public bool Read <T>(string addr, int length, ref object data)
{
if (ConnectStatus == false)
{
return(false);
}
JointVelcAccParam MaxJointVelc = new JointVelcAccParam();
JointVelcAccParam MaxJointAcc = new JointVelcAccParam();
double MaxLineAcc = 0.0;
double MaxLinVelc = 0.0;
double MaxAngleAcc = 0.0;
double MaxAngleVelc = 0.0;
wayPoint_S CurrentWaypoint = new wayPoint_S();
int ToolPowerType = 0;
ToolDynamicsParam ToolDynamicsParam = new ToolDynamicsParam();
ToolInEndDesc ToolKinematicsParam = new ToolInEndDesc();
int RobotState = 0;
int WorkMode = 0;
rs_get_global_joint_maxvelc(_rshd, ref MaxJointVelc);
rs_get_global_joint_maxacc(_rshd, ref MaxJointAcc);
rs_get_global_end_max_line_acc(_rshd, ref MaxLineAcc);
rs_get_global_end_max_line_velc(_rshd, ref MaxLinVelc);
rs_get_global_end_max_angle_acc(_rshd, ref MaxAngleAcc);
rs_get_global_end_max_angle_velc(_rshd, ref MaxAngleVelc);
rs_get_current_waypoint(_rshd, ref CurrentWaypoint);
rs_get_tool_power_type(_rshd, ref ToolPowerType);
rs_get_tool_dynamics_param(_rshd, ref ToolDynamicsParam);
rs_get_tool_kinematics_param(_rshd, ref ToolKinematicsParam);
rs_get_robot_state(_rshd, ref RobotState);
rs_get_work_mode(_rshd, ref WorkMode);
Dictionary <string, object> dataInfo = new Dictionary <string, object>();
dataInfo["MaxJointVelc"] = MaxJointVelc;
dataInfo["MaxJointAcc"] = MaxJointAcc;
dataInfo["MaxLineAcc"] = MaxLineAcc;
dataInfo["MaxLinVelc"] = MaxLinVelc;
dataInfo["MaxAngleAcc"] = MaxAngleAcc;
dataInfo["MaxAngleVelc"] = MaxAngleVelc;
dataInfo["CurrentWaypoint"] = CurrentWaypoint;
dataInfo["ToolPowerType"] = ToolPowerType;
dataInfo["ToolDynamicsParam"] = ToolDynamicsParam;
dataInfo["ToolKinematicsParam"] = ToolKinematicsParam;
dataInfo["RobotState"] = RobotState;
dataInfo["WorkMode"] = WorkMode;
data = dataInfo;
ErrorCode = 0;
Message = "Success";
return(true);
}
public static extern int rs_inverse_kin(UInt16 rshd, double[] joint_radia, ref Pos pos, ref Ori ori, ref wayPoint_S waypoint);
public static extern int rs_forward_kin(UInt16 rshd, double[] joint_radia, ref wayPoint_S waypoint);
public static extern int rs_get_current_waypoint(UInt16 rshd, ref wayPoint_S waypoint);
