Merge pull request #111 from ziteh/develop

Fix #108
nfu-irs-lab · Aug 11, 2022 · 34b0437 · 34b0437
2 parents 547aab0 + b5eb514
commit 34b0437
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Showing 5 changed files with 53 additions and 4 deletions.
diff --git a/RASDK.Arm.TestForms/Form1.Designer.cs b/RASDK.Arm.TestForms/Form1.Designer.cs
diff --git a/RASDK.Arm.TestForms/Form1.cs b/RASDK.Arm.TestForms/Form1.cs
@@ -85,6 +85,29 @@ private void buttonHoming_Click(object sender, EventArgs e)
             _message.Show("Homing done!");
         }
 
+        private void buttonTest_Click(object sender, EventArgs e)
+        {
+            double[] position;
+            switch (comboBoxArmType.SelectedItem.ToString())
+            {
+                case "HIWIN":
+                    position = Hiwin.Default.DescartesHomePosition;
+                    break;
+
+                case "TM Robot":
+                    position = TMRobot.Default.DescartesHomePosition;
+                    break;
+
+                default:
+                    throw new Exception("未知的手臂類型。");
+            }
+            position[0] += 50;
+            position[1] += 50;
+            position[2] -= 100;
+
+            _arm.MoveAbsolute(position, new AdditionalMotionParameters { NeedWait = true });
+        }
+
         private void buttonMove1_Click(object sender, EventArgs e)
         {
             _arm.MoveRelative(-100,

diff --git a/RASDK.Arm/AdditionalMotionParameters.cs b/RASDK.Arm/AdditionalMotionParameters.cs
@@ -31,5 +31,14 @@ public class AdditionalMotionParameters
         /// 手臂平滑模式數值。
         /// </summary>
         public int SmoothValue = 50;
+
+        public override string ToString()
+        {
+            return $"NeedWait: {NeedWait}," +
+                   $"CoordinatyType: {CoordinateType}," +
+                   $"MotionType: {MotionType}," +
+                   $"SmoothType: {SmoothType}, " +
+                   $"SmoothValue: {SmoothValue}.";
+        }
     }
 }
diff --git a/RASDK.Arm/Hiwin/RoboticArm.cs b/RASDK.Arm/Hiwin/RoboticArm.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Linq;
 using System.Text;
 using System.Text.RegularExpressions;
@@ -390,6 +391,7 @@ private void WaitForMotionComplete()
             _message.LogMethodStart(nameof(WaitForMotionComplete), "void", "void");
 
             uint i = 0;
+            var stopWatch = Stopwatch.StartNew();
             do
             {
                 _receivedCallBack = false; // Clear received flag.
@@ -412,9 +414,11 @@ private void WaitForMotionComplete()
                     }
                 }
             }
-            while (_moving && !_receivedCallBack);
+            while (_moving || !_receivedCallBack);
+            stopWatch.Stop();
+            var elapsed = stopWatch.ElapsedMilliseconds;
 
-            _message.LogMethodEnd(nameof(WaitForMotionComplete));
+            _message.LogMethodEnd(nameof(WaitForMotionComplete), $"Elapsed milliseconds: {elapsed}.", LoggingLevel.Trace);
         }
 
         #endregion Motion

diff --git a/RASDK.Basic/LogHandler.cs b/RASDK.Basic/LogHandler.cs
@@ -208,7 +208,7 @@ public override void Write(string message, LoggingLevel loggingLevel)
         {
             if (loggingLevel >= _loggingLevel)
             {
-                string text = DateTime.Now.ToString("HH:mm:ss") +
+                string text = DateTime.Now.ToString("HH:mm:ss.ffff") +
                               $"[{loggingLevel}]" +
                               $"{message.Replace("\r", "").Replace("\n", ";").Trim()}";
 
@@ -246,7 +246,7 @@ private void CreateFile()
 
             var sw = MakeStreamWriter();
             sw.WriteLine($"{dateTimeNow:yyyy-MM-dd_HH:mm:ss}  " +
-                         $"LogLv: {_loggingLevel}\r\n---");
+                         $"Log Level: {_loggingLevel}\r\n---");
             sw.Close();
         }