/// <summary>
/// Set bounds for specified servos.
/// </summary>
///
/// <param name="mask">Mask array specifying which servos need to be set.</param>
/// <param name="bounds">Array of servos' bounds. Each bound may be in [0, 255] range.</param>
///
/// <remarks><para>The method sets servos' physical bounds in which they may move.
/// See documentation to <see cref="Qwerk.Servos"/> for clarification.</para></remarks>
///
/// <exception cref="ArgumentException">Incorrect length of <paramref name="mask"/>,
/// or <paramref name="bounds"/> array.</exception>
/// <exception cref="NotConnectedException">No connection to Qwerk or its service.</exception>
/// <exception cref="ConnectionLostException">Connestion to Qwerk is lost.</exception>
///
public void SetBounds(bool[] mask, IntRange[] bounds)
{
if ((mask.Length != Count) || (bounds.Length != Count))
{
throw new ArgumentException("Incorrect length of mask or positions array.");
}
// check controller
if (servoController == null)
{
throw new NotConnectedException("Qwerk's service is not connected.");
}
try
{
TeRKIceLib.Bounds[] nativeBounds = new TeRKIceLib.Bounds[Count];
for (int i = 0; i < Count; i++)
{
if (mask[i])
{
nativeBounds[i].min = bounds[i].Min;
nativeBounds[i].max = bounds[i].Max;
}
}
// set servos' bounds
servoController.setBounds(mask, nativeBounds);
}
catch
{
throw new ConnectionLostException("Connection is lost.");
}
}
/// <summary>
/// Set bounds for specified servos.
/// </summary>
///
/// <param name="mask">Mask array specifying which servos need to be set.</param>
/// <param name="bounds">Array of servos' bounds. Each bound may be in [0, 255] range.</param>
///
/// <remarks><para>The method sets servos' physical bounds in which they may move.
/// See documentation to <see cref="Qwerk.Servos"/> for clarification.</para></remarks>
///
/// <exception cref="ArgumentException">Incorrect length of <paramref name="mask"/>,
/// or <paramref name="bounds"/> array.</exception>
/// <exception cref="NotConnectedException">No connection to Qwerk or its service.</exception>
/// <exception cref="ConnectionLostException">Connestion to Qwerk is lost.</exception>
///
public void SetBounds( bool[] mask, IntRange[] bounds )
{
if ( ( mask.Length != Count ) || ( bounds.Length != Count ) )
{
throw new ArgumentException( "Incorrect length of mask or positions array." );
}
// check controller
if ( servoController == null )
{
throw new NotConnectedException( "Qwerk's service is not connected." );
}
try
{
TeRKIceLib.Bounds[] nativeBounds = new TeRKIceLib.Bounds[Count];
for ( int i = 0; i < Count; i++ )
{
if ( mask[i] )
{
nativeBounds[i].min = bounds[i].Min;
nativeBounds[i].max = bounds[i].Max;
}
}
// set servos' bounds
servoController.setBounds( mask, nativeBounds );
}
catch
{
throw new ConnectionLostException( "Connection is lost." );
}
}
