/// <inheritdoc />
public int InstructionListJoints(out string errorMsg,
out Mat jointList,
double mmStep = 10.0,
double degStep = 5.0,
string saveToFile = "",
CollisionCheckOptions collisionCheck = CollisionCheckOptions.CollisionCheckOff,
ListJointsType flags = 0,
int timeoutSec = 3600)
{
Link.check_connection();
Link.send_line("G_ProgJointList");
Link.send_item(this);
double[] parameter = { mmStep, degStep, (double)collisionCheck, (double)flags };
Link.send_array(parameter);
//joint_list = save_to_file;
Link.ReceiveTimeout = timeoutSec * 1000;
if (string.IsNullOrEmpty(saveToFile))
{
Link.send_line("");
jointList = Link.rec_matrix();
}
else
{
Link.send_line(saveToFile);
jointList = null;
}
int errorCode = Link.rec_int();
Link.ReceiveTimeout = Link.DefaultSocketTimeoutMilliseconds;
errorMsg = Link.rec_line();
Link.check_status();
return(errorCode);
}
/// <inheritdoc />
public InstructionListJointsResult GetInstructionListJoints(
double mmStep = 10.0,
double degStep = 5.0,
string saveToFile = "",
CollisionCheckOptions collisionCheck = CollisionCheckOptions.CollisionCheckOff,
ListJointsType flags = 0,
int timeoutSec = 3600,
double time_step = 0.2)
{
InstructionListJointsResult result =
new InstructionListJointsResult {
JointList = new List <InstructionListJointsResult.JointsResult>()
};
string errorMessage;
Mat jointList;
result.ErrorCode = InstructionListJoints(out errorMessage, out jointList, mmStep, degStep, saveToFile,
collisionCheck,
flags, timeoutSec, time_step);
result.ErrorMessage = errorMessage;
var numberOfJoints = GetLink(ItemType.Robot).Joints().Length;
for (var colId = 0; colId < jointList.Cols; colId++)
{
var joints = new double[numberOfJoints];
for (var rowId = 0; rowId < numberOfJoints; rowId++)
{
joints[rowId] = jointList[rowId, colId];
}
int jointError = (int)jointList[numberOfJoints, colId];
ErrorPathType errorType = (ErrorPathType)Convert.ToUInt32(jointError.ToString(), 2);
var maxLinearStep = jointList[numberOfJoints + 1, colId];
var maxJointStep = jointList[numberOfJoints + 2, colId];
var moveId = (int)jointList[numberOfJoints + 3, colId];
result.JointList.Add(
new InstructionListJointsResult.JointsResult
{
Joints = joints,
Error = errorType,
MaxLinearStep = maxLinearStep,
MaxJointStep = maxJointStep,
MoveId = moveId
}
);
}
return(result);
}
