static private RobotStatus Reset(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.Reset();
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus HomeGripper(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.HomeGripper();
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus WaitGripper(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.WaitGripperBusy((int)args[0], WAIT_TIMEOUT);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus Grip(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.MoveGripper(Convert.ToUInt16(args[0]), Convert.ToUInt16(args[1]));
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus SetPos(RobotAgent robot_agent, object[] args)
{
Pos_T target = new Pos_T();
target.pos = (double[])args[0];
int ret = robot_agent.SetHomePos(target);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus PcsPTP(RobotAgent robot_agent, object[] args)
{
Pos_T dest = new Pos_T();
dest.pos = (double[])args[0];
int ret = robot_agent.PcsPTP(dest);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus Home(RobotAgent robot_agent, object[] args)
{
if ((int)args[0] < 0 || 5 < (int)args[0])
{
throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])");
}
int ret = robot_agent.HomeRobot((int)args[0]);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus AcsJog(RobotAgent robot_agent, object[] args)
{
if ((int)args[0] < 0 || 5 < (int)args[0])
{
throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])");
}
if ((int)args[1] != 0 && (int)args[1] != 1)
{
throw new System.NotSupportedException("Not supported direction!!: Dir(args[1])");
}
if ((int)args[2] < 0 || 2000 < (int)args[2])
{
throw new System.ArgumentOutOfRangeException("Interval out of range!!", "Interval(args[2])");
}
int ret = robot_agent.AcsJog((int)args[0], (int)args[1], (int)args[2], MAX_VEL);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus GetStatus(RobotAgent robot_agent, object args)
{
return(robot_agent.GetStatus());
}
