},{robotJoints}"); } catch { successfulWrite = false; } return(successfulWrite); }
public void relMove([FromBody] RobotJoints robotJoints) { //_logger.LogError("Relative Move"); Console.WriteLine("Relative Move/DriveDist"); TryValidateModel(robotJoints); if (ModelState.IsValid) { this._rosService.RelativeMove(robotJoints); } else { Console.WriteLine("Invalid Model"); } }
public void AbsoluteMove(RobotJoints robotJoints) { //driveTo - einen Punkt anfahren topics["DriveTo"].Publish(new std_msgs.String(robotJoints.ToString())); }
public void RelativeMove(RobotJoints robotJoints) { //driveDist - Achsweise händisch verfahren um z.b. +10 topics["DriveDist"].Publish(new std_msgs.String(robotJoints.ToString())); }
public void absMove([FromBody] RobotJoints robotJoints) { Console.WriteLine("Absolute Move/DriveTo"); this._rosService.AbsoluteMove(robotJoints); }
public void AbsoluteMove(RobotJoints robotJoints) { Console.WriteLine($"AbsMove: {(int) RobotCommand.CommandType.DriveDist},{robotJoints}"); _serialPort.WriteLine($"{(int) RobotCommand.CommandType.DriveDist},{robotJoints}"); }
void IRobotInteractionService.RelativeMove(RobotJoints robotJoints) { throw new NotImplementedException(); }
public void AbsoluteMove(RobotJoints robotJoints) { Console.Write("-> Test - ", System.Reflection.MethodBase.GetCurrentMethod().Name + " ->"); Console.WriteLine(robotJoints.ToString() + " <-"); }