public CRobotStatus GetCopyOfRobotStatus()
{
CRobotStatus cRobotStatus = new CRobotStatus();
cRobotStatus.SetAndCheckSWs(robotStatus.sw1, robotStatus.sw2);
return(cRobotStatus);
}
private async Task <bool> ReadGeneralStatus()
{
await TaskEx.WaitUntil(isIdle);
SetEvent("ReadGeneralStatus");
bool isError = false;
short sw1 = -1, sw2 = -1;
short ret = CMotocom.BscGetStatus(m_Handle, ref sw1, ref sw2);
if (ret != 0)
{
isError = true;
SetError("Error calling BscGetStatus");
}
else
{
if (robotStatus.SetAndCheckSWs(sw1, sw2))
{
StatusChanged(this, null);
}
StringBuilder framename = new StringBuilder("ROBOT"); // BASE ROBOT
int formCode = 0;
short isExternal = 0;
short toolNo = 0;
short ret1 = CMotocom.BscGetCartPos(
//short ret1 = CMotocom.BscIsRobotPos(
m_Handle, framename, isExternal, ref formCode, ref toolNo, ref currentPosition[0]);
if (ret1 == -1)
{
isError = true;
SetError("Error executing BscGetCartPos");
}
else
{
currentPosition[13] = formCode;
currentPosition[14] = toolNo;
DispatchCurrentPosition(this, null);
m_previousStatus_ms = DateTimeOffset.Now.ToUnixTimeMilliseconds();
}
}
await SetEvent(EnumEvent.Idle);
return(isError);
}
