static bool LoadZonesFromProfile(string profile)
{
try {
_jaco.ConfigurationsManager.DeserializeZoneConfiguration(profile);
Console.WriteLine(_info + "Loaded zone configuration from profile \"" + profile + "\".");
Console.WriteLine(_info + "You will need to reboot the robot for changes to take effect.");
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
PrintZones();
return(true);
} catch (Exception) {
Console.WriteLine(_error + "Could not load zone configuration from profile \"" + profile + "\".");
}
return(false);
}
static void Main(string[] args)
{
bool dll = args.Length > 0 && String.Compare(args[0], "dll") == 0;
if (dll)
{
_error = "#ERROR [JACO]: ";
_info = "#INFO [JACO]: ";
_warning = "#WARNING [JACO]: ";
}
try {
_jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
Console.WriteLine(_info + "Successfully connected to Jaco.");
} catch (CAccessDeniedException) {
Console.WriteLine(_error + "Access to Jaco denied. Please check password and USB connection.");
return;
} catch (Exception) {
Console.WriteLine(_error + "Could not connect to Jaco.");
return;
}
_cmd = new CJoystickValue();
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
_jaco.ControlManager.StartControlAPI();
_api = true;
_data = new float[37];
for (int i = 0; i < 37; i++)
{
_data[i] = 0f;
}
if (dll)
{
Console.WriteLine(_info + "Active protection zones: " + _zones.NbZoneActive);
return;
}
TerminalCommand(args);
Deinit();
}
static void Main (string[] args)
{
bool dll = args.Length > 0 && String.Compare(args[0], "dll") == 0;
if (dll) {
_error = "#ERROR [JACO]: ";
_info = "#INFO [JACO]: ";
_warning = "#WARNING [JACO]: ";
}
try {
_jaco = new CJacoArm(Crypto.GetInstance().Encrypt("C6H12O6h2so4"));
Console.WriteLine(_info + "Successfully connected to Jaco.");
} catch (CAccessDeniedException) {
Console.WriteLine(_error + "Access to Jaco denied. Please check password and USB connection.");
return;
} catch (Exception) {
Console.WriteLine(_error + "Could not connect to Jaco.");
return;
}
_cmd = new CJoystickValue();
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
_jaco.ControlManager.StartControlAPI();
_api = true;
_data = new float[37];
for (int i=0; i<37; i++) _data[i] = 0f;
if (dll) {
Console.WriteLine(_info + "Active protection zones: " + _zones.NbZoneActive);
return;
}
TerminalCommand(args);
Deinit();
}
static bool LoadZonesFromProfile (string profile)
{
try {
_jaco.ConfigurationsManager.DeserializeZoneConfiguration(profile);
Console.WriteLine(_info + "Loaded zone configuration from profile \"" + profile + "\".");
Console.WriteLine(_info + "You will need to reboot the robot for changes to take effect.");
_zones = _jaco.ConfigurationsManager.GetProtectionZones();
PrintZones();
return true;
} catch (Exception) {
Console.WriteLine(_error + "Could not load zone configuration from profile \"" + profile + "\".");
}
return false;
}
