public CmdLaRelPos(TaskPlanner taskPlanner)
: base("la_relpos")
{
this.taskPlanner = taskPlanner;
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromDelegate(new SevenDoubleParser(this.ParseSevenDoubles));
this.Signature = sb.GenerateSignature("la_relpos");
}
public CmdRaReachable(TaskPlanner taskPlanner)
: base("ra_reachable")
{
this.taskPlanner = taskPlanner;
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromDelegate(new SevenDoubleParser(this.ParseSevenDoubles));
this.Signature = sb.GenerateSignature("ra_reachable");
}
public CmdRaAbsPos(TaskPlanner taskPlanner)
: base("ra_abspos")
{
this.taskPlanner = taskPlanner;
SignatureBuilder sb = new SignatureBuilder();
sb.AddNewFromDelegate(new ThreeDoubleParser(this.ParseThreeDoubles));
sb.AddNewFromDelegate(new SixDoubleParser(this.ParseSixDoubles));
sb.AddNewFromDelegate(new SevenDoubleParser(this.ParseSevenDoubles));
this.Signature = sb.GenerateSignature("ra_abspos");
}
public CmdRaMove(TaskPlanner taskPlanner)
: base("ra_move")
{
this.taskPlanner = taskPlanner;
}
public CmdLaOpenGripper(TaskPlanner taskPlanner)
: base("la_opengrip")
{
this.taskPlanner = taskPlanner;
}
public CmdHand(TaskPlanner tskPlan)
: base("ra_hand")
{
this.tP = tskPlan;
}
public CmdRaGoTo(TaskPlanner taskPlanner)
: base("ra_goto")
{
this.taskPlanner = taskPlanner;
}
public CmdGetVoltage(TaskPlanner tp)
: base("arms_getvoltage")
{
this.taskPlanner = tp;
}
public CmdRaTorque(TaskPlanner taskPlanner)
: base("ra_torque")
{
this.taskPlanner = taskPlanner;
}
public CmdArmsState(TaskPlanner taskPlanner)
: base("arms_state")
{
this.taskPlanner = taskPlanner;
}
public CmdArmsTorque(TaskPlanner taskPlanner)
: base("arms_torque")
{
this.taskPlanner = taskPlanner;
}
public CmdArmsMove(TaskPlanner taskPlanner)
: base("arms_move")
{
this.taskPlanner = taskPlanner;
}
public CmdHandMove(TaskPlanner tskPlan)
: base("ra_hand_move")
{
this.taskPlanner = tskPlan;
}
private void CheckSystemThreadTask()
{
bool isGeneralStatusUpdated = false;
bool isLeftArmStatusUpdated = false;
bool isRightArmStatusUpdated = false;
bool areCmdAndCnnManStarted = false;
while (this.status.Running && !isGeneralStatusUpdated)
{
if (!this.status.AreFilesLoaded)
{
if (this.status.AreFilesLoaded = this.LoadMovsAndPositions())
{
this.taskPlanner = new TaskPlanner(this);
this.SetupCommandExecuters();
this.cnnMan.Start();
this.cmdMan.Start();
areCmdAndCnnManStarted = true;
}
else
{
Thread.Sleep(200);
continue;
}
}
if (this.status.AreVarsFromBBLoaded && areCmdAndCnnManStarted && !this.status.AreSharedVarsReady)
{
if (!this.status.IsSharedVarLeftArmPosCreated)
{
this.CreateLeftArmPosSharedVar();
}
if (!this.status.IsSharedVarRightArmPosCreated)
{
this.CreateRightArmPosSharedVar();
}
if (!this.status.IsLowBatCreated)
{
this.CreateLowBatSharedVar();
}
if (!this.status.IsSharedVarEndEffectorTypeCreated)
{
this.CreateEndEffectorSharedVar();
}
}
if (!this.status.LeftArmEnable)
{
this.status.LeftArmStatus = "Disable";
this.OnStatusChanged(this.status);
isLeftArmStatusUpdated = true;
}
else if (!isLeftArmStatusUpdated && (this.status.IsLeftArmReady = this.leftArm.IsManipulatorReady()))
{
this.status.LeftArmStatus = "Ready";
this.OnStatusChanged(this.status);
isLeftArmStatusUpdated = true;
}
if (!this.status.RightArmEnabled)
{
this.status.RightArmStatus = "Disable";
this.OnStatusChanged(this.status);
isRightArmStatusUpdated = true;
}
else if (!isRightArmStatusUpdated && (this.status.IsRightArmReady = this.rightArm.IsManipulatorReady()))
{
this.status.RightArmStatus = "Ready";
this.OnStatusChanged(this.status);
isRightArmStatusUpdated = true;
}
if (!isGeneralStatusUpdated && this.status.IsSystemReady)
{
this.cmdMan.Ready = true;
this.OnStatusChanged(this.status);
isGeneralStatusUpdated = true;
}
Thread.Sleep(200);
}
}
public CmdLaState(TaskPlanner taskPlanner)
: base("la_state")
{
this.taskPlanner = taskPlanner;
}
public CmdRaCloseGrip(TaskPlanner taskPlanner)
: base("ra_closegrip")
{
this.taskPlanner = taskPlanner;
}
public CmdArmsGoTo(TaskPlanner taskPlanner)
: base("arms_goto")
{
this.taskPlanner = taskPlanner;
}
