private async Task <bool> IsReadyToOperate()
{
short ret = 0;
if (robotStatus.isServoOn)
{
if (robotStatus.isOperating)
{
// stop any current jobs
await Task.Delay(commsDelay_mm);
ret = CMotocom.BscHoldOn(m_Handle);
if (ret != 0)
{
SetError("Error IsReadyToOperate:BscHoldOn");
return(false);
}
else
{
await Task.Delay(commsDelay_mm);
ret = CMotocom.BscHoldOff(m_Handle);
if (ret != 0)
{
SetError("Error IsReadyToOperate:BscHoldOff");
return(false);
}
else
{
return(true);
}
}
}
else
{
return(true);
}
}
else
{
SetError("Error MoveToPosition: SERVO is OFF");
return(false);
}
}
//private async Task MoveToPosition(double[] posVar, decimal speedSP)
//{
// await TaskEx.WaitUntil(isIdle);
// SetEvent("MoveToPosition");
// short ret = 0;
// StringBuilder vType = new StringBuilder("V"); // VR;
// double speed = (speedSP > 300) ? 300 : ((speedSP < 0) ? 0 : (double)speedSP); // is VJ=20.00
// StringBuilder framename = new StringBuilder("TOOL"); // ROBOT BASE
// short toolNo = 0;
// double[] pos = (posVar != null) ? posVar : new double[]{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
// //if (posVar != null) pos = new double[] { posVar.X, posVar.Y, posVar.Z, posVar.Rx, posVar.Ry, posVar.Rz, 0, 0, 0, 0, 0, 0 };
// //short form = (short)Convert.ToInt32("0", 2); ; // Bits: 0 No-flip, 1 elbow under, 2 Back side, 3 R>=180, 4 T>=180, S>=180
// if (IsReadyToOperate())
// {
// ret = CMotocom.BscImov(m_Handle, vType, speed, framename, toolNo, ref pos[0]);
// if (ret != 0) SetError("Error MoveToPosition:BscMovj");
// }
// SetError("NOT ERROR: finished moving.");
// SetEvent(EnumEvent.Idle);
// //void moveRobot() {
// // ret = (isHome) ?
// // CMotocom.BscPMovj(m_Handle, 30, toolNo, ref homePosPulse[0]) :
// // CMotocom.BscImov(m_Handle, vType, speed, framename, toolNo, ref pos[0]);
// // if (ret != 0) SetError("Error MoveToPosition:BscMovj");
// //}
//}
public async Task CancelOperation()
{
await TaskEx.WaitUntil(isIdle);
SetEvent("CancelOperation");
short ret = 0;
ret = CMotocom.BscHoldOn(m_Handle);
if (ret != 0)
{
SetError("Error CancelOperation:BscHoldOn");
}
else
{
ret = CMotocom.BscHoldOff(m_Handle);
if (ret != 0)
{
SetError("Error CancelOperation:BscHoldOff");
}
}
await SetEvent(EnumEvent.Idle);
}