Merge pull request #109 from ziteh/iss108

Fix the bug #108

RASDK.Arm.TestForms/Form1.cs

@@ -45,6 +45,14 @@ public Form1()
  comboBoxArmType.SelectedIndex = 0;
  }
 
+ private void buttonCheckConnect_Click(object sender, EventArgs e)
+ {
+ _arm = _arm ?? RoboticArmFactory();
+
+ var connected = _arm.Connected;
+ _message.Show($"Connected: {connected}.");
+ }
+
  private void buttonConnect_Click(object sender, EventArgs e)
  {
  _arm = _arm ?? RoboticArmFactory();

RASDK.Arm/Hiwin/Exception.cs

@@ -0,0 +1,22 @@
+namespace RASDK.Arm.Hiwin
+{
+ public class HiwinRobotControlException : System.Exception
+ {
+ public HiwinRobotControlException() : base()
+ { }
+
+ public HiwinRobotControlException(string message) : base(message)
+ { }
+
+ public HiwinRobotControlException(int code) : base($"HIWIN robot error code: {code}.")
+ { }
+
+ public HiwinRobotControlException(int code, string message)
+ : base($"HIWIN robot error code: {code}. {message}.")
+ { }
+
+ public HiwinRobotControlException(string message, System.Exception innerException)
+ : base(message, innerException)
+ { }
+ }
+}