/// <summary>
/// Try to fetch RW options from this robot.
/// </summary>
/// <returns></returns>
private bool LoadRobotWareOptions()
{
try
{
this.robotWare = this.controller.RobotWare;
this.robotWareOptions = this.robotWare.Options;
this._hasMultiTasking = HasMultiTaskOption(this.robotWareOptions);
this._hasEGM = HasEGMOption(this.robotWareOptions);
logger.Debug("RobotWare " + controller.RobotWare);
logger.Debug("RobotWareVersion " + controller.RobotWareVersion);
logger.Debug("hasMultiTasking? " + this._hasMultiTasking);
logger.Debug("hasEGM? " + this._hasEGM);
return(true);
}
catch
{
this.robotWare = null;
this.robotWareOptions = null;
this._hasMultiTasking = false;
this._hasEGM = false;
logger.Debug("Could not access ROBOTWARE options");
}
return(false);
}
/// <summary>
/// Does this robot have the Externally Guided Motion option?
/// </summary>
/// <param name="options"></param>
/// <returns></returns>
private bool HasEGMOption(RobotWareOptionCollection options)
{
var available = false;
foreach (RobotWareOption option in options)
{
if (option.Description.Contains("689-1"))
{
available = true;
break;
}
}
return(available);
}
