/// <summary>
/// Searches the network for a robot controller and establishes a connection with the specified one by position.
/// Necessary for "online" modes.
/// </summary>
/// <returns></returns>
public bool ConnectToDevice(int robotId)
{
if (connectionMode == ConnectionType.User)
{
logger.Error("Cannot search for robots automatically, please use ConnectToDevice(ip, port) instead");
return(false);
}
// Sanity
if (!_driver.ConnectToDevice(robotId))
{
logger.Error("Cannot connect to device");
return(false);
}
else
{
//SetRunMode(runMode);
//// If successful, initialize robot cursors to mirror the state of the device
//Vector currPos = _comm.GetCurrentPosition();
//Rotation currRot = _comm.GetCurrentOrientation();
//Joints currJnts = _comm.GetCurrentJoints();
//InitializeRobotCursors(currPos, currRot, currJnts);
// If successful, initialize robot cursors to mirror the state of the device.
// The function will initialize them based on the _comm object.
InitializeRobotCursors();
}
logger.Info("Connected to " + parentRobot.Brand + " robot \"" + parentRobot.Name + "\" on " + _driver.IP + ":" + _driver.Port);
return(true);
}
/// <summary>
/// Adds the defined Tool to this cursor's Tool dict, becoming avaliable for Attach/Detach Actions.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionDefineTool action)
{
// Sanity
if (availableTools.ContainsKey(action.tool.name))
{
logger.Info($"Robot already had a tool defined as \"{action.tool.name}\"; this will be overwritten.");
availableTools.Remove(action.tool.name);
}
availableTools.Add(action.tool.name, action.tool);
return(true);
}