/// <summary>Method that executes a command for an instance of the CartesianMoveCommand class</summary>
/// <author>Damian Jimenez</author>
/// <param name="robot">The robot that is to be controlled via the API call</param>
/// <param name="cartesianMove">Cartesian move object to handle calculating the motion of the robot</param>
/// <returns><c>void</c></returns>
public Response Execute(IAdeptRobot robot, CartesianMove cartesianMove)
{
string joint_string;
string jsonString;
string locationString;
byte[] jsonBytes;
if (app_config.ThreadingEnabled)
{
_SEMAPHORE.WaitOne();
}
/*################################################################################
########################## BEGINNING OF PROTECTED BLOCK ##########################
################################################################################*/
{
_ROBOT_BUSY = true;
_CURRENT_MOVE_CMDS += 1;
try
{
// Get the current joint positions of the robot
double[] jointPositions = robot.JointPosition;
// Print out joint information for the user to see
WriteOutput("Current joint values:");
foreach (var joint in jointPositions.Select((value, i) => new { i, value }))
{
WriteOutput($"joint[{joint.i}] = {joint.value}");
}
// Assign the cartesianMove the parameters that were passed via the API call
cartesianMove.Param.Accel = Accel;
cartesianMove.Param.Decel = Decel;
cartesianMove.Param.Speed = Speed;
cartesianMove.Param.Straight = StraightMotion;
cartesianMove.Param.MotionEnd = MOTION_END[MotionEnd];
cartesianMove.Param.SCurveProfile = SCurveProfile;
// Transform the current joint position to a world location
Transform3D loc = robot.JointToWorld(jointPositions);
// Check if the current location is in-range
Transform3D currentPosition = robot.WorldLocationWithTool;
bool inRange = robot.InRange(currentPosition) == 0 ? true: false;
WriteOutput($"[{currentPosition}]\nMotion in range: {inRange}\n");
// Get the current robot configuration
IMoveConfiguration moveConfig = robot.GetMoveConfiguration(jointPositions);
// Create a new Transform3D object specifying how the robot should move
cartesianMove.MoveConfiguration = moveConfig;
Transform3D transform = new Transform3D(X, Y, Z, Yaw, Pitch, Roll);
// Calculate the new position of the robot based on the transform and the robots current position
cartesianMove.WorldLocation = currentPosition * transform;
// Write out the CartesianMove that is to be executed to the console and GUI
WriteOutput(cartesianMove.Description);
// Issue the move and wait until it is done
robot.Move(cartesianMove);
robot.WaitMoveDone();
// Force the robot to issue a DETACH
robot.AutomaticControlActive = false;
joint_string = String.Join(",", robot.JointPosition.Select(p => p.ToString()).ToArray());
locationString = String.Join(",", ($"{robot.WorldLocationWithTool}".Split(' ')).Select(p => p.ToString()).ToArray());
jsonString = $"{{\"robot_joints\": [{joint_string}]," +
$"\"robot_with_tool_world_location\": [{locationString}]}}";
jsonBytes = Encoding.UTF8.GetBytes(jsonString);
}
catch (Exception e)
{
jsonString = $"{{\"error\": \"{e.Message}\"}}";
jsonBytes = Encoding.UTF8.GetBytes(jsonString);
WriteOutput($"Unable to move the robot.\nERROR: {e.Message}\n");
}
_CURRENT_MOVE_CMDS -= 1;
_ROBOT_BUSY = (_CURRENT_MOVE_CMDS == 0 ? false : true);
}
/*################################################################################
############################# END OF PROTECTED BLOCK #############################
################################################################################*/
if (app_config.ThreadingEnabled)
{
_SEMAPHORE.Release();
}
return(new Response()
{
StatusCode = HttpStatusCode.OK,
ContentType = "application/json",
ReasonPhrase = "POST request received for endpoint [/api/move/cartesian].",
Headers = new Dictionary <string, string>()
{
{
"Content-Type", "application/json"
}
},
Contents = c => c.Write(jsonBytes, 0, jsonBytes.Length)
});
}
/// <summary>Method that executes a command for an instance of the JointMoveCommand class</summary>
/// <author>Damian Jimenez</author>
/// <param name="robot">The robot that is to be controlled via the API call</param>
/// <param name="jointMove"><c>JointMove</c> object to handle calculating the motion of the joints of the robot</param>
/// <returns><c>void</c></returns>
public Response Execute(IAdeptRobot robot, JointMove jointMove)
{
string joint_string;
string jsonString;
string locationString;
byte[] jsonBytes;
if (app_config.ThreadingEnabled)
{
_SEMAPHORE.WaitOne();
}
/*################################################################################
########################## BEGINNING OF PROTECTED BLOCK ##########################
################################################################################*/
{
_ROBOT_BUSY = true;
_CURRENT_MOVE_CMDS += 1;
try
{
jointMove.Initialize();
// Get the current joint positions of the robot
double[] jointPositions = robot.JointPosition;
// Print out joint information for the user to see
WriteOutput("Current joint values:");
foreach (var joint in jointPositions.Select((value, i) => new { i, value }))
{
WriteOutput($"joint[{joint.i}] = {joint.value}");
}
// Assign jointMove the parameters that were passed via the API call
jointMove.Param.Accel = Accel;
jointMove.Param.Decel = Decel;
jointMove.Param.Speed = Speed;
jointMove.Param.Straight = StraightMotion;
jointMove.Param.MotionEnd = MOTION_END[MotionEnd];
jointMove.Param.SCurveProfile = SCurveProfile;
jointMove.JointPosition = JointPosition;
// Assigning the robot that was passed as the one that will execute the move
jointMove.Robot = robot;
// Write out the JointMove that is to be executed to the console and GUI
WriteOutput(jointMove.Description);
// Execute the move
robot.Move(jointMove);
// Wait for the robot to finish moving
robot.WaitMoveDone();
// Force the robot to issue a DETACH
robot.AutomaticControlActive = false;
joint_string = String.Join(",", robot.JointPosition.Select(p => p.ToString()).ToArray());
locationString = String.Join(",", ($"{robot.WorldLocationWithTool}".Split(' ')).Select(p => p.ToString()).ToArray());
jsonString = $"{{\"robot_joints\": [{joint_string}]," +
$"\"robot_with_tool_world_location\": [{locationString}]}}";
jsonBytes = Encoding.UTF8.GetBytes(jsonString);
}
catch (Exception e)
{
jsonString = $"{{\"error\": \"{e.Message}\"}}";
jsonBytes = Encoding.UTF8.GetBytes(jsonString);
WriteOutput($"Unable to move the robot.\nERROR: {e.Message}\n");
}
_CURRENT_MOVE_CMDS -= 1;
_ROBOT_BUSY = (_CURRENT_MOVE_CMDS == 0 ? false : true);
}
/*################################################################################
############################# END OF PROTECTED BLOCK #############################
################################################################################*/
if (app_config.ThreadingEnabled)
{
_SEMAPHORE.Release();
}
return(new Response()
{
StatusCode = HttpStatusCode.OK,
ContentType = "application/json",
ReasonPhrase = "POST request received for endpoint [/api/move/joints].",
Headers = new Dictionary <string, string>()
{
{
"Content-Type", "application/json"
}
},
Contents = c => c.Write(jsonBytes, 0, jsonBytes.Length)
});
}
/// <summary>Method that loads the controller and robot specified in the GUI combo-boxes</summary>
/// <author>Damian Jimenez</author>
/// <param name="controllerPath">Specifies where the server should search for the controller, can be found by opening up a default workspace in Adept ACE and connecting to a desired robot.</param>
/// <param name="robotPath">Specifies where the server should search for the robot, can be found by opening up a default workspace in Adept ACE and connecting to a desired robot.</param>
/// <returns><c>void</c></returns>
public void LoadControllerAndRobot(String controllerPath, String robotPath)
{
// Trim any leading and trailing white-space from the input
controllerPath = controllerPath.Trim();
robotPath = robotPath.Trim();
// If either paths are empty, then let the user know
if (controllerPath == "" || robotPath == "")
{
Console.WriteLine("\nERROR: A valid controller and/or robot path was not selected. Please select them from the dropdown menus and try again.\n");
}
else
{
// If this is not the first time loading a controller, disable the current controller
if (controller != null)
{
controller.HighPower = false;
controller.Enabled = false;
controller = null;
}
// Load the new controller
controller = ace.Root[controllerPath] as IAdeptController;
// If the new controller was successfully loaded do the following
if (controller != null)
{
// Enable and calibrate the controller
controller.Enabled = true;
controller.HighPower = true;
controller.Calibrate();
if (!controller.IsEVPlus)
{
controller.DryRun = true;
controller.DryRun = false;
}
// Add all available robots to the controller
AdeptControllerUtil.AddAllRobots(ace, controller, ace.Root);
// Reset the current robot to null
robot = null;
// Assign the new robot as our current robot
robot = ace.Root[robotPath] as IAdeptRobot;
// If we loaded the robot successfully then let the user know
if (robot != null)
{
Console.WriteLine($"Successfully loaded:\n\tController: {controllerPath}\n\tRobot: {robotPath}\n");
}
// Else the robot wasn't found and the user should know that there is an issue
else
{
Console.WriteLine("\nERROR: The specified robot was not found, please make sure the spelling is correct and that it exists.\n");
}
}
// Else the controller wasn't found and the user should know that there is an issue
else
{
Console.WriteLine("\nERROR: The specified controller was not found, please make sure the spelling is correct and that it exists.\n");
}
}
}
