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; }