private int GetMotionCount()
{
int motionCount = -1;
var getMotionCountRequest = new GetMotionCountRequest(RobotPacket.PacketID.CountMotions);
RobotReply reply = Connection.SendAndReceivePacket(getMotionCountRequest.BuildRequest());
if (reply == null)
{
Debug.Fail("Reply from robot is null");
return(0);
}
reply.RequestID = RobotPacket.PacketID.CountMotions;
RobotReplyData robotReplyData = reply.Process();
//if (robotReplyData.Type == RobotReplyData.ReplyType.Success)
//{
// return (int)GlobalFunction.LE4ToDec(robotReplyData.Data);
//}
switch (robotReplyData.Type)
{
case RobotReplyData.ReplyType.Success:
if (robotReplyData.Data.Length != 4)
{
Debug.Fail("ListAllMotionRequest: data reply is not sufficient");
return(-1);
}
return((int)GlobalFunction.LE4ToDec(robotReplyData.Data));
//case RobotReplyData.ReplyType.Failed:
// OnProcessError(ErrorCode.ReplyFailed, "Reply error");
// return -2;
case RobotReplyData.ReplyType.WrongID:
OnProcessError(ErrorCode.WrongSessionID, "Wrong session ID");
return(-2);
}
return(motionCount);
}
