/// <summary>
/// Sends data (IPOC, correction) to the robot, raises <see cref="KUKARobot.FrameSent">FrameSent</see> event
/// </summary>
private void SendData()
{
RobotVector correction;
lock (forceMoveSyncLock) {
correction = generator.GetNextCorrection(position);
}
correction = new RobotVector(correction.X, correction.Y, correction.Z, 0, 0, 0);
// CAŁY IF DO ZAKOMENTOWANIA DLA POZYCJI ABSOLUTNEJ
if (!Limits.CheckCorrection(correction))
{
Uninitialize();
throw new InvalidOperationException("Correction limit has been exceeded:" +
$"{Environment.NewLine}{correction}");
}
OutputFrame outputFrame = new OutputFrame()
{
Correction = correction,
IPOC = IPOC
};
rsiAdapter.SendData(outputFrame);
FrameSent?.Invoke(outputFrame);
}
/// <summary>
/// Receives data (IPOC, cartesian and axis position) from the robot asynchronously,
/// raises <see cref="KUKARobot.FrameRecived">FrameReceived</see> event
/// </summary>
private async Task ReceiveDataAsync()
{
InputFrame receivedFrame = await rsiAdapter.ReceiveDataAsync();
RobotVector correction = receivedFrame.Position - position;
if (!Limits.CheckCorrection(correction))
{
Uninitialize();
throw new InvalidOperationException("Correction limit has been exceeded:" +
$"{Environment.NewLine}{correction}");
}
if (!Limits.CheckAxisPosition(receivedFrame.AxisPosition))
{
Uninitialize();
throw new InvalidOperationException("Axis position limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.AxisPosition}");
}
if (!Limits.CheckPosition(receivedFrame.Position))
{
Uninitialize();
throw new InvalidOperationException("Available workspace limit has been exceeded:" +
$"{Environment.NewLine}{receivedFrame.Position}");
}
lock (receivedDataSyncLock) {
IPOC = receivedFrame.IPOC;
position = receivedFrame.Position;
axisPosition = receivedFrame.AxisPosition;
}
FrameReceived?.Invoke(receivedFrame);
}
private void SendData(long IPOC)
{
RobotVector correction;
RobotVector currentVelocity;
RobotVector currentAcceleration;
RobotVector targetPosition;
RobotVector targetVelocity;
double targetDuration;
lock (generatorSyncLock) {
// GetNextCorrection() updates theoretical values
correction = generator.GetNextCorrection();
currentVelocity = generator.Velocity;
currentAcceleration = generator.Acceleration;
targetPosition = generator.TargetPosition;
targetVelocity = generator.TargetVelocity;
targetDuration = generator.TargetDuration;
}
if (!Limits.CheckCorrection(correction))
{
throw new InvalidOperationException("Correction limit has been exceeded:" +
$"{Environment.NewLine}{correction}");
}
if (!Limits.CheckVelocity(currentVelocity))
{
throw new InvalidOperationException("Velocity limit has been exceeded:" +
$"{Environment.NewLine}{currentVelocity}");
}
if (!Limits.CheckAcceleration(currentAcceleration))
{
throw new InvalidOperationException("Acceleration limit has been exceeded:" +
$"{Environment.NewLine}{currentAcceleration}");
}
OutputFrame outputFrame = new OutputFrame()
{
Correction = correction,
IPOC = IPOC
};
rsiAdapter.SendData(outputFrame);
FrameSent?.Invoke(this, new FrameSentEventArgs {
FrameSent = outputFrame,
Position = position,
TargetPosition = targetPosition,
TargetVelocity = targetVelocity,
TargetDuration = targetDuration
});
}
private void SendData(long IPOC)
{
correction = generator.GetNextCorrection();
if (!Limits.CheckCorrection(correction))
{
Uninitialize();
throw new InvalidOperationException("Correction limit has been exceeded:" +
$"{Environment.NewLine}{correction}");
}
OutputFrame outputFrame = new OutputFrame()
{
Correction = correction,
IPOC = IPOC
};
FrameSent?.Invoke(this, new FrameSentEventArgs {
FrameSent = outputFrame,
Position = position
});
}
