private async Task Connect()
{
cts = new CancellationTokenSource();
IsCancellationRequested = false;
InputFrame receivedFrame = null;
isInitialized = true;
// Connect with the robot
try {
Task.Run(async() => {
receivedFrame = await rsiAdapter.Connect(Config.Port);
}).Wait(cts.Token);
} catch (OperationCanceledException) {
rsiAdapter.Disconnect();
return;
}
lock (generatorSyncLock) {
generator.Initialize(receivedFrame.Position);
}
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
HomePosition = receivedFrame.Position;
}
// Send first response
OutputFrame response = new OutputFrame()
{
Correction = RobotVector.Zero,
IPOC = receivedFrame.IPOC
};
rsiAdapter.SendData(response);
Initialized?.Invoke(this, EventArgs.Empty);
// Start loop for receiving and sending data
while (!IsCancellationRequested)
{
long IPOC = await ReceiveDataAsync();
SendData(IPOC);
}
}
/// <param name="port">Port defined in RSI_EthernetConfig.xml</param>
/// <param name="limits">robot limits</param>
public KUKARobot(int port, RobotLimits limits)
{
rsiAdapter = new RSIAdapter(port);
Limits = limits;
worker = new BackgroundWorker()
{
WorkerSupportsCancellation = true
};
worker.DoWork += async(sender, args) => {
// Connect with the robot
InputFrame receivedFrame = await rsiAdapter.Connect();
generator = new TrajectoryGenerator5(receivedFrame.Position);
lock (receivedDataSyncLock) {
IPOC = receivedFrame.IPOC;
position = receivedFrame.Position;
HomePosition = receivedFrame.Position;
}
// Send first response (prevent connection timeout)
rsiAdapter.SendData(new OutputFrame()
{
Correction = new RobotVector(),
IPOC = IPOC
});
isInitialized = true;
Initialized?.Invoke();
// Start loop for receiving and sending data
while (!worker.CancellationPending)
{
await ReceiveDataAsync();
SendData();
}
isInitialized = false;
rsiAdapter.Disconnect();
};
}
