IEnumerator <ITask> OnConnectArticulatedArmHandler(OnConnectArticulatedArm onConnect)
{
arm.ArticulatedArmState armState = null;
if (onConnect.DriveControl != _driveControl)
{
yield break;
}
_articulatedArmPort = ServiceForwarder <arm.ArticulatedArmOperations>(onConnect.Service);
yield return(Arbiter.Choice(
_articulatedArmPort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state) { armState = state; },
delegate(Fault f) { LogError(f); }
));
if (armState == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(delegate()
{
_driveControl.ReplaceArticulatedArmJointList(armState);
});
yield break;
}
public void ReplaceArticulatedArmJointList(arm.ArticulatedArmState state)
{
btnConnect_ArticulatedArm.Enabled = false;
btnJointParamsApply.Enabled = true;
listArticulatedArmJoints.BeginUpdate();
try
{
listArticulatedArmJoints.Tag = state;
listArticulatedArmJoints.Items.Clear();
if (state.Joints.Count > 0)
{
UriBuilder node = new UriBuilder(state.Joints[0].State.Name);
node.Path = null;
lblActiveJointValue.Text = state.Joints[0].State.Name;
foreach (Joint j in state.Joints)
{
listArticulatedArmJoints.Items.Add(j.State.Name);
}
}
else
{
lblActiveJointValue.Text = string.Empty;
}
}
finally
{
listArticulatedArmJoints.EndUpdate();
}
}
private void listArticulatedArmJointList_DoubleClick(object sender, EventArgs e)
{
arm.ArticulatedArmState state = listArticulatedArmJoints.Tag as arm.ArticulatedArmState;
if (state != null &&
listArticulatedArmJoints.SelectedIndex >= 0 &&
listArticulatedArmJoints.SelectedIndex < state.Joints.Count)
{
lblActiveJointValue.Text = (string)listArticulatedArmJoints.SelectedItem;
}
}
IEnumerator <ITask> AddArticulatedArm()
{
Vector3 position = new Vector3(0, 0, 0);
// Create an instance of our custom arm entity.
// Source code for this entity can be found under
// Samples\Simulation\Entities\Entities.cs
KukaLBR3Entity entity = new KukaLBR3Entity(position);
// Name the entity
entity.State.Name = "LBR3Arm";
// Insert entity in simulation.
SimulationEngine.GlobalInstancePort.Insert(entity);
// create simulated arm service
DsspResponsePort <CreateResponse> resultPort = CreateService(
Microsoft.Robotics.Services.Simulation.LBR3Arm.Proxy.Contract.Identifier,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner("http://localhost/" + entity.State.Name));
// asynchronously handle service creation result.
yield return(Arbiter.Choice(resultPort,
delegate(CreateResponse rsp)
{
_armServicePort = ServiceForwarder <arm.ArticulatedArmOperations>(rsp.Service);
},
delegate(Fault fault)
{
LogError(fault);
}));
if (_armServicePort == null)
{
yield break;
}
// we re-issue the get until we get a response with a fully initialized state
do
{
yield return(Arbiter.Receive(false, TimeoutPort(1000), delegate(DateTime signal) { }));
yield return(Arbiter.Choice(
_armServicePort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state)
{
_cachedArmState = state;
},
delegate(Fault f)
{
LogError(f);
}));
// exit on error
if (_cachedArmState == null)
{
yield break;
}
} while (_cachedArmState.Joints == null);
// Start a timer that will move the arm in a loop
// Comment out the line below if you want to control
// the arm through SimpleDashboard
// Spawn<DateTime>(DateTime.Now, MoveArm);
}
