/// <summary> /// Resets the program pointer in the controller to the main entry point. Needs to be called /// before starting execution of a program, otherwise the controller will throw an error. /// </summary> internal bool ResetProgramPointers() { if (controller == null) { logger.Debug("Cannot reset pointer: not connected to controller"); return(false); } if (tMainTask == null) { logger.Debug("Cannot reset pointer: mainTask not present"); return(false); } try { using (Mastership.Request(controller.Rapid)) { tMainTask.ResetProgramPointer(); if (tMonitorTask != null) { tMonitorTask.ResetProgramPointer(); } return(true); } } catch (Exception ex) { logger.Debug("Cannot reset pointer..."); logger.Debug(ex); } return(false); }
/// <summary> /// Resets the program pointer in the controller to the main entry point. Needs to be called /// before starting execution of a program, otherwise the controller will throw an error. /// </summary> internal bool ResetProgramPointer() { if (controller == null) { Console.WriteLine("Cannot reset pointer: not connected to controller"); return(false); } if (tRob1Task == null) { Console.WriteLine("Cannot reset pointer: mainTask not present"); return(false); } try { using (Mastership.Request(controller.Rapid)) { tRob1Task.ResetProgramPointer(); return(true); } } catch (Exception ex) { Console.WriteLine("Cannot reset pointer..."); Console.WriteLine(ex); } return(false); }