/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
robot = new RobotData(this);
robotSim = new RobotSim(this);
this.Components.Add(robot);
this.Components.Add(robotSim);
// Setup viewing matrix for Simulation window
cameraPosition = new Vector3(2000.0f, 800.0f, 2000.0f);
workSpace = new Vector3(500.0f, 500.0f, 300.0f);
aspectRatio = graphics.GraphicsDevice.Viewport.AspectRatio;
viewMatrix = Matrix.CreateLookAt(cameraPosition, workSpace, Vector3.Up);
projectionMatrix = Matrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(45.0f), aspectRatio, 1.0f, 50000.0f);
settings = new XMLwriter();
base.Initialize();
}
public void updateRobot(RobotData robot)
{
using (MemoryStream stream = new MemoryStream())
{
using (XmlWriter updatePos = XmlWriter.Create(stream))
{
updatePos.WriteStartDocument();
updatePos.WriteStartElement("Sen");
updatePos.WriteAttributeString("Type", "ImFree");
updatePos.WriteStartElement("RKorr");
updatePos.WriteAttributeString("X", robot.KukaPosition.X.ToString());
updatePos.WriteAttributeString("Y", robot.KukaPosition.Y.ToString());
updatePos.WriteAttributeString("Z", robot.KukaPosition.Z.ToString());
updatePos.WriteAttributeString("A", robot.KukaPosition.A.ToString());
updatePos.WriteAttributeString("B", robot.KukaPosition.B.ToString());
updatePos.WriteAttributeString("C", robot.KukaPosition.C.ToString());
updatePos.WriteEndElement();
updatePos.WriteEndElement();
updatePos.WriteEndDocument();
}
bCommand = new byte[stream.ToArray().Length];
bCommand = stream.ToArray();
}
}
public Server(int port, RobotData kukaRobot, RobotData simRobot)
{
this.tcpPort = port;
this.kukaRobot = kukaRobot;
this.simRobot = simRobot;
}