public async Task <bool> WaitProb(long id)
{
var armActor = ActorFactory.GetArm(id);
var result = await armActor.WaitingProbResultAsync();
return(result);
}
public async Task <IHttpActionResult> AddPoseCommand(long id, int x, int y, int z, long t)
{
var armActor = ActorFactory.GetArm(id);
await armActor.AddPoseTaskAsync(x, y, z, t);
return(Ok());
}
public async Task <IHttpActionResult> NewTask(long id, string taskName)
{
var armActor = ActorFactory.GetArm(id);
await armActor.AddNextTaskAsync(taskName);
return(Ok());
}
public async Task <IHttpActionResult> ConvertTouchPointToPose(long id, double x, double y)
{
var armActor = ActorFactory.GetArm(id);
var result = await armActor.ConvertTouchPointToPoseAsync(x, y);
return(Ok <PosePosition>(result));
}
public async Task <IHttpActionResult> ConvertPoseToCoordinate(long id, int x, int y, int z)
{
var armActor = ActorFactory.GetArm(id);
var result = await armActor.ConvertPositionToCoordinatAsync(x, y, z);
return(Ok <double[]>(new[] { result.Item1, result.Item2, result.Item3 }));
}
public async Task <IHttpActionResult> ConvertCoordinateToPose(long id, double x, double y, double z)
{
var armActor = ActorFactory.GetArm(id);
var result = await armActor.ConvertCoordinatToPositionAsync(x, y, z);
return(Ok <PosePosition>(result));
}
public async Task <string> Prob(long id, int retry = 0)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.ProbAsync(retry));
//return "Calibrate commands";
}
public async Task <string> StartCalibrate(long id)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.StartCalibrateAsync());
//return "Calibrate commands";
}
public async Task <bool> ReportTouch(long id, string timeStamp, double x, double y)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.ReportTouchAsync(timeStamp, x, y));
//return "ReportTouch";
}
public async Task <bool> ReportPose(long id, string timeStamp, int x, int y, int z)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.ReportPoseAsync(timeStamp, x, y, z));
//return "ReportPose";
}
public async Task <long> Register()
{
var id = ActorId.CreateRandom();
var actor = ActorFactory.GetArm(id);
await actor.RegisterAgent(id.GetLongId().ToString());
return(id.GetLongId());
}
public async Task <IHttpActionResult> AddPoseCommand(long id, double x, double y, double z, long t)
{
var armActor = ActorFactory.GetArm(id);
var pose = await armActor.ConvertCoordinatToPositionAsync(x, y, z);
await armActor.AddPoseTaskAsync(pose.X, pose.Y, pose.Z, t);
return(Ok());
}
public async Task <string> GetNextTask(long id, int retry = 0)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.GetNextTaskAsync());
}
public async void Done(long id, string data)
{
var armActor = ActorFactory.GetArm(id);
await armActor.DoneAsync(data);
}
public async Task <string> CanResume(long id)
{
var armActor = ActorFactory.GetArm(id);
return(await armActor.CanResumeAsync());
}