private void updateRecieved(ComData data)
{
if (data.isType <ArmPose>())
{
pose = (ArmPose)data.value[0];
updatePoseInfo();
workerResumeEvent.Set();
}
else if (data.isType <Angle>())
{
servoAngles = new Angle[data.value.Length];
for (int i = 0; i < data.value.Length; i++)
{
servoAngles[i] = (Angle)data.value[i];
}
updateAngleInfo();
}
updateLabelsDelegate(infoForLabels);
}
protected override void onDataRecieved(ComData data)
{
if (data.isType <ComRequest>())
{
ComRequest req = (ComRequest)data.value[0];
if (ComRequest.isSame(req, ComRequest.POSE))
{
com.sendData(pose);
}
else if (ComRequest.isSame(req, ComRequest.CLOSE))
{
Environment.Exit(0);
}
else if (ComRequest.isSame(req, ComRequest.ANGLES))
{
com.sendData(targetAngles);
}
return;
}
else if (data.isType <KeyFrame>())
{
KeyFrame k = (KeyFrame)data.value[0];
acceptKeyFrame(k);
}
else if (data.isType <Angle>())
{
for (int i = 0; i < data.value.Length; i++)
{
Angle a = (Angle)data.value[i];
targetAngles[i] += a;
}
}
else
{
Console.WriteLine(data.dataType);
Console.WriteLine("unk >> " + data.dataType + " : " + data.value.ToString());
}
updateController();
}
