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

显示文件 Open project: syre/SortingIndustrialRobot Class Usage Examples

Public Methods

Method	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

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

Method Details

closeGripperWrapped() public method

public closeGripperWrapped ( ) : bool
return	bool

closeManualWrapped() public method

public closeManualWrapped ( ) : bool
return	bool

closeWatchDigitalInputWrapped() public method

public closeWatchDigitalInputWrapped ( ) : bool
return	bool

controlWrapped() public method

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

defineVectorWrapped() public method

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

enterManualWrapped() public method

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

getCurrentPosition() public method

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
return	VecPoint

getInstance() public static method

Gets the wrapper.

public static getInstance ( ) : Wrapper
return	Wrapper

getJawWrapped() public method

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

homeWrapped() public method

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

initializationWrapped() public method

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.
return	bool

isOnlineOkWrapped() public method

public isOnlineOkWrapped ( ) : bool
return	bool

moveLinearWrapped() public method

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
return	bool

moveManualWrapped() public method

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

openGripperWrapped() public method

public openGripperWrapped ( ) : bool
return	bool

speedWrapped() public method

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

stopWrapped() public method

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

teachWrapped() public method

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

timeWrapped() public method

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

watchDigitalInputWrapped() public method

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

watchMotionWrapped() public method

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.
return	void