/// <summary>
/// Creates an <c>EndEffector</c> instance
/// </summary>
/// <param name="moveGroup">Instance of move group where the endeffector belongs to</param>
/// <param name="endEffectorName">Name of the end effector</param>
/// <param name="endEffectorLinkName">Name of the end effector link</param>
public EndEffector(IMoveGroup moveGroup, string endEffectorName, string endEffectorLinkName)
{
this.moveGroup = moveGroup;
this.name = endEffectorName;
this.linkName = endEffectorLinkName;
this.motionService = moveGroup.MotionService;
}
private static void RosClient_OnRosMasterConnected(object sender, EventArgs e)
{
lock (gate)
{
motionService = new MotionService(rosClient.GlobalNodeHandle);
}
}
/// <summary>
/// Creates a <c>MoveGroup</c> for manually specified joint set. Since the mapping between ROS move-groups
/// and the specified joint set is not know nor analysed it is not possible to execute end-effector
/// related functions (e.g. inverse kinematics).
/// </summary>
/// <param name="motionService">An object implementing <c>IMotionService</c> which is used to communicate with the motion server.</param>
/// <param name="jointSet">A joint set</param>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="motionService"/> is null.</exception>
public MoveGroup(IMotionService motionService, JointSet jointSet)
{
this.motionService = motionService ?? throw new ArgumentNullException(nameof(motionService));
this.jointSet = jointSet;
this.defaultPlanParameters = motionService.CreatePlanParameters(null, this.jointSet, null, null, 0.05, false, 1);
this.velocityScaling = 1;
this.name = this.defaultPlanParameters.MoveGroupName;
}
private static void RosClient_OnRosMasterDisconnected(object sender, EventArgs e)
{
lock (gate)
{
motionService?.Dispose();
motionService = null;
}
}
private void Shutdown()
{
lock (gate)
{
this.motionService?.Dispose();
this.motionService = null;
this.wsgStatusClient?.Dispose();
this.wsgStatusClient = null;
this.wsgSetAccelerationClient?.Dispose();
this.wsgSetAccelerationClient = null;
}
}
/// <summary>
/// Create a instance of <c>MoveGroup</c>
/// </summary>
/// <param name="motionService">An object implementing <c>IMotionService</c> which is used to communicate with the motion server.</param>
/// <param name="moveGroupName">The name of the move group represented by this instance</param>
/// <param name="defaultEndEffectorName">Name of the default end effector</param>
/// <exception cref="Exception">Thrown when current name does not exist. </exception>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="motionService"/> is null.</exception>
public MoveGroup(IMotionService motionService, string moveGroupName = null, string defaultEndEffectorName = null)
{
this.motionService = motionService ?? throw new ArgumentNullException(nameof(motionService));
var groups = motionService.QueryAvailableMoveGroups();
var groupDetails = groups.ToDictionary(x => x.Name, x => x);
this.name = moveGroupName ?? groups.First().Name;
if (!groupDetails.TryGetValue(this.name, out this.details))
{
throw new Exception($"Move group with name '{this.name}' not found.");
}
this.jointSet = this.details.JointSet;
this.defaultPlanParameters = motionService.CreatePlanParameters(this.name, this.jointSet, null, null, 0.05, false, 1);
this.velocityScaling = 1;
this.SetDefaultEndEffector(defaultEndEffectorName, groups);
}
private void Initialize()
{
lock (gate)
{
Shutdown();
try
{
var nodeHandle = rosClient.GlobalNodeHandle;
this.motionService = new MotionService(nodeHandle);
this.wsgStatusClient = nodeHandle.ServiceClient <wsg_50.GetGripperStatus>(properties.StatusService, true);
this.wsgSetAccelerationClient = nodeHandle.ServiceClient <wsg_50.SetValue>(properties.SetAccelerationService, true);
}
catch
{
Shutdown();
throw;
}
}
}
public MotionsController(IMotionService motionService)
: base(motionService)
{
}
public MotionController(IMotionService motionService)
{
_motionService = motionService;
}
public MotionApiController(IMotionService moveService)
{
_moveService = moveService;
}
public MotionController(IMotionService service)
{
_service = service;
}
