private static void OnTimedEvent(Object source, ElapsedEventArgs e)
{
// Console.WriteLine("The Elapsed event was raised at {0}", e.SignalTime);
if (null == status.CommandStatus)
{
status.CommandStatus = new Schemas.CRCL.Status.CommandStatusType();
status.CommandStatus.CommandID = "1";
status.CommandStatus.StatusID = "1";
status.CommandStatus.CommandState = Schemas.CRCL.Status.CommandStateEnumType.CRCL_Working;
}
int statId = 1;
try {
statId = Convert.ToInt32(status.CommandStatus.StatusID);
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
statId++;
status.CommandStatus.StatusID = statId.ToString();
if (cmdInstance.CRCLCommand != null &&
!status.CommandStatus.CommandID.Equals(cmdInstance.CRCLCommand.CommandID))
{
status.CommandStatus.CommandID = cmdInstance.CRCLCommand.CommandID;
Console.WriteLine("CommandID = " + cmdInstance.CRCLCommand.CommandID);
if (typeof(Schemas.CRCL.CommandInstance.InitCanonType).IsAssignableFrom(cmdInstance.CRCLCommand.GetType()))
{
Schemas.CRCL.CommandInstance.InitCanonType initCmd =
(Schemas.CRCL.CommandInstance.InitCanonType)cmdInstance.CRCLCommand;
Console.WriteLine("initCmd = " + initCmd);
}
else if (typeof(Schemas.CRCL.CommandInstance.EndCanonType).IsAssignableFrom(cmdInstance.CRCLCommand.GetType()))
{
Schemas.CRCL.CommandInstance.EndCanonType endCmd =
(Schemas.CRCL.CommandInstance.EndCanonType)cmdInstance.CRCLCommand;
Console.WriteLine("endCmd = " + endCmd);
}
else if (typeof(Schemas.CRCL.CommandInstance.MoveToType).IsAssignableFrom(cmdInstance.CRCLCommand.GetType()))
{
Schemas.CRCL.CommandInstance.MoveToType moveToCmd =
(Schemas.CRCL.CommandInstance.MoveToType)cmdInstance.CRCLCommand;
Console.WriteLine("moveToCmd = " + moveToCmd);
if (null != moveToCmd.EndPosition)
{
status.PoseStatus = new Schemas.CRCL.Status.PoseStatusType();
status.PoseStatus.Pose = new Schemas.CRCL.Status.PoseType();
if (null != moveToCmd.EndPosition.Point)
{
Console.WriteLine("moveToCmd.EndPosition.Point = "
+ moveToCmd.EndPosition.Point.X + ","
+ moveToCmd.EndPosition.Point.Y + ","
+ moveToCmd.EndPosition.Point.Z
);
status.PoseStatus.Pose.Point = new Schemas.CRCL.Status.PointType();
status.PoseStatus.Pose.Point.X = moveToCmd.EndPosition.Point.X;
status.PoseStatus.Pose.Point.Y = moveToCmd.EndPosition.Point.Y;
status.PoseStatus.Pose.Point.Z = moveToCmd.EndPosition.Point.Z;
}
if (null != moveToCmd.EndPosition.XAxis)
{
Console.WriteLine("moveToCmd.EndPosition.XAxis = "
+ moveToCmd.EndPosition.XAxis.I + ","
+ moveToCmd.EndPosition.XAxis.J + ","
+ moveToCmd.EndPosition.XAxis.K
);
status.PoseStatus.Pose.XAxis = new Schemas.CRCL.Status.VectorType();
status.PoseStatus.Pose.XAxis.I = moveToCmd.EndPosition.XAxis.I;
status.PoseStatus.Pose.XAxis.J = moveToCmd.EndPosition.XAxis.J;
status.PoseStatus.Pose.XAxis.K = moveToCmd.EndPosition.XAxis.K;
}
if (null != moveToCmd.EndPosition.XAxis)
{
Console.WriteLine("moveToCmd.EndPosition.ZAxis = "
+ moveToCmd.EndPosition.ZAxis.I + ","
+ moveToCmd.EndPosition.ZAxis.J + ","
+ moveToCmd.EndPosition.ZAxis.K
);
status.PoseStatus.Pose.ZAxis = new Schemas.CRCL.Status.VectorType();
status.PoseStatus.Pose.ZAxis.I = moveToCmd.EndPosition.ZAxis.I;
status.PoseStatus.Pose.ZAxis.J = moveToCmd.EndPosition.ZAxis.J;
status.PoseStatus.Pose.ZAxis.K = moveToCmd.EndPosition.ZAxis.K;
}
}
}
else
{
Console.WriteLine("Command " + cmdInstance.CRCLCommand + " unrecognized");
}
}
}
public static void Main(string[] args)
{
AsynchronousClient ac = null;
try {
int port = Schemas.CRCL.Defaults.PORT;
String host = "127.0.0.1";
bool debug = false;
for (int i = 0; i < args.Length - 1; i++)
{
if (args [i].Equals("-p"))
{
port = Convert.ToInt32(args [i + 1]);
i++;
}
else if (args [i].Equals("-h"))
{
host = args [i + 1];
i++;
}
else if (args [i].Equals("-d"))
{
debug = true;
}
}
if (args.Length > 0 && args[args.Length - 1].Equals("-d"))
{
debug = true;
}
ac = new AsynchronousClient(host, port,
new AsynchronousClient.UpdateStatusDelegate(updateStatus),
debug);
ac.StartClient();
Console.WriteLine("Starting C# ConsoleClient connected to " + host + " on port " + port + ".");
Console.WriteLine("Use -p [port] to change port.");
Console.WriteLine("Use -h [host] to change host.");
Console.WriteLine("Use -d to set debug flag.");
String l = null;
int cid = 1;
while (!"quit".Equals(l = Console.ReadLine()))
{
if (l == null)
{
Console.WriteLine("Console.ReadLine() returned null. (Bad Terminal ??)");
break;
}
if (l.Length == 0)
{
getStatusCmdInstance.CRCLCommand = getStatusCmd;
getStatusCmd.CommandID = cid.ToString();
String statusRequestXml = Schemas.CRCL.Utils.ToXML(getStatusCmdInstance);
ac.Send(statusRequestXml);
ac.sendDoneWaitOne();
}
else if (l.StartsWith("init"))
{
Schemas.CRCL.CommandInstance.InitCanonType initCmd = new Schemas.CRCL.CommandInstance.InitCanonType();
cmdInstance.CRCLCommand = initCmd;
initCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML(cmdInstance);
ac.Send(cmdXml);
ac.sendDoneWaitOne();
}
else if (l.StartsWith("end"))
{
Schemas.CRCL.CommandInstance.EndCanonType endCmd = new Schemas.CRCL.CommandInstance.EndCanonType();
cmdInstance.CRCLCommand = endCmd;
endCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML(cmdInstance);
ac.Send(cmdXml);
ac.sendDoneWaitOne();
}
else if (l.StartsWith("move"))
{
Schemas.CRCL.CommandInstance.MoveToType moveCmd = new Schemas.CRCL.CommandInstance.MoveToType();
cmdInstance.CRCLCommand = moveCmd;
string[] fields = l.Split(" ".ToCharArray(), 10);
moveCmd.EndPosition = new Schemas.CRCL.CommandInstance.PoseType();
moveCmd.EndPosition.Point = new Schemas.CRCL.CommandInstance.PointType();
moveCmd.EndPosition.Point.X = fields.Length > 1 ? decimal.Parse(fields[1]) : 0;
moveCmd.EndPosition.Point.Y = fields.Length > 2 ? decimal.Parse(fields[2]) : 0;
moveCmd.EndPosition.Point.Z = fields.Length > 3 ? decimal.Parse(fields[3]) : 0;
moveCmd.EndPosition.XAxis = new Schemas.CRCL.CommandInstance.VectorType();
moveCmd.EndPosition.XAxis.I = fields.Length > 4 ? decimal.Parse(fields[4]) : 0;
moveCmd.EndPosition.XAxis.J = fields.Length > 5 ? decimal.Parse(fields[5]) : 0;
moveCmd.EndPosition.XAxis.K = fields.Length > 6 ? decimal.Parse(fields[6]) : 0;
moveCmd.EndPosition.ZAxis = new Schemas.CRCL.CommandInstance.VectorType();
moveCmd.EndPosition.ZAxis.I = fields.Length > 7 ? decimal.Parse(fields[7]) : 0;
moveCmd.EndPosition.ZAxis.J = fields.Length > 8 ? decimal.Parse(fields[8]) : 0;
moveCmd.EndPosition.ZAxis.K = fields.Length > 9 ? decimal.Parse(fields[9]) : 0;
moveCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML(cmdInstance);
ac.Send(cmdXml);
ac.sendDoneWaitOne();
}
else
{
Console.WriteLine("Command not recognized: " + l);
Console.WriteLine("Commands include:");
Console.WriteLine("init");
Console.WriteLine("end");
Console.WriteLine("quit");
Console.WriteLine("move [x] [y] [z] [x.i] [x.j] [x.z] [z.i] [z.j] [z.k]");
Console.WriteLine("");
Console.WriteLine("Press enter on empty line to see status.");
}
if (debug)
{
Console.WriteLine("cid = " + cid);
}
cid++;
}
} catch (Exception e) {
Console.WriteLine(e.ToString());
} finally {
if (null != ac)
{
ac.Close();
ac = null;
}
}
}
public static void Main (string[] args)
{
AsynchronousClient ac = null;
try {
int port = Schemas.CRCL.Defaults.PORT;
String host = "127.0.0.1";
bool debug = false;
for (int i = 0; i < args.Length - 1; i++) {
if (args [i].Equals ("-p")) {
port = Convert.ToInt32 (args [i + 1]);
i++;
} else if (args [i].Equals ("-h")) {
host = args [i + 1];
i++;
} else if (args [i].Equals ("-d")) {
debug = true;
}
}
if(args.Length > 0 && args[args.Length-1].Equals("-d")) {
debug = true;
}
ac = new AsynchronousClient (host, port,
new AsynchronousClient.UpdateStatusDelegate (updateStatus),
debug);
ac.StartClient ();
Console.WriteLine ("Starting C# ConsoleClient connected to " + host + " on port " + port + ".");
Console.WriteLine ("Use -p [port] to change port.");
Console.WriteLine ("Use -h [host] to change host.");
Console.WriteLine ("Use -d to set debug flag.");
String l = null;
int cid = 1;
while (!"quit".Equals(l = Console.ReadLine ())) {
if(l == null) {
Console.WriteLine("Console.ReadLine() returned null. (Bad Terminal ??)");
break;
}
if (l.Length == 0) {
getStatusCmdInstance.CRCLCommand = getStatusCmd;
getStatusCmd.CommandID = cid.ToString ();
String statusRequestXml = Schemas.CRCL.Utils.ToXML (getStatusCmdInstance);
ac.Send (statusRequestXml);
ac.sendDoneWaitOne ();
} else if(l.StartsWith("init")) {
Schemas.CRCL.CommandInstance.InitCanonType initCmd = new Schemas.CRCL.CommandInstance.InitCanonType();
cmdInstance.CRCLCommand = initCmd;
initCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML (cmdInstance);
ac.Send (cmdXml);
ac.sendDoneWaitOne();
} else if(l.StartsWith("end")) {
Schemas.CRCL.CommandInstance.EndCanonType endCmd = new Schemas.CRCL.CommandInstance.EndCanonType();
cmdInstance.CRCLCommand = endCmd;
endCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML (cmdInstance);
ac.Send (cmdXml);
ac.sendDoneWaitOne();
} else if(l.StartsWith("move")) {
Schemas.CRCL.CommandInstance.MoveToType moveCmd = new Schemas.CRCL.CommandInstance.MoveToType();
cmdInstance.CRCLCommand = moveCmd;
string[] fields = l.Split(" ".ToCharArray(),10);
moveCmd.EndPosition = new Schemas.CRCL.CommandInstance.PoseType();
moveCmd.EndPosition.Point = new Schemas.CRCL.CommandInstance.PointType();
moveCmd.EndPosition.Point.X = fields.Length > 1 ? decimal.Parse(fields[1]) : 0;
moveCmd.EndPosition.Point.Y = fields.Length > 2 ? decimal.Parse(fields[2]) : 0;
moveCmd.EndPosition.Point.Z = fields.Length > 3 ? decimal.Parse(fields[3]) : 0;
moveCmd.EndPosition.XAxis = new Schemas.CRCL.CommandInstance.VectorType();
moveCmd.EndPosition.XAxis.I = fields.Length > 4 ? decimal.Parse(fields[4]) : 0;
moveCmd.EndPosition.XAxis.J = fields.Length > 5 ? decimal.Parse(fields[5]) : 0;
moveCmd.EndPosition.XAxis.K = fields.Length > 6 ? decimal.Parse(fields[6]) : 0;
moveCmd.EndPosition.ZAxis = new Schemas.CRCL.CommandInstance.VectorType();
moveCmd.EndPosition.ZAxis.I = fields.Length > 7 ? decimal.Parse(fields[7]) : 0;
moveCmd.EndPosition.ZAxis.J = fields.Length > 8 ? decimal.Parse(fields[8]) : 0;
moveCmd.EndPosition.ZAxis.K = fields.Length > 9 ? decimal.Parse(fields[9]) : 0;
moveCmd.CommandID = cid.ToString();
String cmdXml = Schemas.CRCL.Utils.ToXML (cmdInstance);
ac.Send (cmdXml);
ac.sendDoneWaitOne();
} else {
Console.WriteLine("Command not recognized: "+l);
Console.WriteLine("Commands include:");
Console.WriteLine("init");
Console.WriteLine("end");
Console.WriteLine("quit");
Console.WriteLine("move [x] [y] [z] [x.i] [x.j] [x.z] [z.i] [z.j] [z.k]");
Console.WriteLine("");
Console.WriteLine("Press enter on empty line to see status.");
}
if(debug) {
Console.WriteLine("cid = "+cid);
}
cid++;
}
} catch (Exception e) {
Console.WriteLine (e.ToString ());
} finally {
if (null != ac) {
ac.Close ();
ac = null;
}
}
}
