public EventResult WaitForEvent(int timeout = 1000)
{
try
{
_roboDkEventConnection.ReceiveTimeout = timeout;
var eventType = (EventType)_roboDkEventConnection.rec_int();
var item = _roboDkEventConnection.rec_item(_roboDkApiConnection);
// We are in context of an asynchronous background thread
// Do not try to read any items properties or call any other RoboDK method.
// e.g.: itemName = item.Name(); -> Call may conflict with other RoboDK Calls running in the main thread!!!
//Debug.WriteLine($"{_roboDkApiConnection.Name}: RoboDK event({(int)eventType}): {eventType.ToString()}. Port:{_roboDkEventConnection.RoboDKClientPort}, {_roboDkApiConnection.RoboDKClientPort}");
switch (eventType)
{
case EventType.NoEvent:
case EventType.SelectionTreeChanged:
case EventType.ItemMoved:
// this should never happen
case EventType.ReferencePicked:
case EventType.ReferenceReleased:
case EventType.ToolModified:
case EventType.IsoCubeCreated:
case EventType.Moved3DView:
case EventType.RobotMoved:
return new EventResult(eventType, item);
case EventType.ItemMovedPose:
var nvalues = _roboDkEventConnection.rec_int(); // this is 16 for RoboDK v4.2.0
var relativePose = _roboDkEventConnection.rec_pose();
if (nvalues > 16)
{
// future compatibility
}
return new ItemMovedEventResult(item, relativePose);
case EventType.Selection3DChanged:
var data = _roboDkEventConnection.rec_array();
var poseAbs = new Mat(data, true);
var xyzijk = data.Skip(16).Take(6).ToArray(); // { data[16], data[17], data[18], data[19], data[20], data[21] };
var clickedOffset = new Mat(xyzijk);
var featureType = (ObjectSelectionType)Convert.ToInt32(data[22]);
var featureId = Convert.ToInt32(data[23]);
Debug.WriteLine("Additional event data - Absolute position (PoseAbs):");
Debug.WriteLine($"{poseAbs}");
Debug.WriteLine($"Selected Point: {xyzijk[0]}, {xyzijk[1]}, {xyzijk[2]}"); // point selected in relative coordinates
Debug.WriteLine($"Normal Vector : {xyzijk[3]}, {xyzijk[4]}, {xyzijk[5]}");
Debug.WriteLine($"Feature Type:{featureType} and ID:{featureId}");
return new SelectionChangedEventResult(item, featureType, featureId, clickedOffset);
case EventType.KeyPressed:
var keyStateParam = _roboDkEventConnection.rec_int(); // 1 = key pressed, 0 = key released
var keyId = _roboDkEventConnection.rec_int(); // Key id as per Qt mappings: https://doc.qt.io/qt-5/qt.html#Key-enum
var modifiers = _roboDkEventConnection.rec_int(); // Modifier bits as per Qt mappings: https://doc.qt.io/qt-5/qt.html#KeyboardModifier-enum
var keyState = keyStateParam > 0 ? KeyPressedEventResult.KeyPressState.Pressed : KeyPressedEventResult.KeyPressState.Released;
Debug.WriteLine($"Key_id({keyId}) {keyState.ToString()} Modifiers: 0x{modifiers:X8}");
return new KeyPressedEventResult(item, keyId, keyState, modifiers);
case EventType.CollisionMapChanged:
//Debug.WriteLine($"RoboDK Event: {eventType}");
return new EventResult(EventType.CollisionMapChanged, null);
default:
Debug.WriteLine($"unknown RoboDK Event: {eventType}");
// In debug target we fail -> Exception.
// In Release we send a NoEvent event
Debug.Fail($"unknown RoboDK Event: {eventType}");
return new EventResult(EventType.NoEvent, null);
}
}
catch (SocketException socketException)
{
return new EventResult(EventType.NoEvent, null);
}
catch (ObjectDisposedException e)
{
return new EventResult(EventType.NoEvent, null);
}
}
