/// <summary>
/// Point To Point Move
/// </summary>
/// <param name="style"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="r"></param>
/// <returns></returns>
private UInt64 ptp(byte style, float x, float y, float z, float r)
{
PTPCmd pdbCmd;
UInt64 cmdIndex = 0;
pdbCmd.ptpMode = style;
pdbCmd.x = x;
pdbCmd.y = y;
pdbCmd.z = z;
pdbCmd.rHead = r;
while (true)
{
int ret = DobotDll.SetPTPCmd(ref pdbCmd, true, ref cmdIndex);
if (ret == 0)
{
break;
}
}
while (true)
{
UInt64 retIndex = 0;
int ind = DobotDll.GetQueuedCmdCurrentIndex(ref retIndex);
if (ind == 0 && cmdIndex <= retIndex)
{
break;
}
}
float waitTime = 500;
WAITCmd waitcmd;
waitcmd.timeout = (uint)waitTime;
DobotDll.SetWAITCmd(ref waitcmd, false, ref cmdIndex);
return(cmdIndex);
}
// event handle
private void ProcessEvt(object sender, EventArgs e)
{
if (!isConnectted)
{
return;
}
Button obj = (Button)sender;
String con = obj.Content.ToString();
UInt64 cmdIndex = 0;
float x, y, z, r, gripper, pTime;
if (!float.TryParse(X.Text, out x) || !float.TryParse(Y.Text, out y) || !float.TryParse(Z.Text, out z) || !float.TryParse(rHead.Text, out r) ||
!float.TryParse(isGripper.Text, out gripper) || !float.TryParse(pauseTime.Text, out pTime))
{
Msg("Please input float formate", MsgInfoType.Error);
return;
}
Msg("", MsgInfoType.Info);
switch (con)
{
case "SendPlaybackCmd":
{
obj.IsEnabled = false;
cmdIndex = ptp((byte)modeStyle.SelectedIndex, x, y, z, r);
while (true)
{
UInt64 retIndex = 0;
int ind = DobotDll.GetQueuedCmdCurrentIndex(ref retIndex);
if (ind == 0 && cmdIndex <= retIndex)
{
obj.IsEnabled = true;
break;
}
}
float waitTime = 0;
if (float.TryParse(pauseTime.Text, out waitTime) && waitTime > 0)
{
WAITCmd waitcmd;
waitcmd.timeout = (uint)waitTime;
DobotDll.SetWAITCmd(ref waitcmd, false, ref cmdIndex);
}
} break;
case "SendCPCmd":
{
cmdIndex = cp((byte)ContinuousPathMode.CPAbsoluteMode, x, y, z, 100);
while (true)
{
UInt64 retIndex = 0;
int ind = DobotDll.GetQueuedCmdCurrentIndex(ref retIndex);
if (ind == 0 && cmdIndex <= retIndex)
{
obj.IsEnabled = true;
break;
}
}
} break;
default:
break;
}
}