private void readCurrentPos()
{
ClientTunnel tempClient = getNextClient();
CurrentPos = new E6Pos(tempClient.readVariable("$POS_ACT"));
tempClient.IsActive = false;
CurrentPos.updateCurrentE6Pos(ref _globalCoordinates);
}
public OpenArms(string serverIP, int serverSocket, ref SharedMemorySpace globalCoordinates)
{
tunnelSystem = new ClientTunnel[10];
//initializeClients(serverIP, serverSocket);
_globalCoordinates = globalCoordinates;
_serverIp = serverIP;
_serverSocket = serverSocket;
CurrentAxis = new E6Axis();
CurrentPos = new E6Pos();
}
public static void Test1()
{
var symbols = new E6Pos().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "DECL E6POS XP1={X -132.307266,Y -427.616180,Z 1162.82056,A 95.0179,B -1.98647153,C 1.45468986,S 6,T 50,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}" }
});
Debug.Assert(symbols != null);
symbols = new FDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] \" \",TQ_STATE FALSE}" }
});
Debug.Assert(symbols != null);
symbols = new PDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 100.000,APO_MODE #CDIS,GEAR_JERK 50.0000,EXAX_IGN 0}" }
});
Debug.Assert(symbols != null);
symbols = new LDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "DECL LDAT LCPDAT14={VEL 2.00000,ACC 100.000,APO_DIST 100.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 50.0000,EXAX_IGN 0}" }
});
Debug.Assert(symbols != null);
symbols = new SetFDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "FDAT_ACT=FP38" }
});
Debug.Assert(symbols != null);
symbols = new SetPDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "PDAT_ACT=PPDAT36" }
});
Debug.Assert(symbols != null);
symbols = new SetLDAT().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "LDAT_ACT=LCPDAT14" }
});
Debug.Assert(symbols != null);
symbols = new SetPTPParams().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "BAS(#PTP_PARAMS,30)" }
});
Debug.Assert(symbols != null);
symbols = new SetCPParams().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "BAS(#CP_PARAMS,0.2)" }
});
Debug.Assert(symbols != null);
symbols = new PTP().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "PTP XP40 C_DIS" }
});
Debug.Assert(symbols != null);
symbols = new LIN().Parse(new Dictionary <string, object>()
{
{ "file", "" },
{ "line", 0 },
{ "column", 0 },
{ "text", "LIN XP40 C_DIS" }
});
Debug.Assert(symbols != null);
}