// link the instance to a real YoctoAPI object
internal override void linkToHardware(string hwdName)
{
YMultiAxisController hwd = YMultiAxisController.FindMultiAxisController(hwdName);
// first redo base_init to update all _func pointers
base_init(hwd, hwdName);
// then setup Yocto-API pointers and callbacks
init(hwd);
}
// perform the 2nd stage setup that requires YoctoAPI object
protected void init(YMultiAxisController hwd)
{
if (hwd == null)
{
return;
}
base.init(hwd);
InternalStuff.log("registering MultiAxisController callback");
_func.registerValueCallback(valueChangeCallback);
}
public static YMultiAxisControllerProxy FindMultiAxisController(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YMultiAxisController func = null;
YMultiAxisControllerProxy res = (YMultiAxisControllerProxy)YFunctionProxy.FindSimilarUnknownFunction("YMultiAxisControllerProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YMultiAxisControllerProxy)YFunctionProxy.FindSimilarKnownFunction("YMultiAxisControllerProxy");
if (res != null)
{
return(res);
}
func = YMultiAxisController.FirstMultiAxisController();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YMultiAxisControllerProxy)func.get_userData());
}
}
}
else
{
func = YMultiAxisController.FindMultiAxisController(name);
if (func.get_userData() != null)
{
return((YMultiAxisControllerProxy)func.get_userData());
}
}
if (res == null)
{
res = new YMultiAxisControllerProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
/**
* <summary>
* Enumerates all functions of type MultiAxisController available on the devices
* currently reachable by the library, and returns their unique hardware ID.
* <para>
* Each of these IDs can be provided as argument to the method
* <c>YMultiAxisController.FindMultiAxisController</c> to obtain an object that can control the
* corresponding device.
* </para>
* </summary>
* <returns>
* an array of strings, each string containing the unique hardwareId
* of a device function currently connected.
* </returns>
*/
public static new string[] GetSimilarFunctions()
{
List <string> res = new List <string>();
YMultiAxisController it = YMultiAxisController.FirstMultiAxisController();
while (it != null)
{
res.Add(it.get_hardwareId());
it = it.nextMultiAxisController();
}
return(res.ToArray());
}
/**
* <summary>
* Retrieves a multi-axis controller for a given identifier.
* <para>
* The identifier can be specified using several formats:
* </para>
* <para>
* </para>
* <para>
* - FunctionLogicalName
* </para>
* <para>
* - ModuleSerialNumber.FunctionIdentifier
* </para>
* <para>
* - ModuleSerialNumber.FunctionLogicalName
* </para>
* <para>
* - ModuleLogicalName.FunctionIdentifier
* </para>
* <para>
* - ModuleLogicalName.FunctionLogicalName
* </para>
* <para>
* </para>
* <para>
* This function does not require that the multi-axis controller is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YMultiAxisController.isOnline()</c> to test if the multi-axis controller is
* indeed online at a given time. In case of ambiguity when looking for
* a multi-axis controller by logical name, no error is notified: the first instance
* found is returned. The search is performed first by hardware name,
* then by logical name.
* </para>
* <para>
* If a call to this object's is_online() method returns FALSE although
* you are certain that the matching device is plugged, make sure that you did
* call registerHub() at application initialization time.
* </para>
* <para>
* </para>
* </summary>
* <param name="func">
* a string that uniquely characterizes the multi-axis controller, for instance
* <c>MyDevice.multiAxisController</c>.
* </param>
* <returns>
* a <c>YMultiAxisController</c> object allowing you to drive the multi-axis controller.
* </returns>
*/
public static YMultiAxisController FindMultiAxisController(string func)
{
YMultiAxisController obj;
lock (YAPI.globalLock) {
obj = (YMultiAxisController)YFunction._FindFromCache("MultiAxisController", func);
if (obj == null)
{
obj = new YMultiAxisController(func);
YFunction._AddToCache("MultiAxisController", func, obj);
}
}
return(obj);
}
// perform the initial setup that may be done without a YoctoAPI object (hwd can be null)
internal override void base_init(YFunction hwd, string instantiationName)
{
_func = (YMultiAxisController)hwd;
base.base_init(hwd, instantiationName);
}
// property cache
//--- (end of YMultiAxisController definitions)
//--- (YMultiAxisController implementation)
internal YMultiAxisControllerProxy(YMultiAxisController hwd, string instantiationName) : base(hwd, instantiationName)
{
InternalStuff.log("MultiAxisController " + instantiationName + " instantiation");
base_init(hwd, instantiationName);
}
