internal void UpdateRobotStatus()
{
if (bot == null)
{
ResetRobotStatus();
return;
}
uiContext.Post(x =>
{
MVector pos = bot.GetCurrentPosition();
string posStr = pos?.ToString(true) ?? "-";
lbl_Status_TCP_Position_Value.Content = posStr;
MOrientation ori = bot.GetCurrentRotation();
string oriStr = ori?.ToString(true) ?? "-";
lbl_Status_TCP_Orientation_Value.Content = oriStr;
Joints axes = bot.GetCurrentAxes();
string axesStr = axes?.ToString(true) ?? "-";
lbl_Status_Axes_Value.Content = axesStr;
ExternalAxes extax = bot.GetCurrentExternalAxes();
bool nullext = true;
if (extax != null)
{
for (int i = 0; i < 6; i++)
{
if (extax[i] != null)
{
nullext = false;
break;
}
}
}
lbl_Status_Ext_Axes_Value.Content = nullext ? "-" : extax.ToString(true);
double speed = bot.GetCurrentSpeed();
double acc = bot.GetCurrentAcceleration();
string speedacc = Math.Round(speed, MMath.STRING_ROUND_DECIMALS_MM) + " mm/s / " + Math.Round(acc, MMath.STRING_ROUND_DECIMALS_MM) + " mm/s^2";
lbl_Status_SpeedAcceleration_Value.Content = speedacc;
double precision = bot.GetCurrentPrecision();
lbl_Status_Precision_Value.Content =
Math.Round(precision, MMath.STRING_ROUND_DECIMALS_MM) + " mm";
MotionType mtype = bot.GetCurrentMotionMode();
lbl_Status_MotionMode_Value.Content = mtype.ToString();
lbl_Status_Tool_Value.Content = bot.GetCurrentTool()?.name ?? "(no tool)";
}, null);
}