private void HandleStartSending(StartSending message) { foreach (var device in _devices) { device.Forward(message); } }
private void Connect_Click(object sender, RoutedEventArgs e) { // Connet UR Secondary Port urSec = IURSecondaryConnection.Create(IPAddress.Text); var resp = urSec.Receive(); // Connet UR RTDE port rtde = IURRTDEConnection.Create(IPAddress.Text); var np = new NegotiateProtocolVersion(rtde); Logging.Text += $"NegotiateProtocolVersion Accepted: { np.Accepted }"; ControllerVersion cv = new ControllerVersion(rtde); Logging.Text += $"Controller Version: major { cv.Major }" + $" minor { cv.Minor } bugfix { cv.Bugfix } build { cv.Build }"; string vars = "timestamp,actual_TCP_pose,actual_q,runtime_state"; SetupOutput setupOut = new SetupOutput(rtde, 125, vars); Logging.Text += $"Setup Output: output recipe id { setupOut.OutputRecipeId }" + $" variable types { setupOut.VariableTypes }"; var ss = new StartSending(rtde); rd = new ReceiveData(rtde, setupOut.VariableTypes); var task = new Task(() => ReceiveRTDE()); task.Start(); }
//public static UserContext DB = new UserContext(); static void Main() { BotClient = Bot.Get(); commands = Bot.Commands; callbacks = Bot.CallBacks; freeCatchings = Bot.FreeCatchings; BotClient.OnMessage += BotClient_OnMessage; BotClient.OnMessageEdited += BotClient_OnMessage; BotClient.OnCallbackQuery += BotClient_OnCallbackQuery; StartSending.Start(); BotClient.StartReceiving(); Console.ReadKey(); }
private void Connect_Click(object sender, RoutedEventArgs e) { dashboard = IURDashboardConnection.Create(IPAddress.Text); secondary = IURSecondaryConnection.Create(IPAddress.Text); // Connet UR RTDE port rtde = IURRTDEConnection.Create(IPAddress.Text); var np = new NegotiateProtocolVersion(rtde); ControllerVersion cv = new ControllerVersion(rtde); string vars = "timestamp,actual_TCP_pose,runtime_state"; SetupOutput setupOut = new SetupOutput(rtde, 125, vars); var ss = new StartSending(rtde); rd = new ReceiveData(rtde, setupOut.VariableTypes); var taskRTDEReceiving = new Task(() => RTDEReceiving()); taskRTDEReceiving.Start(); }
private void HandleStartSending(StartSending message) { _generatorActor.Forward(message); }
private void HandleStartSending(StartSending message) { Become(Started); }