//必須開啟看門狗，才能執行動作
//interval: Communication interval of mutual monitoring (100 to 1000msec)
//alarmLevel:
// 0=No alarm
// 1=1-200 Host Port Time Out
// Message only (The robot does not stop)
// 2=2-137 Host Port Time Out
// Stops when the operation that is currently performed reaches the target point.
// 8=8-352 Host Port Time Out
// Stops immediately.
public bool startWatchDog(int interval, int alarmLevel)
{
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return(false);
}
//已經開啟，直接回傳
if ((ConnectStatus & CONNECTTYPE.WATCHDOG) > 0)
{
return(true);
}
try
{
//P.94
_Robot.WatchDogStart(interval, 0, alarmLevel, new TsRemoteS.TSStatusEvent(TSStatusEvent));
//Return value: None
ConnectStatus |= CONNECTTYPE.WATCHDOG;
return(true);
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("startWatchDog: " + ex.Message);
}
return(false);
}