private void Start(object sender, RoutedEventArgs e)
{
try {
if (!optiTrack.IsInitialized())
{
optiTrack.Initialize();
}
if (!robot1.IsInitialized())
{
robot1.Initialize();
}
if ((bool)copyMovementsCheck.IsChecked && !robot2.IsInitialized())
{
robot2.Initialize();
}
startBtn.IsEnabled = false;
stopBtn.IsEnabled = true;
copyMovementsCheck.IsEnabled = false;
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Cannot start application.", ex);
}
}
private void Connect(object sender, RoutedEventArgs e)
{
try {
OptiTrack.Initialize();
} catch (InvalidOperationException ex) {
MainWindow.ShowErrorDialog("OptiTrack system initialization failed.", ex);
}
}
private void Initialize(object sender, RoutedEventArgs e)
{
try {
if (Robot.IsInitialized())
{
return;
}
Robot.Config = CreateConfigurationFromFields();
Robot.Initialize();
initializeBtn.IsEnabled = false;
loadConfigBtn.IsEnabled = false;
saveConfigBtn.IsEnabled = false;
disconnectBtn.IsEnabled = true;
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Robot initialization failed.", ex);
}
}
private void MoveTo(object sender, RoutedEventArgs e)
{
try {
double x = double.Parse(moveToX.Text);
double y = double.Parse(moveToY.Text);
double z = double.Parse(moveToZ.Text);
double a = double.Parse(moveToA.Text);
double b = double.Parse(moveToB.Text);
double c = double.Parse(moveToC.Text);
double movementTime = Math.Max(double.Parse(moveToTime.Text), 2);
moveToTime.Text = movementTime.ToString();
RobotVector targetPosition = new RobotVector(x, y, z, a, b, c);
robot.MoveTo(targetPosition, RobotVector.Zero, movementTime);
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Unable to move robot to specified target position.", ex);
}
}
private void Shift(object sender, RoutedEventArgs e)
{
try {
double x = double.Parse(shiftX.Text);
double y = double.Parse(shiftY.Text);
double z = double.Parse(shiftZ.Text);
double a = double.Parse(shiftA.Text);
double b = double.Parse(shiftB.Text);
double c = double.Parse(shiftC.Text);
double movementTime = Math.Max(double.Parse(shiftTime.Text), 0.5);
shiftTime.Text = movementTime.ToString();
RobotVector deltaPosition = new RobotVector(x, y, z, a, b, c);
robot.Shift(deltaPosition, RobotVector.Zero, movementTime);
ResetShiftFields(null, null);
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Unable to shift robot by specified delta position.", ex);
}
}
private void LoadConfig(object sender, RoutedEventArgs e)
{
var openFileDialog = new Microsoft.Win32.OpenFileDialog {
InitialDirectory = Path.Combine(Directory.GetCurrentDirectory(), App.ConfigDir),
Title = "Select configuration file",
CheckFileExists = true,
CheckPathExists = true,
DefaultExt = "json",
Filter = "JSON files |*.json",
FilterIndex = 2,
ReadOnlyChecked = true,
ShowReadOnly = true,
Multiselect = false
};
if (openFileDialog.ShowDialog() == true)
{
Stream fileStream;
StreamReader streamReader;
try {
if ((fileStream = openFileDialog.OpenFile()) != null)
{
using (fileStream)
using (streamReader = new StreamReader(fileStream)) {
string jsonString = streamReader.ReadToEnd();
RobotConfig config = new RobotConfig(jsonString);
Robot.Config = config;
UpdateConfigControls(config);
}
}
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Could not load configuration file.", ex);
}
}
}
public CalibrationWindow(Robot robot, OptiTrackSystem optiTrack)
{
InitializeComponent();
Transformation currentTransformation = null;
calibrationTool = new CalibrationTool(robot, optiTrack);
calibrationTool.Start += () => {
Dispatcher.Invoke(() => {
progressBar.Value = 0;
progressBarLabel.Content = "0%";
startBtn.IsEnabled = false;
cancelBtn.IsEnabled = true;
});
};
calibrationTool.ProgressChanged += (progress, transformation) => {
currentTransformation = transformation;
Dispatcher.Invoke(() => {
progressBar.Value = progress;
progressBarLabel.Content = $"{progress}%";
t00.Text = transformation[0, 0].ToString("F3");
t01.Text = transformation[0, 1].ToString("F3");
t02.Text = transformation[0, 2].ToString("F3");
t03.Text = transformation[0, 3].ToString("F3");
t10.Text = transformation[1, 0].ToString("F3");
t11.Text = transformation[1, 1].ToString("F3");
t12.Text = transformation[1, 2].ToString("F3");
t13.Text = transformation[1, 3].ToString("F3");
t20.Text = transformation[2, 0].ToString("F3");
t21.Text = transformation[2, 1].ToString("F3");
t22.Text = transformation[2, 2].ToString("F3");
t23.Text = transformation[2, 3].ToString("F3");
t30.Text = transformation[3, 0].ToString("F3");
t31.Text = transformation[3, 1].ToString("F3");
t32.Text = transformation[3, 2].ToString("F3");
t33.Text = transformation[3, 3].ToString("F3");
});
};
calibrationTool.Completed += () => {
Completed?.Invoke(currentTransformation);
Close();
};
startBtn.Click += (s, e) => {
try {
calibrationTool.Calibrate(10, 200);
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Unable to start calibration.", ex);
}
};
cancelBtn.Click += (s, e) => {
calibrationTool.Cancel();
};
Closing += (s, e) => {
calibrationTool.Cancel();
};
robotIpAdress.Content += robot.ToString();
}
