C# Class ControlSystem.Wrapper

Contains a wrapper for the C++ functions in the dll file(USBC.dll). Good idea to check USBC-documentation.pdf. Notes: Uses IntPtr arg for different types of C++ pointers. Same function names as C++ but has "Wrapped" at the end. Try to have handlers in delegates which in entire use of wrapper, so the memory for the handler doesn´t get removed by GC. \todo Add behind factory class.

Inheritance: IWrapper

Afficher le fichier Open project: syre/SortingIndustrialRobot Class Usage Examples

Méthodes publiques

Méthode	Description
closeGripperWrapped ( ) : bool
closeManualWrapped ( ) : bool
closeWatchDigitalInputWrapped ( ) : bool
controlWrapped ( enumAxisSettings _axisSettingsGroup, bool _bControlOnOrOff ) : bool
defineVectorWrapped ( enumAxisSettings _enumGroup, string _sVectorName, short _shrtLength ) : bool
enterManualWrapped ( enumManualType _enummanMoveType ) : bool
getCurrentPosition ( ) : VecPoint	Returns the position of the robot. \warning Ignoring wrapper int return value. \warning Not sure about buffer type to use in impl.
getInstance ( ) : Wrapper	Gets the wrapper.
getJawWrapped ( short &_shrtPerc, short &_shrtWidth ) : bool
homeWrapped ( enumAxisSettings _axisSettingsGroup, DLL _funcptrHomingEventHandler ) : bool
initializationWrapped ( enumSystemModes _sysmodeMode, enumSystemTypes _systypeType, DLL _funcptrSuccess, DLL _funcptrError ) : bool	Initializes the robot. Note: Should wait for it to be done before calling other functions. \todo Refactor delegate to contain ConfigData and ErrorInfo if found necessary.
isOnlineOkWrapped ( ) : bool
moveLinearWrapped ( string _sNameOfVector, int _iIndex ) : bool	Moves the robot in a linear motion. \warning Not using pos 2 in wrapped dll function. \warning Seems to be unfunctional.
moveManualWrapped ( enumManualModeWhat _enumWhatToMove, int _lSpeed ) : bool
openGripperWrapped ( ) : bool
speedWrapped ( enumAxisSettings _bGroup, long _mSpeed ) : bool
stopWrapped ( enumAxisSettings _bWhatToStop ) : bool
teachWrapped ( SIRVector vecTheSirVector ) : bool
timeWrapped ( enumAxisSettings _bGroup, long _mTime ) : bool
watchDigitalInputWrapped ( DLL _funcptrCallbackEvent ) : bool
watchMotionWrapped ( DLL _funcptrCallbackEnd, DLL _funcptrCallbackStart ) : void	Adds functions to be called when motion starts and motion ends. Note: Ignoring return value.

Private Methods

Méthode	Description
Wrapper ( ) : System
axisSettingsToByte ( enumAxisSettings axisSettingsArg ) : byte
manualMovementToByte ( enumManualModeWhat enumArg ) : byte

Method Details

closeGripperWrapped() public méthode

public closeGripperWrapped ( ) : bool
Résultat	bool

closeManualWrapped() public méthode

public closeManualWrapped ( ) : bool
Résultat	bool

closeWatchDigitalInputWrapped() public méthode

public closeWatchDigitalInputWrapped ( ) : bool
Résultat	bool

controlWrapped() public méthode

public controlWrapped ( enumAxisSettings _axisSettingsGroup, bool _bControlOnOrOff ) : bool
_axisSettingsGroup	enumAxisSettings
_bControlOnOrOff	bool
Résultat	bool

defineVectorWrapped() public méthode

public defineVectorWrapped ( enumAxisSettings _enumGroup, string _sVectorName, short _shrtLength ) : bool
_enumGroup	enumAxisSettings
_sVectorName	string
_shrtLength	short
Résultat	bool

enterManualWrapped() public méthode

public enterManualWrapped ( enumManualType _enummanMoveType ) : bool
_enummanMoveType	enumManualType
Résultat	bool

getCurrentPosition() public méthode

Returns the position of the robot. \warning Ignoring wrapper int return value. \warning Not sure about buffer type to use in impl.

public getCurrentPosition ( ) : VecPoint
Résultat	VecPoint

getInstance() public static méthode

Gets the wrapper.

public static getInstance ( ) : Wrapper
Résultat	Wrapper

getJawWrapped() public méthode

public getJawWrapped ( short &_shrtPerc, short &_shrtWidth ) : bool
_shrtPerc	short
_shrtWidth	short
Résultat	bool

homeWrapped() public méthode

public homeWrapped ( enumAxisSettings _axisSettingsGroup, DLL _funcptrHomingEventHandler ) : bool
_axisSettingsGroup	enumAxisSettings
_funcptrHomingEventHandler	DLL
Résultat	bool

initializationWrapped() public méthode

Initializes the robot. Note: Should wait for it to be done before calling other functions. \todo Refactor delegate to contain ConfigData and ErrorInfo if found necessary.

public initializationWrapped ( enumSystemModes _sysmodeMode, enumSystemTypes _systypeType, DLL _funcptrSuccess, DLL _funcptrError ) : bool
_sysmodeMode	enumSystemModes	Mode.[Normally use online mode]
_systypeType	enumSystemTypes	Type of connection.[Normally use default]
_funcptrSuccess	DLL	Function to be called on success.
_funcptrError	DLL	Function to be called on error.
Résultat	bool

isOnlineOkWrapped() public méthode

public isOnlineOkWrapped ( ) : bool
Résultat	bool

moveLinearWrapped() public méthode

Moves the robot in a linear motion. \warning Not using pos 2 in wrapped dll function. \warning Seems to be unfunctional.

public moveLinearWrapped ( string _sNameOfVector, int _iIndex ) : bool
_sNameOfVector	string	Name of the vector in the Robot.
_iIndex	int	Index for point
Résultat	bool

moveManualWrapped() public méthode

public moveManualWrapped ( enumManualModeWhat _enumWhatToMove, int _lSpeed ) : bool
_enumWhatToMove	enumManualModeWhat
_lSpeed	int
Résultat	bool

openGripperWrapped() public méthode

public openGripperWrapped ( ) : bool
Résultat	bool

speedWrapped() public méthode

public speedWrapped ( enumAxisSettings _bGroup, long _mSpeed ) : bool
_bGroup	enumAxisSettings
_mSpeed	long
Résultat	bool

stopWrapped() public méthode

public stopWrapped ( enumAxisSettings _bWhatToStop ) : bool
_bWhatToStop	enumAxisSettings
Résultat	bool

teachWrapped() public méthode

public teachWrapped ( SIRVector vecTheSirVector ) : bool
vecTheSirVector	SIRVector
Résultat	bool

timeWrapped() public méthode

public timeWrapped ( enumAxisSettings _bGroup, long _mTime ) : bool
_bGroup	enumAxisSettings
_mTime	long
Résultat	bool

watchDigitalInputWrapped() public méthode

public watchDigitalInputWrapped ( DLL _funcptrCallbackEvent ) : bool
_funcptrCallbackEvent	DLL
Résultat	bool

watchMotionWrapped() public méthode

Adds functions to be called when motion starts and motion ends. Note: Ignoring return value.

public watchMotionWrapped ( DLL _funcptrCallbackEnd, DLL _funcptrCallbackStart ) : void
_funcptrCallbackEnd	DLL	Function to be called when motion has ended.
_funcptrCallbackStart	DLL	Function to be called when motion has started.
Résultat	void