private string GetData(string strRecive, string strSend)
{
Singleton s = Singleton.GetInstance();
double x = ParserXML.GetValues(strRecive, "Rob\\RIst\\X");
double y = ParserXML.GetValues(strRecive, "Rob\\RIst\\Y");
double z = ParserXML.GetValues(strRecive, "Rob\\RIst\\Z");
double a = ParserXML.GetValues(strRecive, "Rob\\RIst\\A");
double b = ParserXML.GetValues(strRecive, "Rob\\RIst\\B");
double c = ParserXML.GetValues(strRecive, "Rob\\RIst\\C");
s.Position = new RPoint(x, y, z, a, b, c);
x = ParserXML.GetValues(strRecive, "Rob\\PX");
y = ParserXML.GetValues(strRecive, "Rob\\PY");
z = ParserXML.GetValues(strRecive, "Rob\\PZ");
a = ParserXML.GetValues(strRecive, "Rob\\PA");
b = ParserXML.GetValues(strRecive, "Rob\\PB");
c = ParserXML.GetValues(strRecive, "Rob\\PC");
s.recive_p = new RPoint(x, y, z, a, b, c);
int work = (int)ParserXML.GetValues(strRecive, "Rob\\Work");
s.work = work;
// s.rec = work;
// s.work = Convert.ToBoolean(work == 1);
//// Console.WriteLine($"s.work = {s.work} ||| work = {work}");
// if (work == 1) {
// // Console.WriteLine("WORK BITCH!");
// }
if (exit)
{
ParserXML.SetValue(ref strSend, "Sen\\Exit", 1);
}
s.StrRecive = strRecive;
return(strSend);
}
private string _defaultDelegate(string strRecive, string strSend)
{
Stopwatch sw = new Stopwatch();
sw.Start();
if (first)
{
RX = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "X" });
RY = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "Y" });
RZ = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "Z" });
RA = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "A" });
RB = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "B" });
RC = ParserXML.GetValues(strRecive, new string[] { "Rob", "RIst", "C" });
first = false;
}
single.Position = new RPoint(RX, RY, RZ, RA, RB, RC);
if (single._MAP.Count != 0)
{
//if (RX >= 9.5245) {
// first = false;
//}
int index = prevIndex;
while (index < single._MAP.Count && RX > single._MAP[index].X)
{
index++;
}
prevIndex = index;
if (index < single._MAP.Count)
{
double sum = Math.Abs(single._MAP[index].X - RX) + Math.Abs(single._MAP[index].Y - RY) + Math.Abs(single._MAP[index].Z - RZ);
double xProc = (single._MAP[index].X - RX) / sum;
double yProc = (single._MAP[index].Y - RY) / sum;
double zProc = (single._MAP[index].Z - RZ) / sum;
//Console.WriteLine(xProc);
ParserXML.SetValue(ref strSend, "Sen\\RKorr\\X", xProc * _oneCor);
ParserXML.SetValue(ref strSend, "Sen\\RKorr\\Y", yProc * _oneCor);
ParserXML.SetValue(ref strSend, "Sen\\RKorr\\Z", zProc * _oneCor);
RX += xProc * _oneCor;
RY += yProc * _oneCor;
RZ += zProc * _oneCor;
}
else
{
//ParserXML.SetValue(ref strSend, "Sen\\RKorr\\X", _oneCor);
//RX += _oneCor;e
exit = true;
}
}
int work = (int)ParserXML.GetValues(strRecive, "Rob\\Work");
single.work = work;
if (exit)
{
ParserXML.SetValue(ref strSend, "Sen\\Exit", 1);
}
sw.Stop();
// Console.WriteLine(sw.ElapsedMilliseconds);
return(strSend);
}