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Develop #70

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merged 6 commits into from
Dec 22, 2021
Merged

Develop #70

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11f6b25
Merge pull request #58 from nfu-irs-lab/develop
ziteh Oct 30, 2021
f3827f3
Merge pull request #65 from nfu-irs-lab/develop
ziteh Dec 17, 2021
7b58f06
Merge pull request #67 from nfu-irs-lab/develop
ziteh Dec 17, 2021
6418dbb
Update README.md
ziteh Dec 18, 2021
f849815
Fixed the bug of null reference by unuse point(#68)
ziteh Dec 22, 2021
79c65f4
Hotfix the bug of connected alaways return false (#69)
ziteh Dec 22, 2021
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27 changes: 13 additions & 14 deletions RASDK.Arm/Hiwin/RoboticArm.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ namespace RASDK.Arm.Hiwin
{
public class RoboticArm : RASDK.Arm.RoboticArm
{
private static unsafe bool* _waiting;
private static volatile bool _waiting;
private readonly string _ip;
private int _id;

Expand Down Expand Up @@ -214,12 +214,9 @@ private void WaitForMotionComplete(bool needWait, int returnCode)
{
if (needWait && ReturnCodeCheck.IsSuccessful(returnCode))
{
unsafe
{
*_waiting = true;
while (*_waiting)
{ /* None. */ }
}
_waiting = true;
while (_waiting)
{ /* Do nothing. */ }
}
}

Expand All @@ -229,6 +226,7 @@ private void WaitForMotionComplete(bool needWait, int returnCode)

private static readonly HRobot.CallBackFun _callBackFun = EventFun;

// FIXME: HRobot.network_get_state(_id) always return 0, so Connected always false.
public override bool Connected
{
get
Expand Down Expand Up @@ -263,7 +261,9 @@ public override bool Connect()
ShowUnsuccessfulConnectMessage();
}

return Connected;
// FIXME: HRobot.network_get_state(_id) always return 0, so the Connected always false.
//return Connected;
return true;
}

public override bool Disconnect()
Expand Down Expand Up @@ -292,7 +292,9 @@ public override bool Disconnect()
$"錯誤代碼: {alarmState}";
_message.Show(text, "斷線", MessageBoxButtons.OK, MessageBoxIcon.None);

return !Connected;
// FIXME: HRobot.network_get_state(_id) always return 0, so the Connected always false.
//return !Connected;
return true;
}

private static void EventFun(UInt16 cmd, UInt16 rlt, ref UInt16 Msg, int len)
Expand Down Expand Up @@ -334,11 +336,8 @@ private static void EventFun(UInt16 cmd, UInt16 rlt, ref UInt16 Msg, int len)
$"Coor:{infos[14]},{infos[15]},{infos[16]},{infos[17]},{infos[18]},{infos[19]}\r\n" +
$"Joint:{infos[20]},{infos[21]},{infos[22]},{infos[23]},{infos[24]},{infos[25]}\r\n");

unsafe
{
// Motion state=1: Idle.
*_waiting = (infos[8] != "1");
}
// Motion state=1: Idle.
_waiting = (infos[8] != "1");
break;

case 4011 when rlt != 0:
Expand Down
2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# Robotic Arm SDK

[![dotnet](https://github.com/nfu-irs-lab/robotic-arm-sdk/actions/workflows/dotnet.yml/badge.svg?branch=main)](https://github.com/nfu-irs-lab/robotic-arm-sdk/actions/workflows/dotnet.yml?query=branch%3Amain)
[![GitHub release](https://img.shields.io/github/release/nfu-irs-lab/robotic-arm-sdk.svg)](https://github.com/nfu-irs-lab/robotic-arm-sdk/releases)
[![GitHub repo size](https://img.shields.io/github/repo-size/nfu-irs-lab/robotic-arm-sdk)](https://github.com/nfu-irs-lab/robotic-arm-sdk)
[![GitHub issues](https://img.shields.io/github/issues/nfu-irs-lab/robotic-arm-sdk.svg)](https://github.com/nfu-irs-lab/robotic-arm-sdk/issues)

機械手臂 SDK。目前主要支援：
Expand Down