//必須開啟看門狗,才能執行動作 //interval: Communication interval of mutual monitoring (100 to 1000msec) //alarmLevel: // 0=No alarm // 1=1-200 Host Port Time Out // Message only (The robot does not stop) // 2=2-137 Host Port Time Out // Stops when the operation that is currently performed reaches the target point. // 8=8-352 Host Port Time Out // Stops immediately. public bool startWatchDog(int interval, int alarmLevel) { if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0) { return(false); } //已經開啟,直接回傳 if ((ConnectStatus & CONNECTTYPE.WATCHDOG) > 0) { return(true); } try { //P.94 _Robot.WatchDogStart(interval, 0, alarmLevel, new TsRemoteS.TSStatusEvent(TSStatusEvent)); //Return value: None ConnectStatus |= CONNECTTYPE.WATCHDOG; return(true); } catch (TsRemoteSException ex) { //Error processing Console.WriteLine("startWatchDog: " + ex.Message); } return(false); }