/// <summary>
/// Initializes a new instance of the <see cref="Qwerk.Motors"/> class.
/// </summary>
///
/// <param name="qwerk">Reference to <see cref="Qwerk"/> object, which is connected to Qwerk board.</param>
///
/// <exception cref="NotConnectedException">The passed reference to <see cref="Qwerk"/> object is not connected to
/// Qwerk board.</exception>
/// <exception cref="ConnectionFailedException">Failed connecting to the requested service.</exception>
/// <exception cref="ServiceAccessFailedException">Failed accessing to the requested service.</exception>
///
public Motors( Qwerk qwerk )
{
string hostAddress = qwerk.HostAddress;
// check if connection was established
if ( hostAddress != null )
{
try
{
Ice.ObjectPrx obj = qwerk.iceCommunicator.stringToProxy( "'::TeRK::MotorController':tcp -h " + hostAddress + " -p 10101" );
obj = obj.ice_timeout( Qwerk.TimeOut );
motorController = TeRKIceLib.MotorControllerPrxHelper.checkedCast( obj );
}
catch ( Ice.ObjectNotExistException )
{
// the object does not exist on the host
throw new ServiceAccessFailedException( "Failed accessing to the requested service." );
}
catch
{
throw new ConnectionFailedException( "Failed connecting to the requested service." );
}
if ( motorController == null )
{
throw new ServiceAccessFailedException( "Failed accessing to the requested cervice." );
}
}
else
{
throw new NotConnectedException( "Qwerk object is not connected to a board." );
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Qwerk.Servos"/> class.
/// </summary>
///
/// <param name="qwerk">Reference to <see cref="Qwerk"/> object, which is connected to Qwerk board.</param>
///
/// <exception cref="NotConnectedException">The passed reference to <see cref="Qwerk"/> object is not connected to
/// Qwerk board.</exception>
/// <exception cref="ConnectionFailedException">Failed connecting to the requested service.</exception>
/// <exception cref="ServiceAccessFailedException">Failed accessing to the requested service.</exception>
///
public Servos(Qwerk qwerk)
{
string hostAddress = qwerk.HostAddress;
// check if connection was established
if (hostAddress != null)
{
try
{
Ice.ObjectPrx obj = qwerk.iceCommunicator.stringToProxy("'::TeRK::ServoController':tcp -h " + hostAddress + " -p 10101");
obj = obj.ice_timeout(Qwerk.TimeOut);
servoController = TeRKIceLib.ServoControllerPrxHelper.checkedCast(obj);
}
catch (Ice.ObjectNotExistException)
{
// the object does not exist on the host
throw new ServiceAccessFailedException("Failed accessing to the requested service.");
}
catch
{
throw new ConnectionFailedException("Failed connecting to the requested service.");
}
if (servoController == null)
{
throw new ServiceAccessFailedException("Failed accessing to the requested cervice.");
}
}
else
{
throw new NotConnectedException("Qwerk object is not connected to a board.");
}
}