public async Task ReadPositionVariable(short Index, CRobPosVar PosVar)
{
if (m_commsError)
{
return;
}
await TaskEx.WaitUntil(isIdle);
SetEvent("ReadPositionVariable");
StringBuilder StringVal = new StringBuilder(256);
double[] PosVarArray = new double[12];
short ret = CMotocom.BscHostGetVarData(m_Handle, 4, Index, ref PosVarArray[0], StringVal);
if (ret != 0)
{
SetError("Error executing ReadPositionVariable: " + ret.ToString());
}
//throw new Exception("Error executing BscHostGetVarData");
if (PosVar != null)
{
PosVar.HostGetVarDataArray = PosVarArray;
}
await SetEvent(EnumEvent.Idle);
}
public async Task MoveByJob(bool isHome, CRobPosVar position = null)
{
if (isHome)
{
await MoveToHome1();
return;
}
if (position == null)
{
return;
}
await TaskEx.WaitUntil(isIdle);
SetEvent("MoveByJob");
short ret = 0;
string moveHomeJob = "TO_POS_0.jbi";
double[] speed = new double[10];
speed[0] = 2000; // is VJ=20.00
short varNo = 0;
//// stop any current jobs
//ret = CMotocom.BscHoldOn(m_Handle);
//if (ret != 0) SetError("Error MoveToPosition:BscHoldOn");
//else
//{
// write position at varNo
StringBuilder StringVal = new StringBuilder(256);
double[] PosVarArray = position.HostGetVarDataArray;
ret = CMotocom.BscHostPutVarData(m_Handle, 4, varNo, ref PosVarArray[0], StringVal);
if (ret != 0)
{
SetError("Error executing MoveToPosition:WritePositionVariable");
}
else
{
// read position at varNo
StringVal = new StringBuilder(256);
double[] readPosition = new double[10];
ret = CMotocom.BscHostGetVarData(m_Handle, 4, varNo, ref readPosition[0], StringVal);
if (ret != 0)
{
SetError("Error executing MoveToPosition:ReadPositionVariable");
}
else
{
// compare the set home position with read from robot
if (!readPosition.SequenceEqual(position.HostGetVarDataArray))
{
SetError("MoveToPosition: arrays are not equal.");
}
else
{
ret = CMotocom.BscPutVarData(m_Handle, 1, varNo, ref speed[0]);
if (ret != 0)
{
SetError("Error executing MoveToPosition:ReadByteVariable");
}
else
{
// select job
ret = CMotocom.BscSelectJob(m_Handle, moveHomeJob);
if (ret != 0)
{
SetError("Error selecting job at MoveToPosition");
}
else
{
// run the job
ret = CMotocom.BscStartJob(m_Handle);
if (ret != 0)
{
SetError("Error starting job at MoveToPosition!");
}
}
}
}
}
}
//}
await SetEvent(EnumEvent.Idle);
}