public TaskPlanner(ManipulatorManager armMan)
{
this.armMan = armMan;
this.leftArm = armMan.LeftArm;
this.rightArm = armMan.RightArm;
this.mapObstacles = armMan.MapObstacles;
this.mapNodes = armMan.MapNodes;
this.leftPredefPos = armMan.LeftPredefPos;
this.leftPredefMovs = armMan.LeftPredefMovs;
this.rightPredefPos = armMan.RightPredefPos;
this.rightPredefMovs = armMan.RightPredefMovs;
this.optLeftPath = armMan.OptLeftPath;
this.optRightPath = armMan.OptRightPath;
this.leftGoal = armMan.LeftGoal;
this.rightGoal = armMan.RightGoal;
this.UseRaHand = false;
this.UseLaHand = false;
}
public ManipulatorManager(string leftPortName, string rightPortName)
{
this.status = new ArmControlStatus();
if (leftPortName == "disable")
{
this.status.LeftArmEnable = false;
}
if (rightPortName == "disable")
{
this.status.RightArmEnabled = false;
}
if (string.IsNullOrEmpty(leftPortName))
{
leftPortName = "COM5";
}
if (string.IsNullOrEmpty(rightPortName))
{
rightPortName = "COM9";
}
this.leftArmSerialPort = new SerialPort(leftPortName, 57600, Parity.None, 8, StopBits.One);
this.rightArmSerialPort = new SerialPort(rightPortName, 57600, Parity.None, 8, StopBits.One);
this.status.LeftComPort = leftPortName;
this.status.RightComPort = rightPortName;
this.leftArm = new Manipulator(this.leftArmSerialPort, ArmType.LeftArm);
this.rightArm = new Manipulator(this.rightArmSerialPort, ArmType.RightArm);
this.leftArm.ArmPositionChanged += new ArmPositionChangedEH(leftArm_ArmPositionChanged);
this.rightArm.ArmPositionChanged += new ArmPositionChangedEH(rightArm_ArmPositionChanged);
this.laEndEffectorType = TypeOfEndEffector.gripper;
this.raEndEffectorType = TypeOfEndEffector.hand;
this.mapObstacles = new SortedList <string, MapObstacle>();
this.mapNodes = new SortedList <string, MapNode>();
this.leftPredefPos = new SortedList <string, PredefPosition>();
this.leftPredefMovs = new SortedList <string, PredefMovement>();
this.rightPredefPos = new SortedList <string, PredefPosition>();
this.rightPredefMovs = new SortedList <string, PredefMovement>();
this.optLeftPath = new MapOptimalPath();
this.optRightPath = new MapOptimalPath();
this.leftGoal = new MapGoalPoint();
this.rightGoal = new MapGoalPoint();
this.lowBat = new SharedVariable <bool>("bat_alert");
this.sharedVarLeftArmPos = new DoubleArraySharedVariable("leftArmPos");
this.sharedVarRightArmPos = new DoubleArraySharedVariable("rightArmPos");
this.sharedVarEndEffectorType = new StringSharedVariable("endEffectorType");
this.cmdMan = new CommandManager();
this.cnnMan = new ConnectionManager("ARMS", 2080, this.cmdMan);
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
this.cnnMan.ClientDisconnected += new System.Net.Sockets.TcpClientDisconnectedEventHandler(cnnMan_ClientDisconnected);
this.status.Running = true;
this.checkSystemThread = new Thread(new ThreadStart(this.CheckSystemThreadTask));
this.checkSystemThread.IsBackground = true;
this.checkSystemThread.Start();
}