/// <summary>
/// 根据工具名称获取工具参数
/// </summary>
/// <param name="strServerUrl">机械臂接口服务器地址</param>
/// <param name="strToolName">工具名称</param>
/// <param name="robotTool">工具参数</param>
/// <returns>true成功 false失败</returns>
public bool GetTool(string strServerUrl, string strToolName, out MetaData.ToolInEndDesc robotTool)
{
bool bfound = false;
MetaData.Rpy rpy = new MetaData.Rpy();
robotTool = new MetaData.ToolInEndDesc();
string strURL = strServerUrl + "api/gettools";
string data = HttpGet(strURL);
if (data != string.Empty)
{
try {
JArray toolArray = Newtonsoft.Json.Linq.JArray.Parse(data) as JArray;
foreach (JArray item in toolArray)
{
JObject toolJobject = Newtonsoft.Json.JsonConvert.DeserializeObject(item[0].ToString()) as JObject;
if (toolJobject["tool_name"].ToString() == strToolName)
{
robotTool.cartPos.x = double.Parse(toolJobject["x"].ToString());
robotTool.cartPos.y = double.Parse(toolJobject["y"].ToString());
robotTool.cartPos.z = double.Parse(toolJobject["z"].ToString());
rpy.rx = double.Parse(toolJobject["rx"].ToString());
rpy.ry = double.Parse(toolJobject["ry"].ToString());
rpy.rz = double.Parse(toolJobject["rz"].ToString());
//欧拉角转四元数
rs_rpy_to_quaternion(rshd, ref rpy, ref robotTool.orientation);
Console.WriteLine("tool.name=" + strToolName);
Console.WriteLine("tool.pos.x=" + robotTool.cartPos.x.ToString());
Console.WriteLine("tool.pos.y=" + robotTool.cartPos.y.ToString());
Console.WriteLine("tool.pos.z=" + robotTool.cartPos.z.ToString());
Console.WriteLine("tool.ori.w=" + robotTool.orientation.w.ToString());
Console.WriteLine("tool.ori.x=" + robotTool.orientation.x.ToString());
Console.WriteLine("tool.ori.y=" + robotTool.orientation.y.ToString());
Console.WriteLine("tool.ori.z=" + robotTool.orientation.z.ToString());
bfound = true;
break;
}
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
}
else
{
Console.WriteLine("get tool error!");
}
return(bfound);
}
public static extern int rs_get_tool_kinematics_param(UInt16 rshd, ref MetaData.ToolInEndDesc tool);
public static extern int rs_set_tool_end_param(UInt16 rshd, ref MetaData.ToolInEndDesc tool);
public static extern int rs_base_to_base_additional_tool(UInt16 rshd, ref MetaData.Pos flange_center_pos_onbase, ref MetaData.Ori flange_center_ori_onbase, ref MetaData.ToolInEndDesc tool_pos, ref MetaData.Pos tool_end_pos_onbase, ref MetaData.Ori tool_end_ori_onbase);
public static extern int rs_user_to_base(UInt16 rshd, ref MetaData.Pos pos_onuser, ref MetaData.Ori ori_onuser, ref MetaData.CoordCalibrate user_coord, ref MetaData.ToolInEndDesc tool_pos, ref MetaData.Pos pos_onbase, ref MetaData.Ori ori_onbase);
public static extern int rs_move_joint_to(UInt16 rshd, ref MetaData.Pos target, ref MetaData.ToolInEndDesc tool, bool isblock);