C# 클래스 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.
상속: IWrapper
파일 보기 프로젝트 열기: syre/SortingIndustrialRobot 1 사용 예제들

공개 메소드들

메소드 설명
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.

비공개 메소드들

메소드 설명
Wrapper ( ) : System
axisSettingsToByte ( enumAxisSettings axisSettingsArg ) : byte
manualMovementToByte ( enumManualModeWhat enumArg ) : byte

메소드 상세

closeGripperWrapped() 공개 메소드

public closeGripperWrapped ( ) : bool
리턴 bool

closeManualWrapped() 공개 메소드

public closeManualWrapped ( ) : bool
리턴 bool

closeWatchDigitalInputWrapped() 공개 메소드

public closeWatchDigitalInputWrapped ( ) : bool
리턴 bool

controlWrapped() 공개 메소드

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

defineVectorWrapped() 공개 메소드

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

enterManualWrapped() 공개 메소드

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

getCurrentPosition() 공개 메소드

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
리턴 VecPoint

getInstance() 공개 정적인 메소드

Gets the wrapper.
public static getInstance ( ) : Wrapper
리턴 Wrapper

getJawWrapped() 공개 메소드

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

homeWrapped() 공개 메소드

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

initializationWrapped() 공개 메소드

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.
리턴 bool

isOnlineOkWrapped() 공개 메소드

public isOnlineOkWrapped ( ) : bool
리턴 bool

moveLinearWrapped() 공개 메소드

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
리턴 bool

moveManualWrapped() 공개 메소드

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

openGripperWrapped() 공개 메소드

public openGripperWrapped ( ) : bool
리턴 bool

speedWrapped() 공개 메소드

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

stopWrapped() 공개 메소드

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

teachWrapped() 공개 메소드

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

timeWrapped() 공개 메소드

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

watchDigitalInputWrapped() 공개 메소드

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

watchMotionWrapped() 공개 메소드

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.
리턴 void