public void readAndInterpretFile2(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile2");
Console.WriteLine("path: " + path);
int nbLignesPalette = 4;
int nbColonnesPalette = 4;
parseFile(path);
double xdecx = point1.X - point2.X;
double ydecx = point1.Y - point2.Y;
double xdecy = point1.X - point3.X;
double ydecy = point1.Y - point3.Y;
Console.WriteLine("xdecx: " + xdecx);
Console.WriteLine("ydecx: " + ydecx);
Console.WriteLine("xdecy: " + xdecy);
Console.WriteLine("ydecy: " + ydecy);
try
{
//for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
//for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
Console.WriteLine("ligne: " + ligne + ",colonne: " + colonne);
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
//new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
Console.WriteLine("robot: " + robot);
Console.WriteLine("listPos: " + listPos);
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
else if (str == "p0")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Console.WriteLine("str: " + str);
Double.TryParse(str, out d);
//cpos.X = d + ligne*xdecy + colonne*xdecy;
Console.WriteLine("ligne: " + ligne);
Console.WriteLine("colonne: " + colonne);
cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne*ydecx + colonne*ydecy;
cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p1")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.X = d + ligne * xdecx + colonne * xdecy;
cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne * ydecx + colonne * ydecy;
cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p2")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
else if (str == "p3")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
}
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}
public static void KeyboardThreadLoop()
{
ConsoleKeyInfo keyinfo;
do
{
keyinfo = Console.ReadKey();
Console.WriteLine(keyinfo.Key + " was pressed");
if ((keyinfo.KeyChar == 'a') || (keyinfo.KeyChar == 'A')) // demander un nouveau coeff translation
{
Console.WriteLine("donne le nouveau coeff de translation stp (entre 0 et 1.0, il vaut actuellement " + coeffTrans + "):");
string s = Console.ReadLine();
try {
double newCoeff = Double.Parse(s);
coeffTrans = newCoeff;
Console.WriteLine("le nouveau coeff de translation vaut: " + coeffTrans);
}
catch (FormatException e) {
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'z') || (keyinfo.KeyChar == 'Z')) // demander un nouveau coeff rotation
{ // demander une nouvelle vitesse
Console.WriteLine("donne le nouveau coeff de rotation stp (entre 0 et 1.0, il vaut actuellement " + coeffRot + "):");
string s = Console.ReadLine();
try
{
double newCoeff = Double.Parse(s);
coeffRot = newCoeff;
Console.WriteLine("le nouveau coeff de rotation vaut: " + coeffRot);
}
catch (FormatException e)
{
Console.WriteLine("FormatException occured while trying to parse your data");
}
}
else if ((keyinfo.KeyChar == 'e') || (keyinfo.KeyChar == 'E')) // enregistrer la position current du robot
{ // demander une nouvelle vitesse
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
Console.WriteLine("current position:");
Console.WriteLine("x: " + currentPos.X);
Console.WriteLine("y: " + currentPos.Y);
Console.WriteLine("z: " + currentPos.Z);
Console.WriteLine("a: " + currentPos.A);
Console.WriteLine("b: " + currentPos.B);
Console.WriteLine("c: " + currentPos.C);
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'd') || (keyinfo.KeyChar == 'D')) // enregistrer la position current du robot en tant que p0, p1, p2, et p3
{ // demander une nouvelle vitesse
string point = "p";
if (pointAEnregistrer == 0)
{
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 1)
{
point = "p1";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 2)
{
point = "p0";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 3)
{
point = "p2";
pointAEnregistrer += 1;
}
else if (pointAEnregistrer == 4)
{
point = "p3";
pointAEnregistrer += 1;
}
Console.WriteLine("enregistre la position current du robot");
NLX.Robot.Kuka.Controller.CartesianPosition currentPos = theRobot.GetCurrentPosition();
if (modeCapture == true)
{
//a finir , convertir double en string mais attention ! virgule ou point?!
sh.addInstruction(point);
sh.addInstruction(currentPos.X.ToString());
sh.addInstruction(currentPos.Y.ToString());
sh.addInstruction(currentPos.Z.ToString());
sh.addInstruction(currentPos.A.ToString());
sh.addInstruction(currentPos.B.ToString());
sh.addInstruction(currentPos.C.ToString());
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'r') || (keyinfo.KeyChar == 'R')) // incr coeff trans
{ // demander une nouvelle vitesse
coeffTrans += 0.1;
if (coeffTrans > 1.0)
{
coeffTrans = 1.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 't') || (keyinfo.KeyChar == 'T')) // desincr coeff trans
{ // demander une nouvelle vitesse
coeffTrans -= 0.1;
if (coeffTrans < 0.0)
{
coeffTrans = 0.0;
}
Console.WriteLine("coeffTrans: " + coeffTrans);
}
else if ((keyinfo.KeyChar == 'y') || (keyinfo.KeyChar == 'Y')) // incr coeff rot
{ // demander une nouvelle vitesse
coeffRot += 0.1;
if (coeffRot > 1.0)
{
coeffRot = 1.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'u') || (keyinfo.KeyChar == 'U')) // desincr coeff rot
{ // demander une nouvelle vitesse
coeffRot -= 0.1;
if (coeffRot < 0.0)
{
coeffRot = 0.0;
}
Console.WriteLine("coeffRot: " + coeffRot);
}
else if ((keyinfo.KeyChar == 'i') || (keyinfo.KeyChar == 'I')) // open grip
{ // demander une nouvelle vitesse
theRobot.OpenGripper();
Console.WriteLine("open grip");
if (modeCapture == true)
{
sh.addInstruction("open");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'o') || (keyinfo.KeyChar == 'O')) // close grip
{ // demander une nouvelle vitesse
theRobot.CloseGripper();
Console.WriteLine("close grip");
if (modeCapture == true)
{
sh.addInstruction("close");
sh.addInstruction("");
}
}
else if ((keyinfo.KeyChar == 'p') || (keyinfo.KeyChar == 'P')) // changer mode
{
modeDefaut = !modeDefaut;
Console.WriteLine(modeDefaut);
}
else if ((keyinfo.KeyChar == 'q') || (keyinfo.KeyChar == 'Q')) // lancer scenario
{
if (modeDefaut == true)
{
Console.WriteLine("in Q default");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioDefaut, theRobot);
}
else
{
Console.WriteLine("in Q genered");
ScenarioHandler sh = new ScenarioHandler();
sh.readAndInterpretFile2(scenarioGenere, theRobot);
}
}
else if ((keyinfo.KeyChar == 's') || (keyinfo.KeyChar == 'S')) // changer Capture / terminer capture
{
if (modeCapture == false)
{
modeCapture = true;
sh.openFile(scenarioGenere);
Console.WriteLine("Lancement capture");
Thread myThreadCapture;
myThreadCapture = new Thread(new ThreadStart(lancerModeCapture));
myThreadCapture.Start();
}
else
{
//terminer capture
Console.WriteLine("testArretcapture");
modeCapture = false;
sh.closeFile(scenarioGenere);
Console.WriteLine("Arretcapture");
}
}
}while (Thread.CurrentThread.IsAlive);
}
public void readAndInterpretFile(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
try
{
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
new List <NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}