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);
}
public static void OnMotionCursorUpdated(object sender, EventArgs e)
{
Robot r = sender as Robot;
Machina.Vector p = r.GetCurrentPosition();
Machina.Rotation rot = r.GetCurrentRotation();
Joints j = r.GetCurrentAxes();
if (p != null && rot != null)
{
wssv.WebSocketServices.Broadcast($"{{\"msg\":\"pose\",\"data\":[{p.X},{p.Y},{p.Z},{rot.Q.W},{rot.Q.X},{rot.Q.Y},{rot.Q.Z}]}}");
}
else if (j != null)
{
wssv.WebSocketServices.Broadcast($"{{\"msg\":\"joints\",\"data\":[{j.J1},{j.J2},{j.J3},{j.J4},{j.J5},{j.J6}]}}");
}
}