void RobotController_Move(LumbarRobotController.PositionArgs args)
{
//if (ActionList[CurrentIndex].ActionId == (int)ActionEnum.Rotation)
if (Action == EvaluateActionEnum.RotationRangeLeft || Action == EvaluateActionEnum.RotationRangeRight
|| Action == EvaluateActionEnum.RotationStrengthRigth || Action == EvaluateActionEnum.RotationStrengthLeft)
{
if (args.Package.Code == ResponseCodes.RotationData)
{
this.Dispatcher.Invoke(new Action(() =>
{
eilelc21.loginRun(args.Package.RotationAngle);
if (LumbarRobotController.RobotController.IsReady)
{
if (LumbarRobotController.RobotController.IsDrawLine())
{
sinWpf1.DrawRunLine(args.Package.RotationAngle);
}
}
}
));
}
}
else
{
if (args.Package.Code == ResponseCodes.BendStretchData)
{
this.Dispatcher.Invoke(new Action(() =>
{
eilelc21.loginRun(args.Package.BendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle));
if (LumbarRobotController.RobotController.IsReady)
{
if (LumbarRobotController.RobotController.IsDrawLine())
{
sinWpf1.DrawRunLine(args.Package.BendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle));
}
}
}
));
}
}
}
void RobotController_Alarm(LumbarRobotController.AlarmArgs e)
{
Application.Current.Dispatcher.Invoke(new Action(() =>
{
ShowAlarmDialog();
}));
}
void RobotController_Move(LumbarRobotController.PositionArgs args)
{
if ((ActionList != null && ActionList.Count > CurrentIndex) || fitType!= LumbarRobot.FitType.None)
{
//if (ActionList[CurrentIndex].ActionId == (int)ActionEnum.Rotation)
if(LumbarRobotController.RobotController.currentControl.Action == ActionEnum.Rotation)
{
if (args.Package.Code == ResponseCodes.RotationData)
{
this.Dispatcher.Invoke(new Action(() =>
{
eilelc21.loginRun(args.Package.RotationAngle);
if (LumbarRobotController.RobotController.IsReady)
{
if (LumbarRobotController.RobotController.IsDrawLine())
{
sinWpf1.DrawRunLine(args.Package.RotationAngle);
}
}
}
));
}
}
else
{
if (args.Package.Code == ResponseCodes.BendStretchData)
{
this.Dispatcher.Invoke(new Action(() =>
{
eilelc21.loginRun(args.Package.BendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle));
if (LumbarRobotController.RobotController.IsReady)
{
if (LumbarRobotController.RobotController.IsDrawLine())
{
sinWpf1.DrawRunLine(args.Package.BendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle));
}
}
}
));
}
}
}
}
