public URRobot(string host, bool use_rt = false)
{
logger = new Logger("urx");
this.host = host;
logger.debug("Opening secondary monitor socket");
secmon = new SecondaryMonitor(host);
rtmon = get_realtime_monitor();
secmon.wait();
}
public URRTMonitor get_realtime_monitor()
{
if (rtmon == null)
{
logger.info("Opening real-time monitor socket");
rtmon = new URRTMonitor(host);
rtmon.start();
}
rtmon.set_csys(csys);
return(rtmon);
}