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Kinova.DLL.USBManager.Utils.CCommandFactory Class Reference

This utility class purpose is to build command from parameters More...

Static Public Member Functions

static CUSBPacket BuildGetCommand (CJacoStructures.IDCommand command)
 Builds a GET type command ready to be sent to the DSP. More...
 
static CPacketList SetZeroJointCommand (byte[] val)
 Builds the zero joint command. More...
 
static CPacketList SetZeroTorqueSensorsCommand (byte[] val)
 
static CPacketList SetActuatorAddressCommand (byte[] val)
 
static CUSBPacket BuildGetIndexedPositionCommand (CJacoStructures.IDCommand command, int index)
 
static CUSBPacket BuildGetIndexedErrorCommand (CJacoStructures.IDCommand command, int index)
 
static CPacketList DeleteProtectionZoneCommand ()
 Build a command to delete the protection zone. More...
 
static CPacketList DeleteErrorLogCommand ()
 Build a command to delete the error log command. More...
 
static CPacketList EraseFlash (int blockQuantity)
 Builds a command to erase the flash. More...
 
static CPacketList EraseTrajectory ()
 Build a command to erases the trajectory. More...
 
static CPacketList BuildActionCommand (CJacoStructures.IDCommand command, byte[] param)
 Builds a ACTION type command from a command's ID. More...
 
static CPacketList BuildSetCommand (bool speed, CJacoStructures.IDCommand idCommand, byte[] data)
 Builds the set command. More...
 
static byte[] BuildUsbHeader (short idPacket, short nbTotalPacket, short idCommand, short totalSize)
 Builds the usb header. More...
 

Detailed Description

This utility class purpose is to build command from parameters

Member Function Documentation

static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.BuildActionCommand ( CJacoStructures.IDCommand  command,
byte[]  param 
)
static

Builds a ACTION type command from a command's ID.

Parameters
commandThe command.
sourceThe source.
destThe dest.
Returns
A list USB packet representing a command.
static CUSBPacket Kinova.DLL.USBManager.Utils.CCommandFactory.BuildGetCommand ( CJacoStructures.IDCommand  command)
static

Builds a GET type command ready to be sent to the DSP.

Parameters
sourceThe source.
destThe dest.
commandID of the command.
Returns
A list USB packet representing a command.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.BuildSetCommand ( bool  speed,
CJacoStructures.IDCommand  idCommand,
byte[]  data 
)
static

Builds the set command.

Parameters
sourceThe source.
destThe dest.
speedif set to true [speed].
idCommandThe id command.
dataThe data.
Returns
A list USB packet representing a command.
static byte [] Kinova.DLL.USBManager.Utils.CCommandFactory.BuildUsbHeader ( short  idPacket,
short  nbTotalPacket,
short  idCommand,
short  totalSize 
)
static

Builds the usb header.

Parameters
idPacketThe id packet.
nbTotalPacketThe nb total packet.
idCommandThe id command.
totalSizeThe total size.
Returns
An array of byte representing a header.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.DeleteErrorLogCommand ( )
static

Build a command to delete the error log command.

Parameters
sourceThe source.
destThe dest.
Returns
A list USB packet representing a command.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.DeleteProtectionZoneCommand ( )
static

Build a command to delete the protection zone.

Parameters
sourceThe source.
destThe dest.
Returns
A list USB packet representing a command.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.EraseFlash ( int  blockQuantity)
static

Builds a command to erase the flash.

Parameters
sourceThe source.
destThe dest.
Returns
A list USB packet representing a command.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.EraseTrajectory ( )
static

Build a command to erases the trajectory.

Parameters
sourceThe source.
destThe dest.
Returns
A list USB packet representing a command.
static CPacketList Kinova.DLL.USBManager.Utils.CCommandFactory.SetZeroJointCommand ( byte[]  val)
static

Builds the zero joint command.

Parameters
sourceThe source.
destThe dest.
valThe val.
Returns
A list USB packet representing a command.

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