// ╔═╗═╗ ╦╔╦╗╔═╗╦═╗╔╗╔╔═╗╦ ╔═╗═╗ ╦╦╔═╗
// ║╣ ╔╩╦╝ ║ ║╣ ╠╦╝║║║╠═╣║ ╠═╣╔╩╦╝║╚═╗
// ╚═╝╩ ╚═ ╩ ╚═╝╩╚═╝╚╝╩ ╩╩═╝────╩ ╩╩ ╚═╩╚═╝
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;
}
}
return(true);
}
/// <summary>
/// Apply Attach Tool Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionAttachTool action)
{
// Sanity: this is a fix for pre-0.8.x compatibility where Attach came with the Tool object, not the name.
// Older versions of Machina would yield error searching for `null` key on `availableTools`
if (action.toolName == null)
{
logger.Error($"Obsolete version of AttachTool; please update Machina to latest update.");
return(false);
}
// Sanity
if (!availableTools.ContainsKey(action.toolName))
{
logger.Warning($"No tool named \"{action.toolName}\" defined in this robot; please use \"DefineTool\" first.");
return(false);
}
// This would not work in case the user had defined a new tool with different values but same name (not great practice, but technically possible anyway...)
//if (action.toolName == this.tool.name)
//{
// logger.Verbose($"Attaching the same tool? No changes...");
// return true;
//}
// The cursor has now a tool attached to it
Tool prevTool = this.tool;
this.tool = availableTools[action.toolName];
// Shim for lack of IK
// If coming from axes motion, no need to transform the TCP
if (this.position == null || this.rotation == null)
{
logger.Warning($"Attaching tool without TCP values, inconsistent results may follow...?");
}
// Otherwise transform the TCP
else
{
if (prevTool != null)
{
logger.Debug($"Detaching tool {prevTool.name} before attaching {this.tool.name}.");
UndoToolTransformOnCursor(this, prevTool, logger, _logRelativeActions);
}
ApplyToolTransformToCursor(this, this.tool, logger, _logRelativeActions);
}
return(true);
}
/// <summary>
/// Resets control parameters using the appropriate ControlManager.
/// </summary>
/// <returns></returns>
private bool ResetControl()
{
_controlManager = ControlFactory.GetControlManager(this);
bool success = _controlManager.Initialize();
if (ControlMode == ControlType.Offline)
{
InitializeRobotCursors(null, Rotation.FlippedAroundY, null); // @TODO: this should depend on the Robot brand, model, cursor and so many other things... Added this quick fix to allow programs to start with MoveTo() instructions.
}
if (!success)
{
logger.Error("Couldn't SetControlMode()");
throw new Exception("Couldn't SetControlMode()");
}
return(success);
}