/// <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);
}
