// ╔═╗═╗ ╦╔╦╗╔═╗╦═╗╔╗╔╔═╗╦ ╔═╗═╗ ╦╦╔═╗
// ║╣ ╔╩╦╝ ║ ║╣ ╠╦╝║║║╠═╣║ ╠═╣╔╩╦╝║╚═╗
// ╚═╝╩ ╚═ ╩ ╚═╝╩╚═╝╚╝╩ ╩╩═╝────╩ ╩╩ ╚═╩╚═╝
public bool ApplyAction(ActionExternalAxis action)
{
// Cartesian targets
if (action.target == ExternalAxesTarget.All || action.target == ExternalAxesTarget.Cartesian)
{
if (this.externalAxesCartesian == null)
{
this.externalAxesCartesian = new ExternalAxes();
}
if (action.relative)
{
if (this.externalAxesCartesian[action.axisNumber - 1] == null)
{
//logger.Info($"Cannot apply \"{action}\", must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones...");
logger.Error("Cannot increase cartesian external axis, value has not been initialized. Try `ExternalAxisTo()` instead.");
return(false);
}
this.externalAxesCartesian[action.axisNumber - 1] += action.value;
}
else
{
this.externalAxesCartesian[action.axisNumber - 1] = action.value;
}
}
// Joint targets
if (action.target == ExternalAxesTarget.All || action.target == ExternalAxesTarget.Joint)
{
if (this.externalAxesJoints == null)
{
this.externalAxesJoints = new ExternalAxes();
}
if (action.relative)
{
if (this.externalAxesJoints[action.axisNumber - 1] == null)
{
//logger.Info($"Cannot apply \"{action}\", must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones...");
logger.Error("Cannot increase joint external axis, value has not been initialized. Try `ExternalAxisTo()` instead.");
return(false);
}
this.externalAxesJoints[action.axisNumber - 1] += action.value;
}
else
{
this.externalAxesJoints[action.axisNumber - 1] = action.value;
}
}
if (_logRelativeActions && action.relative)
{
logger.Verbose("External Axis " + action.axisNumber + " set to " + this.externalAxesJoints[action.axisNumber - 1]);
}
return(true);
}
// ╔═╗═╗ ╦╔╦╗╔═╗╦═╗╔╗╔╔═╗╦ ╔═╗═╗ ╦╦╔═╗
// ║╣ ╔╩╦╝ ║ ║╣ ╠╦╝║║║╠═╣║ ╠═╣╔╩╦╝║╚═╗
// ╚═╝╩ ╚═ ╩ ╚═╝╩╚═╝╚╝╩ ╩╩═╝────╩ ╩╩ ╚═╩╚═╝
public bool ApplyAction(ActionExternalAxis action)
{
if (this.externalAxes == null)
{
this.externalAxes = new ExternalAxes();
}
if (action.relative)
{
if (this.externalAxes[action.axisNumber - 1] == null)
{
Console.WriteLine($"Sorry, must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones... Action: " + action.ToInstruction());
return(false);
}
this.externalAxes[action.axisNumber - 1] += action.value;
}
else
{
this.externalAxes[action.axisNumber - 1] = action.value;
}
return(true);
}
