KNI.net.h

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// KNI.net.h

#pragma once

#include "kniBase.h"
#include <memory>
namespace KNInet {

        public ref class Katana
        {
        private:
                CLMBase* katana;
                CCdlCOM* comm;
                CCdlSocket* socket;
                CCplSerialCRC* proto;
        public:
                //Katana(System::String ^connectionString, System::String ^configurationFile);
                Katana(System::String ^ipAddress, System::String ^configurationFile);
                ~Katana();

                void calibrate(void);

                array<int>^ getRobotEncoders(bool refreshEncoders);
                void moveRobotToEnc(array<int> ^encoders, bool waitUntilReached, int waitTimeout);
                void moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout);
                array<double>^ getCoordinates(bool refreshEncoders);
                void moveRobotTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
                void moveRobotLinearTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
        
                void setMaximumLinearVelocity(double maximumVelocity);
                double getMaximumLinearVelocity();

                void setActivatePositionController(bool activate);
                bool getActivatePositionController();

                void enableCollisionLimits();
                void disableCollisionLimits();
                void unBlock();
                void setCollisionLimit(int number, int limit);

                int getNumberOfMotors();
                int getMotorEncoders(int number, bool refreshEncoders);

                int getMotorVelocityLimit(int number);
                int getMotorAccelerationLimit(int number);
                void setMotorVelocityLimit(int number, int velocity);
                void setMotorAccelerationLimit(int number, int acceleration);

                void openGripper(bool waitUntilReached, int waitTimeout);
                void closeGripper(bool waitUntilReached, int waitTimeout);

                void freezeRobot();
                void freezeMotor(int number);
                void switchRobotOn();
                void switchRobotOff();
                void switchMotorOn(int number);
                void switchMotorOff(int number);
        };
}