/// <summary>
/// Adds functions to be called when motion starts and motion ends.
///
/// Note: Ignoring return value.
/// </summary>
/// <param name="_funcptrCallbackEnd">Function to be called when motion has ended.</param>
/// <param name="_funcptrCallbackStart">Function to be called when motion has started.</param>
public void watchMotionWrapped(DLL.DgateCallBackByteRefArg _funcptrCallbackEnd, DLL.DgateCallBackByteRefArg _funcptrCallbackStart)
{
_dll.WatchMotion(_funcptrCallbackEnd, _funcptrCallbackStart);
}
/// <summary>
/// Initializes the robot.
///
/// Note: Should wait for it to be done before calling other functions.
/// \todo Refactor delegate to contain ConfigData and ErrorInfo if found necessary.
/// </summary>
/// <param name="_sysmodeMode">Mode.[Normally use online mode]</param>
/// <param name="_systypeType">Type of connection.[Normally use default]</param>
/// <param name="_funcptrSuccess">Function to be called on success.</param>
/// <param name="_funcptrError">Function to be called on error.</param>
/// <returns>Returns true on successful call.(But errors can still happen)</returns>
public bool initializationWrapped(enumSystemModes _sysmodeMode, enumSystemTypes _systypeType, DLL.DgateCallBack _funcptrSuccess, DLL.DgateCallBack _funcptrError)
{
int iReturnValue = _dll.Initialization((short)_sysmodeMode, (short)_systypeType, _funcptrSuccess, _funcptrError);
return ((iReturnValue == 1)? true : false);
}
public bool watchDigitalInputWrapped(DLL.DgateCallBackLongArg _funcptrCallbackEvent)
{
int iReturnValue;
iReturnValue = _dll.WatchDigitalInput(_funcptrCallbackEvent);
return ((iReturnValue == 1) ? true : false);
}
public bool homeWrapped(enumAxisSettings _axisSettingsGroup, DLL.DgateCallBackByteRefArg _funcptrHomingEventHandler)
{
byte bArg = axisSettingsToByte(_axisSettingsGroup);
int iReturnValue;
iReturnValue = _dll.Home((byte) bArg, _funcptrHomingEventHandler);
return ((iReturnValue == 1) ? true : false);
}
public static extern int WatchDigitalInput(DLL.DgateCallBackLongArg funcptrCallbackEvent);
public static extern DLL.DgateCallBackByteRefArg WatchMotion(DLL.DgateCallBackByteRefArg funcptrCallbackEnd, DLL.DgateCallBackByteRefArg funcptrCallbackStart);
public static extern int Home(byte axis, DLL.DgateCallBackByteRefArg funcptrCallBack);
public static extern int initialization(short shrtMode, short shrtType, DLL.DgateCallBack funcptrCallBack, DLL.DgateCallBack funcptrCallBackError);