private int GetMotionCount() { int motionCount = -1; var getMotionCountRequest = new GetMotionCountRequest(RobotPacket.PacketID.CountMotions); RobotReply reply = Connection.SendAndReceivePacket(getMotionCountRequest.BuildRequest()); if (reply == null) { Debug.Fail("Reply from robot is null"); return 0; } reply.RequestID = RobotPacket.PacketID.CountMotions; RobotReplyData robotReplyData = reply.Process(); //if (robotReplyData.Type == RobotReplyData.ReplyType.Success) //{ // return (int)GlobalFunction.LE4ToDec(robotReplyData.Data); //} switch (robotReplyData.Type) { case RobotReplyData.ReplyType.Success: if (robotReplyData.Data.Length!=4) { Debug.Fail("ListAllMotionRequest: data reply is not sufficient"); return -1; } return (int)GlobalFunction.LE4ToDec(robotReplyData.Data); //case RobotReplyData.ReplyType.Failed: // OnProcessError(ErrorCode.ReplyFailed, "Reply error"); // return -2; case RobotReplyData.ReplyType.WrongID: OnProcessError(ErrorCode.WrongSessionID, "Wrong session ID"); return -2; } return motionCount; }
private int GetMotionCount() { int motionCount = -1; var getMotionCountRequest = new GetMotionCountRequest(RobotPacket.PacketID.CountMotions); RobotReply reply = Connection.SendAndReceivePacket(getMotionCountRequest.BuildRequest()); if (reply == null) { Debug.Fail("Reply from robot is null"); return(0); } reply.RequestID = RobotPacket.PacketID.CountMotions; RobotReplyData robotReplyData = reply.Process(); //if (robotReplyData.Type == RobotReplyData.ReplyType.Success) //{ // return (int)GlobalFunction.LE4ToDec(robotReplyData.Data); //} switch (robotReplyData.Type) { case RobotReplyData.ReplyType.Success: if (robotReplyData.Data.Length != 4) { Debug.Fail("ListAllMotionRequest: data reply is not sufficient"); return(-1); } return((int)GlobalFunction.LE4ToDec(robotReplyData.Data)); //case RobotReplyData.ReplyType.Failed: // OnProcessError(ErrorCode.ReplyFailed, "Reply error"); // return -2; case RobotReplyData.ReplyType.WrongID: OnProcessError(ErrorCode.WrongSessionID, "Wrong session ID"); return(-2); } return(motionCount); }