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API C#
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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... | |
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 }
| 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.
| encryptedPass | The encrypted password. |
| CAccessDeniedException | If the password provided is not valid. |
| 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"); }
| Name | The name. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ProfileName | Name of the profil. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ProfileName | Name of the profil. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ProfileName | Name of the profil. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ArgumentOutOfRangeException | Data 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. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| Name | The name. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| ProfileName | Name of the profil. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ProfileName | Name of the profile. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| ProfileName | Name of the profile. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| cfgClient | The client's configuration. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The 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"); }
| mapping | The mapping. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A 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"); }
| list | The list. |
| CJACOOfflineException | JACO is offline (USB Connection) |
| CAccessDeniedException | You must enter a valid password when you declare a CJacoArm object. |
| CJacoCommFailedException | Communication has been broken and the system was not able to recover from the fault. |
| CPacketSynchroException | A USB packet has been skip during the communication. |
| CInvalidFunctionalityArgumentException | The argument [list] is not valid. |