static void Main (string[] args)
{
bool dll = args.Length > 0 && String.Compare(args[0], "dll") == 0;
if (dll) {
_error = "#ERROR [JACO]: ";
_info = "#INFO [JACO]: ";
_warning = "#WARNING [JACO]: ";
}
try {
_jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
Console.WriteLine(_info + "Successfully connected to Jaco.");
} catch (CAccessDeniedException) {
Console.WriteLine(_error + "Access to Jaco denied. Please check password and USB connection.");
return;
} catch (Exception) {
Console.WriteLine(_error + "Could not connect to Jaco.");
return;
}
_cmd = new CJoystickValue();
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
_jaco.ControlManager.StartControlAPI();
_api = true;
_data = new float[37];
for (int i=0; i<37; i++) _data[i] = 0f;
if (dll) {
Console.WriteLine(_info + "Active protection zones: " + _zones.NbZoneActive);
return;
}
TerminalCommand(args);
Deinit();
}
//Constructor
public ExampleProgram()
{
try
{
//Initialize JACO Object with an encrypted valid password
jaco = new CJacoArm(Crypto.GetInstance().Encrypt(m_APIpass));
}
catch(CAccessDeniedException ex)
{
throw ex;
}
catch(Exception ex)
{
throw ex;
}
}
static void Main(string[] args)
{
bool dll = args.Length > 0 && String.Compare(args[0], "dll") == 0;
if (dll)
{
_error = "#ERROR [JACO]: ";
_info = "#INFO [JACO]: ";
_warning = "#WARNING [JACO]: ";
}
try {
_jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
Console.WriteLine(_info + "Successfully connected to Jaco.");
} catch (CAccessDeniedException) {
Console.WriteLine(_error + "Access to Jaco denied. Please check password and USB connection.");
return;
} catch (Exception) {
Console.WriteLine(_error + "Could not connect to Jaco.");
return;
}
_cmd = new CJoystickValue();
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
_jaco.ControlManager.StartControlAPI();
_api = true;
_data = new float[37];
for (int i = 0; i < 37; i++)
{
_data[i] = 0f;
}
if (dll)
{
Console.WriteLine(_info + "Active protection zones: " + _zones.NbZoneActive);
return;
}
TerminalCommand(args);
Deinit();
}
public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0, 0, 0, 0, 200);
}
public CJacoArm init()
{
const string MyValidPassword = "******";
pointTraj = new CTrajectoryInfo();
try
{
Jaco = new CJacoArm(Crypto.GetInstance().Encrypt(MyValidPassword));
Jaco.ControlManager.StartControlAPI();
}
catch (Exception ex)
{
Logger.addLog("Error initializing Jaco!\n" + ex.Message, true);
return(Jaco);
}
if (Jaco.JacoIsReady())
{
CClientConfigurations config = new CClientConfigurations();
config.ClientName = "Arup";
config.MaxAngularSpeed = 0.2f;
config.Organization = "SV";
Jaco.ConfigurationsManager.SetClientConfigurations(config);
Jaco.ControlManager.EraseTrajectories();
Logger.addLog("Jaco initialized and ready");
return(Jaco);
}
else
{
Logger.addLog("Jaco initialized but not ready", true);
return(Jaco);
}
}
public void Delay(CTrajectoryInfo point, CJacoArm jArm)
{
float J1, J2, J3 /*, J4, J5, J6, F1, F2, F3*/;
int k = 0;
int jacoTimeout = 0; //max delay timeout for jaco to track arm
CAngularInfo info;
float thresh = 6;
do
{
try
{
info = jArm.ControlManager.GetPositioningAngularInfo();
}
catch (Exception)
{
Logger.addLog("Error in obtaining Jaco current angles", true);
return;
}
J1 = Math.Abs(info.Joint1 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_1]);
J2 = Math.Abs(info.Joint2 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_2]);
J3 = Math.Abs(info.Joint3 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_3]);
// J4 = Math.Abs(info.Joint4 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_4]);
// J5 = Math.Abs(info.Joint5 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_5]);
// J6 = Math.Abs(info.Joint6 - point.UserPosition.AnglesJoints.Angle[CVectorAngle.JOINT_6]);
// F1 = Math.Abs(info.Finger1 - point.UserPosition.FingerPosition[0]);
// F2 = Math.Abs(info.Finger2 - point.UserPosition.FingerPosition[1]);
// F3 = Math.Abs(info.Finger3 - point.UserPosition.FingerPosition[2]);
k++;
}while (k < jacoTimeout && !((J1 < thresh) && (J2 < thresh) && (J3 < thresh) /* && (J4 < 2.00)) && (J5 < 2.00)) && (J6 < 2.00)*/));
if (k >= jacoTimeout)
{
Logger.addLog("Timeout of " + jacoTimeout.ToString() + " loops exceeded");
}
}
public JacoArm(string key)
{
m_IsEnabled = false;
m_State = new JacoArmState();
m_Cmd = new CJoystickValue();
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt(key);
m_Arm = new CJacoArm(pass);
Console.WriteLine("Wrapper initialized.");
if (m_Arm.JacoIsReady())
{
m_Arm.ControlManager.StartControlAPI();
// Init sequence, place the arm in READY position.
InitSequence();
Console.WriteLine("The arm is ready.");
m_IsEnabled = true;
}
else
{
Console.WriteLine("The arm is not ready!");
m_IsEnabled = false;
}
} catch (Exception e)
{
System.Console.WriteLine(
"JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
m_IsEnabled = false;
}
// 200 ms delay.
m_WatchDogDelay = new TimeSpan(0,0,0,0,200);
}
public MyJacoArm(string key)
{
try
{
CCypherMessage pass = Crypto.GetInstance().Encrypt("C6H12O6h2so4");
m_Arm = new CJacoArm(pass);
System.Console.WriteLine("C# Wrapper initialized.");
System.Console.Write("JACO version: ");
System.Console.WriteLine(m_Arm.ConfigurationsManager.GetCodeVersion()[0].ToString("X1"));
m_RetractDelay = new TimeSpan(0,0,0,24,0); // 8 secs.
for(int i = 0; i < 6; i++)
{
addposevalue[i] = 0.0f;
addjointvalue[i] = 0.0f;
}
// erasing trajectories
m_Arm.ControlManager.EraseTrajectories();
// deleting the previous error log
m_Arm.DiagnosticManager.DataManager.DeleteErrorLog();
// set the arm flag to true
m_IsEnabled = true;
}
catch (Exception e)
{
System.Console.WriteLine("JACO API initialisation failed. Reason: ");
System.Console.WriteLine(e.ToString());
// set the arm flag to false
m_IsEnabled = false;
}
}
private void DataInitialization()
{
try
{
jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
jaco.GetAPIVersion();
m_OutConnectionStatus.Text = "Jaco is connected.";
}
catch(Exception err)
{
m_OutConnectionStatus.Text = "Jaco is not connected or your password is invalid. Reason: \n" + err.ToString();
}
m_CurrentClientConfig = new CClientConfigurations();
}
private void DataInitialization()
{
try
{
jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
m_OutConnectionStatus.ModifyFg(StateType.Normal, m_ColorConnectionOpened);
m_OutConnectionStatus.Text = "Jaco is connected.";
}
catch(Exception ex)
{
m_OutConnectionStatus.Text = "Jaco is not connected.";
}
}
