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Kinova.API.Jaco.Configurations.CJacoConfigurationManager Class Reference

This class represents all configurations inside JACO. It is devides in three section : General configuration, Client configuration and Protection zones configuration. More...

Public Member Functions

 CJacoConfigurationManager (CCypherMessage encryptedPass, IntPtr read, IntPtr write, CTcpConnector connector)
 Initializes a new instance of the CJacoConfigurationManager class. Developper that use that API should never have to declare an object of this class because you can access it via the object CJacoArm. More...
 
CJacoGripper GetJacoGripperInfo ()
 Gets information about the hand in a CJacoGripper (3 coordinates and 3 angles)Euler representation. More...
 
CVectorEuler GetHandPosition ()
 Gets the hand position in a CVectorEuler (3 coordinates and 3 angles)Euler representation. More...
 
int[] GetCodeVersion ()
 Gets the code version. The method return an array of 12 version number(hexadecimal) representing (in order from index 0 to 9) the DSP code version, the 6 joints version number, the 3 fingers version number and the 2 CAN converter. To get the data you want from the array, use constant from the class CJacoArm. More...
 
CVectorAngle GetJointPositions ()
 Gets the angle of each joint. More...
 
void CreateProfileBackup (string Name)
 Creates the profile backup from the current JACO's configuration and serialize it in a XML file. More...
 
void LoadProfileBackup (string Name)
 Loads the profile backup and send it to JACO. More...
 
void SetProtectionZones (CZoneList list)
 Serializes and sends the protection zone list to jaco. You need to reboot(hardware) JACO after the method's call to make the changes effective. More...
 
CZoneList GetProtectionZones ()
 Loads the zone configurations list from JACO. More...
 
void SerializeZoneConfiguration (string ProfileName)
 Serializes the zone configuration in PathCatalog.BASE_API_PROFILES_PATH with a specific name. More...
 
void SerializeZoneConfiguration ()
 Serializes the zone configuration in PathCatalog.BASE_API_PROTECTIONZONE_PATH. More...
 
void DeserializeZoneConfiguration (string ProfileName)
 Deserializes the zone profile with a specific name. More...
 
void DeserializeZoneConfiguration ()
 Deserializes the default zone profile. More...
 
void DeleteAllProtectionsZones ()
 Deletes all protections zones from JACO. The list still contains 10 protections zones but they will be empty. More...
 
void SetClientConfigurations (CClientConfigurations cfgClient)
 Serializes and sends the client configurations to jaco. You need to reboot(hardware) JACO after the method's call if you have change the arm's laterality to make the changes effective. More...
 
CClientConfigurations GetClientConfigurations ()
 Gets the client configurations from jaco. More...
 
void SerializeClientConfiguration (string ProfileName)
 Serializes the client configuration in PathCatalog.BASE_API_PROFILES_PATH. More...
 
void SerializeClientConfiguration ()
 Serializes the client configuration in PathCatalog.BASE_API_CLIENTCONFIG_PATH More...
 
void DeserializeClientConfiguration (string ProfileName)
 Deserializes the client configuration from in PathCatalog.BASE_API_PROFILES_PATH. More...
 
void DeserializeClientConfiguration ()
 Deserializes the client configuration from in PathCatalog.BASE_API_CLIENTCONFIG_PATH. More...
 
void SetControlMappingCharts (CControlMappingCharts mapping)
 Serializes and sends a CControlMappingCharts to JACO. More...
 
CControlMappingCharts GetControlMappingCharts ()
 Loads and deserializes the control mapping charts from JACO. More...
 
void SerializeControlMappingCharts (string ProfileName)
 Serializes the control mapping charts in PathCatalog.BASE_JACOAPI_PROFILES_PATH. More...
 
void SerializeControlMappingCharts ()
 Serializes the control mapping charts in PathCatalog.BASE_JACOAPI_MAPPING_PATH. More...
 
void DeserializeControlMappingCharts (string ProfileName)
 Deserializes the mapping configuration. More...
 
void DeserializeControlMappingCharts ()
 Deserializes the control mapping charts from a file. More...
 

Detailed Description

This class represents all configurations inside JACO. It is devides in three section : General configuration, Client configuration and Protection zones configuration.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { //Use ConfigurationManager as much as we want CVectorEuler HandPosition = m_Jaco.ConfigurationsManager.GetHandPosition(); } } catch (CJACOOfflineException ex) { //Manage the Exception }

Constructor & Destructor Documentation

Kinova.API.Jaco.Configurations.CJacoConfigurationManager.CJacoConfigurationManager ( CCypherMessage  encryptedPass,
IntPtr  read,
IntPtr  write,
CTcpConnector  connector 
)

Initializes a new instance of the CJacoConfigurationManager class. Developper that use that API should never have to declare an object of this class because you can access it via the object CJacoArm.

Parameters
encryptedPassThe encrypted password.
Exceptions
CAccessDeniedExceptionIf the password provided is not valid.

Member Function Documentation

void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.CreateProfileBackup ( string  Name)

Creates the profile backup from the current JACO's configuration and serialize it in a XML file.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.CreateProfileBackup("MyJACOProfile"); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
NameThe name.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [Name] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeleteAllProtectionsZones ( )

Deletes all protections zones from JACO. The list still contains 10 protections zones but they will be empty.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.DeleteAllProtectionsZones();

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeClientConfiguration ( string  ProfileName)

Deserializes the client configuration from in PathCatalog.BASE_API_PROFILES_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.DeserializeClientConfiguration("MyClientProfile"); //Your client profile has been load from a binary file at the location : PathCatalog.BASE_API_PROFILES_PATH. } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profil.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeClientConfiguration ( )

Deserializes the client configuration from in PathCatalog.BASE_API_CLIENTCONFIG_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.DeserializeClientConfiguration(); //Your client profile has been load from a binary file at the location : PathCatalog.BASE_API_CLIENTCONFIG_PATH. } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeControlMappingCharts ( string  ProfileName)

Deserializes the mapping configuration.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.DeserializeControlMappingCharts("MyMapping"); }

} catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profil.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeControlMappingCharts ( )

Deserializes the control mapping charts from a file.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.DeserializeControlMappingCharts(); }

} catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeZoneConfiguration ( string  ProfileName)

Deserializes the zone profile with a specific name.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.DeserializeZoneConfiguration("MyZoneProfile");
//Your zone profile has been load from a binary file at location : PathCatalog.BASE_API_PROFILES_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profil.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.DeserializeZoneConfiguration ( )

Deserializes the default zone profile.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.DeserializeZoneConfiguration();
//Your zone profile has been load from a binary file at location : PathCatalog.BASE_API_PROTECTIONZONE_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CClientConfigurations Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetClientConfigurations ( )

Gets the client configurations from jaco.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

CClientConfigurations cfg = new CClientConfigurations();

cfg = m_Jaco.ConfigurationsManager.GetClientConfigurations();

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
The client configuration
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
int [] Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetCodeVersion ( )

Gets the code version. The method return an array of 12 version number(hexadecimal) representing (in order from index 0 to 9) the DSP code version, the 6 joints version number, the 3 fingers version number and the 2 CAN converter. To get the data you want from the array, use constant from the class CJacoArm.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { int[] CodeVersion; String DSPVersion = "";

CodeVersion = m_Jaco.ConfigurationsManager.GetCodeVersion();

//We convert the hexadecimal number into a decimal number. DSPVersion = CodeVersion[CJacoArm.VERSION_DSP].ToString("x1");

//Output of this is: DSP Code version : 040106 (assuming that the version is 4.01.06) System.Console.WriteLine("DSP Code version : " + DSPVersion); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
A int[] that contains all the code version
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CControlMappingCharts Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetControlMappingCharts ( )

Loads and deserializes the control mapping charts from JACO.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

CControlMappingCharts MappingCharts = new CControlMappingCharts();

m_Jaco.ConfigurationsManager.GetControlMappingCharts();

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
The control mapping charts received from the jaco robot
Exceptions
ArgumentOutOfRangeExceptionData structure of API must be exactly the same as the data structure from the JACO's DSP(Main board). Verify that your version is compatible with the Jaco's version you are using.
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CVectorEuler Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetHandPosition ( )

Gets the hand position in a CVectorEuler (3 coordinates and 3 angles)Euler representation.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { //Use ConfigurationManager as much as we want CVectorEuler HandPosition = m_Jaco.ConfigurationsManager.GetHandPosition();

float XPosition = HandPosition.Position[CVectorEuler.COORDINATE_X]; float YPosition = HandPosition.Position[CVectorEuler.COORDINATE_Y]; float ZPosition = HandPosition.Position[CVectorEuler.COORDINATE_Z];

float ThetaX = HandPosition.Rotation[CVectorEuler.THETA_X]; float ThetaY = HandPosition.Rotation[CVectorEuler.THETA_Y]; float ThetaZ = HandPosition.Rotation[CVectorEuler.THETA_Z];

System.Console.WriteLine("Position X = " + XPosition); System.Console.WriteLine("Position Y = " + YPosition); System.Console.WriteLine("Position Z = " + ZPosition);

System.Console.WriteLine("Theta X = " + ThetaX); System.Console.WriteLine("Theta Y = " + ThetaY); System.Console.WriteLine("Theta Z = " + ThetaZ); } } catch (Exception) { System.Console.WriteLine("EXCEPTION"); }

Returns
A vector representing the position
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CJacoGripper Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetJacoGripperInfo ( )

Gets information about the hand in a CJacoGripper (3 coordinates and 3 angles)Euler representation.

try { CJacoArm m_Jaco = new CJacoArm(Crypto.GetInstance().Encrypt(MyValidPassword));

if (m_Jaco.JacoIsReady()) { //Declaration of the data structure that will hold information about the hand. CJacoGripper info;

//We get the information from the robotic arm Jaco. info = m_Jaco.ConfigurationsManager.GetJacoGripperInfo();

System.Console.WriteLine(" Model : " + info.Model); System.Console.WriteLine(" Finger 1 cycle count : " + info.Fingers[0].CycleCount); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
A vector representing the position
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CVectorAngle Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetJointPositions ( )

Gets the angle of each joint.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { CVectorAngle JointPosition = m_Jaco.ConfigurationsManager.GetJointPositions();

//Display the value of the joint #2 at index 1 System.Console.WriteLine("Angle value of Joint #2 = " + JointPosition.Angle[CVectorAngle.JOINT_2]); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
A vector that contains the angle of each actuator(joint).
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CZoneList Kinova.API.Jaco.Configurations.CJacoConfigurationManager.GetProtectionZones ( )

Loads the zone configurations list from JACO.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { CZoneList ZoneList = new CZoneList();

ZoneList = m_Jaco.ConfigurationsManager.GetProtectionZones(); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Returns
The zone list.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.LoadProfileBackup ( string  Name)

Loads the profile backup and send it to JACO.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.LoadProfileBackup("MyJACOProfile");

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
NameThe name.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [Name] is empty or you have too many/less argument.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeClientConfiguration ( string  ProfileName)

Serializes the client configuration in PathCatalog.BASE_API_PROFILES_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.SerializeClientConfiguration("MyClientProfile");
//Your client profile has been saved in a binary file at location : PathCatalog.BASE_API_PROFILES_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profil.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeClientConfiguration ( )

Serializes the client configuration in PathCatalog.BASE_API_CLIENTCONFIG_PATH

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.SerializeClientConfiguration();
//Your client profile has been saved in a binary file at location : PathCatalog.BASE_API_CLIENTCONFIG_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeControlMappingCharts ( string  ProfileName)

Serializes the control mapping charts in PathCatalog.BASE_JACOAPI_PROFILES_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.SerializeControlMappingCharts("MyMapping"); }

} catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profile.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeControlMappingCharts ( )

Serializes the control mapping charts in PathCatalog.BASE_JACOAPI_MAPPING_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { m_Jaco.ConfigurationsManager.SerializeControlMappingCharts(); }

} catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeZoneConfiguration ( string  ProfileName)

Serializes the zone configuration in PathCatalog.BASE_API_PROFILES_PATH with a specific name.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.SerializeZoneConfiguration("MyZoneProfile");
//Your zone profile has been saved in a binary file at location : PathCatalog.BASE_API_PROFILES_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
ProfileNameName of the profile.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [ProfileName] is empty.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SerializeZoneConfiguration ( )

Serializes the zone configuration in PathCatalog.BASE_API_PROTECTIONZONE_PATH.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

m_Jaco.ConfigurationsManager.SerializeZoneConfiguration();
//Your zone profile has been saved in a binary file at location : PathCatalog.BASE_API_PROTECTIONZONE_PATH. 

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SetClientConfigurations ( CClientConfigurations  cfgClient)

Serializes and sends the client configurations to jaco. You need to reboot(hardware) JACO after the method's call if you have change the arm's laterality to make the changes effective.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) {

CClientConfigurations cfg = new CClientConfigurations();

    // ...
    // Initialize the configuration
    // ...

m_Jaco.ConfigurationsManager.SetClientConfigurations(cfg);

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
cfgClientThe client's configuration.
Returns
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [cfgClient] is invalid.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SetControlMappingCharts ( CControlMappingCharts  mapping)

Serializes and sends a CControlMappingCharts to JACO.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { CControlMappingCharts MappingCharts = new CControlMappingCharts();

// ... //Initialize the mapping // ...

m_Jaco.ConfigurationsManager.SetControlMappingCharts(MappingCharts);

//Your mapping charts is now operational inside JACO

} } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
mappingThe mapping.
Returns
A boolean value that indicates the result of this operation.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
void Kinova.API.Jaco.Configurations.CJacoConfigurationManager.SetProtectionZones ( CZoneList  list)

Serializes and sends the protection zone list to jaco. You need to reboot(hardware) JACO after the method's call to make the changes effective.

try { CCypherMessage cypherPass;

//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);

if (m_Jaco.JacoIsReady()) { CZoneList ZoneList = new CZoneList(); // ... // Initialize the list // ... try { m_Jaco.ConfigurationsManager.SetProtectionZones(ZoneList); System.Console.WriteLine("SUCCESS"); } catch (Exception ex) { System.Console.WriteLine("ERROR"); } } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }

Parameters
listThe list.
Exceptions
CJACOOfflineExceptionJACO is offline (USB Connection)
CAccessDeniedExceptionYou must enter a valid password when you declare a CJacoArm object.
CJacoCommFailedExceptionCommunication has been broken and the system was not able to recover from the fault.
CPacketSynchroExceptionA USB packet has been skip during the communication.
CInvalidFunctionalityArgumentExceptionThe argument [list] is not valid.

The documentation for this class was generated from the following file: