public static void KeyboardThreadLoop()
{
ConsoleKeyInfo keyinfo;
do
{
keyinfo = Console.ReadKey();
Console.WriteLine(keyinfo.Key + " was pressed");
if ((keyinfo.KeyChar == 'a') || (keyinfo.KeyChar == 'A')) { // demander un nouveau coeff translation
Console.WriteLine("donne le nouveau coeff de translation stp (entre 0 et 1.0, il vaut actuellement " + coeffTrans + "):");
string s = Console.ReadLine();
try {
double newCoeff = Double.Parse(s);
coeffTrans = newCoeff;
Console.WriteLine("le nouveau coeff de translation vaut: " + coeffTrans);
}
catch (FormatException e) {
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'z') || (keyinfo.KeyChar == 'Z')) // demander un nouveau coeff rotation
{ // demander une nouvelle vitesse
Console.WriteLine("donne le nouveau coeff de rotation stp (entre 0 et 1.0, il vaut actuellement " + coeffRot + "):");
string s = Console.ReadLine();
try
{
double newCoeff = Double.Parse(s);
coeffRot = newCoeff;
Console.WriteLine("le nouveau coeff de rotation vaut: " + coeffRot);
}
catch (FormatException e)
{
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'e') || (keyinfo.KeyChar == 'E')) // enregistrer la position current du robot
{ // demander une nouvelle vitesse
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
Console.WriteLine("current position:");
Console.WriteLine("x: " + currentPos.X);
Console.WriteLine("y: " + currentPos.Y);
Console.WriteLine("z: " + currentPos.Z);
Console.WriteLine("a: " + currentPos.A);
Console.WriteLine("b: " + currentPos.B);
Console.WriteLine("c: " + currentPos.C);
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'd') || (keyinfo.KeyChar == 'D')) // enregistrer la position current du robot en tant que p0, p1, p2, et p3
{ // demander une nouvelle vitesse
string point="p";
if (pointAEnregistrer == 0) {
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 1)
{
point = "p1";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 2)
{
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 3)
{
point = "p2";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 4)
{
point = "p3";
pointAEnregistrer += 1;
}
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(point);
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'r') || (keyinfo.KeyChar == 'R')) // incr coeff trans
{ // demander une nouvelle vitesse
coeffTrans += 0.1;
if(coeffTrans > 1.0)
{
coeffTrans = 1.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 't') || (keyinfo.KeyChar == 'T')) // desincr coeff trans
{ // demander une nouvelle vitesse
coeffTrans -= 0.1;
if (coeffTrans < 0.0)
{
coeffTrans = 0.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 'y') || (keyinfo.KeyChar == 'Y')) // incr coeff rot
{ // demander une nouvelle vitesse
coeffRot += 0.1;
if (coeffRot > 1.0)
{
coeffRot = 1.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'u') || (keyinfo.KeyChar == 'U')) // desincr coeff rot
{ // demander une nouvelle vitesse
coeffRot -= 0.1;
if (coeffRot < 0.0)
{
coeffRot = 0.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'i') || (keyinfo.KeyChar == 'I')) // open grip
{ // demander une nouvelle vitesse
theRobot.OpenGripper();
Console.WriteLine("open grip");
if (modeCapture == true)
{
sh.addInstruction("open");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'o') || (keyinfo.KeyChar == 'O')) // close grip
{ // demander une nouvelle vitesse
theRobot.CloseGripper();
Console.WriteLine("close grip");
if (modeCapture == true)
{
sh.addInstruction("close");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'p') || (keyinfo.KeyChar == 'P')) // changer mode
{
modeDefaut = !modeDefaut;
Console.WriteLine(modeDefaut);
}
else if ((keyinfo.KeyChar == 'q') || (keyinfo.KeyChar == 'Q')) // lancer scenario
{
if (modeDefaut == true)
{
Console.WriteLine("in Q default");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioDefaut, theRobot);
}
else
{
Console.WriteLine("in Q genered");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioGenere, theRobot);
}
}
else if ((keyinfo.KeyChar == 's') || (keyinfo.KeyChar == 'S')) // changer Capture / terminer capture
{
if (modeCapture==false)
{
modeCapture = true;
sh.openFile(scenarioGenere);
Console.WriteLine("Lancement capture");
Thread myThreadCapture;
myThreadCapture = new Thread(new ThreadStart(lancerModeCapture));
myThreadCapture.Start();
}
else
{
//terminer capture
Console.WriteLine("testArretcapture");
modeCapture = false;
sh.closeFile(scenarioGenere);
Console.WriteLine("Arretcapture");
}
}
}
while (Thread.CurrentThread.IsAlive);
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
* Console.WriteLine(keyboard.Keys);
*
* Console.WriteLine("nombre de touches programmable : ");
* Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
static void Main(string[] args)
{
started = false;
Program prog = new Program();
Console.WriteLine("Start of programm....");
coeffTrans = 1.0;
coeffRot = 0.4;
Thread myThreadKeyboard;
myThreadKeyboard = new Thread(new ThreadStart(KeyboardThreadLoop));
myThreadKeyboard.Start();
device = new TDx.TDxInput.Device();
//keyboard = new TDx.TDxInput.Keyboard();
var keyboard = device.Keyboard;
Console.WriteLine(device.Sensor);
Console.WriteLine(device.Sensor.Translation);
//System.Threading.Thread.Sleep(2500);
//translation = device.Sensor.Translation;
//rotation = device.Sensor.Rotation;
Console.WriteLine(device.IsConnected);
device.Connect();
Console.WriteLine(device.IsConnected);
//System.Threading.Thread.Sleep(2500);
// la souris est connecte
/*Console.WriteLine("nombre de touches : ");
Console.WriteLine(keyboard.Keys);
Console.WriteLine("nombre de touches programmable : ");
Console.WriteLine(keyboard.ProgrammableKeys);*/
//keyboard.KeyDown += new System.EventHandler(prog.onKeyDown);
//double xMax = 0, yMax = 0, zMax = 0;
theRobot = new NLX.Robot.Kuka.Controller.RobotController();
theRobot.Connect("192.168.1.1");
Console.WriteLine("Connection avec le robot OK !");
sh = new ScenarioHandler();
//sh.readAndInterpretFile(@"C:\Users\IMERIR14\Desktop\Novalinxproject\trunk\darkproject\scenario.sck", theRobot);
Console.WriteLine("File interpretation finished");
Console.WriteLine("On entre dans le while sleep");
while (true)
{
System.Threading.Thread.Sleep(100);
}
}
public static void KeyboardThreadLoop()
{
ConsoleKeyInfo keyinfo;
do
{
keyinfo = Console.ReadKey();
Console.WriteLine(keyinfo.Key + " was pressed");
if ((keyinfo.KeyChar == 'a') || (keyinfo.KeyChar == 'A')) // demander un nouveau coeff translation
{
Console.WriteLine("donne le nouveau coeff de translation stp (entre 0 et 1.0, il vaut actuellement " + coeffTrans + "):");
string s = Console.ReadLine();
try {
double newCoeff = Double.Parse(s);
coeffTrans = newCoeff;
Console.WriteLine("le nouveau coeff de translation vaut: " + coeffTrans);
}
catch (FormatException e) {
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'z') || (keyinfo.KeyChar == 'Z')) // demander un nouveau coeff rotation
{ // demander une nouvelle vitesse
Console.WriteLine("donne le nouveau coeff de rotation stp (entre 0 et 1.0, il vaut actuellement " + coeffRot + "):");
string s = Console.ReadLine();
try
{
double newCoeff = Double.Parse(s);
coeffRot = newCoeff;
Console.WriteLine("le nouveau coeff de rotation vaut: " + coeffRot);
}
catch (FormatException e)
{
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'e') || (keyinfo.KeyChar == 'E')) // enregistrer la position current du robot
{ // demander une nouvelle vitesse
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
Console.WriteLine("current position:");
Console.WriteLine("x: " + currentPos.X);
Console.WriteLine("y: " + currentPos.Y);
Console.WriteLine("z: " + currentPos.Z);
Console.WriteLine("a: " + currentPos.A);
Console.WriteLine("b: " + currentPos.B);
Console.WriteLine("c: " + currentPos.C);
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'd') || (keyinfo.KeyChar == 'D')) // enregistrer la position current du robot en tant que p0, p1, p2, et p3
{ // demander une nouvelle vitesse
string point = "p";
if (pointAEnregistrer == 0)
{
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 1)
{
point = "p1";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 2)
{
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 3)
{
point = "p2";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 4)
{
point = "p3";
pointAEnregistrer += 1;
}
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(point);
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'r') || (keyinfo.KeyChar == 'R')) // incr coeff trans
{ // demander une nouvelle vitesse
coeffTrans += 0.1;
if (coeffTrans > 1.0)
{
coeffTrans = 1.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 't') || (keyinfo.KeyChar == 'T')) // desincr coeff trans
{ // demander une nouvelle vitesse
coeffTrans -= 0.1;
if (coeffTrans < 0.0)
{
coeffTrans = 0.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 'y') || (keyinfo.KeyChar == 'Y')) // incr coeff rot
{ // demander une nouvelle vitesse
coeffRot += 0.1;
if (coeffRot > 1.0)
{
coeffRot = 1.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'u') || (keyinfo.KeyChar == 'U')) // desincr coeff rot
{ // demander une nouvelle vitesse
coeffRot -= 0.1;
if (coeffRot < 0.0)
{
coeffRot = 0.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'i') || (keyinfo.KeyChar == 'I')) // open grip
{ // demander une nouvelle vitesse
theRobot.OpenGripper();
Console.WriteLine("open grip");
if (modeCapture == true)
{
sh.addInstruction("open");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'o') || (keyinfo.KeyChar == 'O')) // close grip
{ // demander une nouvelle vitesse
theRobot.CloseGripper();
Console.WriteLine("close grip");
if (modeCapture == true)
{
sh.addInstruction("close");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'p') || (keyinfo.KeyChar == 'P')) // changer mode
{
modeDefaut = !modeDefaut;
Console.WriteLine(modeDefaut);
}
else if ((keyinfo.KeyChar == 'q') || (keyinfo.KeyChar == 'Q')) // lancer scenario
{
if (modeDefaut == true)
{
Console.WriteLine("in Q default");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioDefaut, theRobot);
}
else
{
Console.WriteLine("in Q genered");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioGenere, theRobot);
}
}
else if ((keyinfo.KeyChar == 's') || (keyinfo.KeyChar == 'S')) // changer Capture / terminer capture
{
if (modeCapture == false)
{
modeCapture = true;
sh.openFile(scenarioGenere);
Console.WriteLine("Lancement capture");
Thread myThreadCapture;
myThreadCapture = new Thread(new ThreadStart(lancerModeCapture));
myThreadCapture.Start();
}
else
{
//terminer capture
Console.WriteLine("testArretcapture");
modeCapture = false;
sh.closeFile(scenarioGenere);
Console.WriteLine("Arretcapture");
}
}
}while (Thread.CurrentThread.IsAlive);
}
