KNI.net.cpp

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// This is the main DLL file.

#include "stdafx.h"

#include "KNI.net.h"

#include<vcclr.h>
#include <string>
#include <exception>

namespace KNInet {

        bool To_string( System::String^ source, std::string &target ) {
                int len = (( source->Length+1) * 2);
                char *ch = new char[ len ];
                bool result ;
                {
                        pin_ptr<const wchar_t> wch = PtrToStringChars( source );
                        result = wcstombs( ch, wch, len ) != -1;
                }
                target = ch;
                delete ch;
                return result ;
        }
        Katana::~Katana() {
                if(katana) delete katana;
                if(proto) delete proto;
                if(comm) delete comm;
                if(socket) delete socket;
        }
        Katana::Katana(System::String ^ipAddress, System::String ^configurationFile) :
                katana(0), socket(0), proto(0) {
                std::string ip, portno, configFile;
                To_string(ipAddress, ip);
                //To_string(port, portno);
                To_string(configurationFile, configFile);
                try {
                        socket = new CCdlSocket(const_cast<char*>(ip.c_str()), atoi("5566"));
                        proto = new CCplSerialCRC();
                        proto->init(socket);

                        katana = new CLMBase();
                        katana->create(configFile.c_str(), proto);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        //Katana::Katana(System::String ^connectionString, System::String ^configurationFile) :
        //      katana(0), comm(0), proto(0) {
        //      std::string connString, configFile;
        //      To_string(connectionString, connString);
        //      To_string(configurationFile, configFile);

        //      try {
        //              TCdlCOMDesc ccd = {atoi(connString.c_str()), 57600, 8, 'N', 1, 300, 0};
        //              comm = new CCdlCOM(ccd);

        //              proto = new CCplSerialCRC();
        //              proto->init(comm);

        //              katana = new CLMBase();
        //              katana->create(configFile.c_str(), proto);
        //      } catch(std::exception &e) {
        //              throw gcnew System::Exception(gcnew System::String(e.what()));
        //      }
        //}
        void Katana::calibrate(void) {
                try {
                        katana->calibrate();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        array<int>^ Katana::getRobotEncoders(bool refreshEncoders) {
                std::vector<int> encodersVec(katana->getNumberOfMotors(), 0);
                array<int> ^encoders = gcnew array<int>(encodersVec.size());
                try {
                        katana->getRobotEncoders(encodersVec.begin(), encodersVec.end(), refreshEncoders);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
                for(unsigned int i = 0; i < encodersVec.size(); ++i) {
                        encoders[i] = encodersVec[i];
                }
                return encoders;
        }
        void Katana::moveRobotToEnc(array<int> ^encoders, bool waitUntilReached, int waitTimeout) {
                std::vector<int> encoderVector(katana->getNumberOfMotors(), 0);
                for(int i = 0; i < katana->getNumberOfMotors(); ++i) {
                        encoderVector[i] = encoders[i];
                }
                try {
                        katana->moveRobotToEnc(encoderVector, waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout){
                try {
                        katana->moveMotorToEnc(motor, encoder, waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        array<double>^ Katana::getCoordinates(bool refreshEncoders) {
                std::vector<double> coordinateVector(6,0);
                try {
                        katana->getCoordinates(
                                coordinateVector[0],
                                coordinateVector[1],
                                coordinateVector[2],
                                coordinateVector[3],
                                coordinateVector[4],
                                coordinateVector[5],
                                refreshEncoders);
                } catch(Exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }

                array<double> ^coordinates = gcnew array<double>(6);
                for(unsigned int i = 0; i < 6; ++i) {
                        coordinates[i] = coordinateVector[i];
                }
                return coordinates;
        }
        void Katana::moveRobotTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout) {
                std::vector<double> coordinateVector(6, 0);
                for(unsigned int i = 0; i < 6; ++i) {
                        coordinateVector[i] = coordinates[i];
                }
                try {
                        katana->moveRobotTo(coordinateVector, waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::moveRobotLinearTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout) {
                std::vector<double> coordinateVector(6, 0);
                for(unsigned int i = 0; i < 6; ++i) {
                        coordinateVector[i] = coordinates[i];
                }
                try {
                        katana->moveRobotLinearTo(coordinateVector, waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::setMaximumLinearVelocity(double maximumVelocity) {
                katana->setMaximumLinearVelocity(maximumVelocity);
        }
        double Katana::getMaximumLinearVelocity() {
                return katana->getMaximumLinearVelocity();
        }
        void Katana::setActivatePositionController(bool activate) {
                katana->setActivatePositionController(activate);
        }
        bool Katana::getActivatePositionController() {
                return katana->getActivatePositionController();
        }
        void Katana::enableCollisionLimits() {
                try {
                        katana->enableCrashLimits();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::disableCollisionLimits() {
                try {
                        katana->disableCrashLimits();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::unBlock() {
                try {
                        katana->unBlock();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::setCollisionLimit(int number, int limit) {
                try {
                        katana->setCrashLimit(number, limit);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        int Katana::getNumberOfMotors() {
                return katana->getNumberOfMotors();
        }
        int Katana::getMotorEncoders(int number, bool refreshEncoders) {
                try {
                        return katana->getMotorEncoders(number, refreshEncoders);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        int Katana::getMotorVelocityLimit(int number) {
                return katana->getMotorVelocityLimit(number);
        }
        int Katana::getMotorAccelerationLimit(int number) {
                return katana->getMotorAccelerationLimit(number);
        }
        void Katana::setMotorVelocityLimit(int number, int velocity) {
                katana->setMotorVelocityLimit(number, velocity);
        }
        void Katana::setMotorAccelerationLimit(int number, int acceleration) {
                katana->setMotorAccelerationLimit(number, acceleration);
        }
        void Katana::openGripper(bool waitUntilReached, int waitTimeout) {
                try {
                        katana->openGripper(waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::closeGripper(bool waitUntilReached, int waitTimeout) {
                try {
                        katana->closeGripper(waitUntilReached, waitTimeout);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::freezeRobot() {
                try {
                        katana->freezeRobot();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::freezeMotor(int number) {
                try {
                        katana->freezeMotor(number);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::switchRobotOn() {
                try {
                        katana->switchRobotOn();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::switchRobotOff() {
                try {
                        katana->switchRobotOff();
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::switchMotorOn(int number) {
                try {
                        katana->switchMotorOn(number);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
        void Katana::switchMotorOff(int number) {
                try {
                        katana->switchMotorOff(number);
                } catch(std::exception &e) {
                        throw gcnew System::Exception(gcnew System::String(e.what()));
                }
        }
}