RUS/SourceCode/RUSTasks/TaskAdmittanceControl/AdmittanceModuleLib/AdmittanceModule.cs

using RUSCommon;
using System;
using System.Runtime.InteropServices;

namespace AdmittanceModuleLib
{
    public class AdmittanceModule : IAdmittanceModule
    {

        #region dll import

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void CreateAdmittanceControl(out IntPtr hAdmittanceControl);
        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void ReleaseAdmittanceControl([In] IntPtr hAdmittanceControl);

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void SetAdmittanceControl([In] IntPtr hAdmittanceControl, EnumAdmittanceSpace admittanceSpace, EnumAdmittanceType admittanceType);

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void UpdateCurrentForce([In] IntPtr hAdmittanceControl, FTData force);

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void UpdateCurrentWayPoint([In] IntPtr hAdmittanceControl, RobotWayPointData wayPoint);

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void UpdateReferWayPoint([In] IntPtr hAdmittanceControl, RobotWayPointData wayPoint);

        [DllImport("AdmittanceControl.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern void GetTargetWayPoint([In] IntPtr hAdmittanceControl, ref RobotWayPointData wayPoint);

        #endregion

        #region private variable

        private static IntPtr _admittanceControlHandle = IntPtr.Zero;

        #endregion private variable


        #region 实现

        public void Dispose()
        {
            if (_admittanceControlHandle != IntPtr.Zero)
            {
                ReleaseAdmittanceControl(_admittanceControlHandle);
                _admittanceControlHandle = IntPtr.Zero;
            }
        }

        public void SetAdmittance(EnumAdmittanceSpace admittanceSpace, EnumAdmittanceType admittanceType)
        {
            SetAdmittanceControl(_admittanceControlHandle, admittanceSpace, admittanceType);
        }

        public void UpdateRealTimeForce(FTData ftdata)
        {
            UpdateCurrentForce(_admittanceControlHandle, ftdata);
        }

        public void UpdateRealTimeCurWayPt(RobotWayPointData currentWayPt)
        {
            UpdateCurrentWayPoint(_admittanceControlHandle, currentWayPt);
        }

        public void UpdateReferTargetWayPt(RobotWayPointData referWayPt)
        {
            UpdateReferWayPoint(_admittanceControlHandle, referWayPt);
        }

        public void GetActualTargetWayPt(ref RobotWayPointData targetWayPt)
        {
            GetTargetWayPoint(_admittanceControlHandle, ref targetWayPt);
        }

        public void StopAdmittanceControl()
        {
            Dispose();
        }

        #endregion 实现

        #region consdtuctor

        public AdmittanceModule()
        {
            if (_admittanceControlHandle == IntPtr.Zero)
            {
                CreateAdmittanceControl(out _admittanceControlHandle);
            }
        }

        #endregion consdtuctor
    }
}