protected override void SolveInstance(IGH_DataAccess DA)
{
string type = "";
if (!DA.GetData(0, ref type))
{
return;
}
Machina.MotionType t = Machina.MotionType.Linear;
type = type.ToLower();
if (type.Equals("linear"))
{
t = Machina.MotionType.Linear;
}
else if (type.Equals("joint"))
{
t = Machina.MotionType.Joint;
}
//if (t == null)
//{
// base.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Invalid motion type: please input \"linear\" or \"joint\" as String.");
// return;
//}
DA.SetData(0, new ActionMotion(t));
}
internal void UpdateRobotStatus()
{
if (bot == null)
{
ResetRobotStatus();
return;
}
uiContext.Post(x =>
{
Machina.Vector pos = bot.GetCurrentPosition();
string posStr = pos?.ToString(true) ?? "-";
lbl_Status_TCP_Position_Value.Content = posStr;
Machina.Orientation ori = bot.GetCurrentRotation();
string oriStr = ori?.ToString(true) ?? "-";
lbl_Status_TCP_Orientation_Value.Content = oriStr;
Machina.Joints axes = bot.GetCurrentAxes();
string axesStr = axes?.ToString(true) ?? "-";
lbl_Status_Axes_Value.Content = axesStr;
Machina.ExternalAxes extax = bot.GetCurrentExternalAxes();
bool nullext = true;
if (extax != null)
{
for (int i = 0; i < 6; i++)
{
if (extax[i] != null)
{
nullext = false;
break;
}
}
}
lbl_Status_Ext_Axes_Value.Content = nullext ? "-" : extax.ToString(true);
double speed = bot.GetCurrentSpeed();
double acc = bot.GetCurrentAcceleration();
string speedacc = Math.Round(speed, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm/s / " + Math.Round(acc, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm/s^2";
lbl_Status_SpeedAcceleration_Value.Content = speedacc;
double precision = bot.GetCurrentPrecision();
lbl_Status_Precision_Value.Content =
Math.Round(precision, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm";
Machina.MotionType mtype = bot.GetCurrentMotionMode();
lbl_Status_MotionMode_Value.Content = mtype.ToString();
lbl_Status_Tool_Value.Content = bot.GetCurrentTool()?.name ?? "(no tool)";
}, null);
}