 | KM_ |
This is the primary object for interfacing with a Dynomotion product in code
You can think of this object as representing the board and an access point for features of the hardware
There should only be one KM_Controller object per board, per application domain at any given time
To set project to update the GAC: "$(FrameworkSdkDir)\bin\gacutil.exe" /i "$(TargetPath)" /f
Inheritance HierarchyNamespace: KMotion_dotNet
Assembly: KMotion_dotNet (in KMotion_dotNet.dll) Version: 1.0.1.0 (1.0.1.0)
SyntaxThe KM_Controller type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | KM_Controller(Boolean) | Default constructor for the KM_Controller object Use this for single board applications |
| KM_Controller(Int32, Boolean) | Multiple board constructor for attaching this object to a specific board address |
Properties| Name | Description | |
|---|---|---|
 | BoardID | Board USB ID |
| BoardNumber | Board number (for use in multiple board scenarios) |
| BoardType | Dynomotion board device type |
| CoordMotion | Coordinated Motion Component |
| CurrentStatus | Locally maintained Main_Status struct |
| ErrorLog | Contains all error messages until cleared |
| InstanceHandle | KMotion_DLL class instance pointer |
| Loaded | Flag to determine that this object has been properly initialized |
| LockStatusOnUpdate | Flags whether to obtain a lock token while gathering the status data |
| MaxErrorLength | Maximum allowed return error string length |
| MessageLog | Contains all messages until cleared |
| StatusUpdateInterval | Maximum time in ms between refreshing the status |
| ThrowExceptions | If this flag is true, exceptions will be generated from the ErrorMsg handler |
Methods| Name | Description | |
|---|---|---|
| CheckCoffSize | Determines and returns the section sizes of various sections in a KFLOP coff (common object file format) file |
| CheckConnected | Tries to obtain a lock, and if a lock is obtained can execute optional actions before releasing the lock token. |
| CheckIsReady | Call this to check if a "Ready" response came back after a command was manually typed in and we don't know what the response will be if any Note:There is a possibility that other DSP threads are printing to the console screen First check if any input is available if not, return instantly (KMOTION_OK) if so, then a whole line might not be available but should be in transmission and be in very soon, so wait up to a short while to get in an entire line if the line doesn't come in for some reason return (KMOTION_TIMEOUT) check if the line should go to the console (esc) if so print it and repeat the above as long as there is still input available if the line is not console data, check for "Ready", if it is "Ready" send it to the console and return KMOTION_READY; otherwise send it to the console /// |
| ClearError | Clears the Error log |
| ClearFeedhold | Clears Feedhold without Resuming(Performs Console Command StopImmediate2) |
| ClearMessages | Clears the Message log |
| Compile | Compiles a source file |
| CompileAndLoadCoff | Compiles a source file and loads it into the board |
| Disconnect | Disconnect the application from the board |
| Dispose | Releases object resources |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
| ExecuteProgram(Int32) | Executes a previously loaded program |
| ExecuteProgram(Int32, String, Boolean) | Loads and executes a program from file |
| Feedhold | Initiates Feedhold (Performs Console Command StopImmediate0) |
 | Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object) |
| GetAxis | Creates a KM_Axis object |
| GetAxisGroup | Creates a KM_AxisGroup |
| GetBoards | Get Boards checks the list of connected board locations and returns the total board count |
| GetBoardType | Gets the board type BOARD_TYPE.KFLOP = 2 = KFlop 8 Axes Controller BOARD_TYPE.KOGNA = 3 = Kogna 16 Axis Controller |
| GetCommandValueT | Returns the value of a WriteLineReadLine(), converted to the requested type |
| GetFirmwareVersion | Query device for the loaded firmware version |
| GetHashCode | Serves as the default hash function. (Inherited from Object) |
| GetIO | Creates a new KM_IO bit |
| GetStatus | Generates and returns an updated copy of the MAIN_STATUS structure |
| GetType | Gets the Type of the current instance. (Inherited from Object) |
| GetUSBLocation | USB tree node location |
| GetUserData | Gets a 32 bit word of user data To set int value in KFLOP in C do: persist.UserData[index] = i; |
| GetUserDataDouble | Gets a 64 bit double from a KFLOP user data pair of 32 bit vars To set double value in KFLOP in C do: *(double *)&persist.UserData[index*2] = d; |
| GetUserDataFloat | Gets a 32 bit float word of user data To set float value in KFLOP in C do: *(float *)&persist.UserData[index] = f; |
| HasErrors | Checks if any error messages are in qeue |
| HasMessages | Checks if any messages are in qeue |
| KillProgramThreads | Halts the execution of each supplied thread |
| KMotionLock | Prevents outside access to the board This function is similar to the WaitToken function, except that it returns immediately (instead of waiting) if the board is already locked |
| LoadCoff(Int32, String) | Load a compiled C program into the board |
| LoadCoff(Int32, String, Int32) | Load a compiled C program into the board (with PackToFlash arg) |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object) |
| ReadLineTimeout | Block the calling thread while waiting for the response to complete within a specified timeout |
| RecoverKMotionLock | Recovers controller from a motion lock state |
| ReleaseToken | Allow normal access to the board |
| ResetUserData | Sets all words of user data to 0 |
| ResumeFeedhold | Resumes Feedhold (Performs Console Command StopImmediate1) |
| ServiceConsole | Flushes the console buffer |
| SetCallbackHandler | Sets the internal c++ interop callback handler Separate delegate for this callback prevents the Garbage Collector from releasing the unmanaged function pointer from being destroyed |
| SetFailed | Places the controller in a failed state, prevents further commands from processing |
| SetUserData | Sets a 32 bit word of integer user data |
| SetUserDataDouble | Sets a pair of two 32 bit words with a 64-bit double of user data To get the value in KFLOP in C do: double f = *(double *)&persist.UserData[index*2]; |
| SetUserDataFloat | Sets a 32 bit word with a 32-bit float of user data To get the value in KFLOP in C do: float f = *(float *)&persist.UserData[index]; |
| ThreadExecuting | Checks whether a User Program Thread is currently executing. |
| ToString | Returns a string that represents the current object. (Inherited from Object) |
| WaitForThreadComplete | Waits for a User Program Thread to finish executing. |
| WaitToken | Prevents outside access to the board until ReleaseToken is commanded |
| WriteLine | Sends a console command to the board |
| WriteLineReadLine | Sends a console command to the board and waits for the return value |
| WriteLineWithEcho | Sends a console command to the board while echoing commands back to the callback handler |
Events| Name | Description | |
|---|---|---|
 | ErrorReceived | Error Messages are routed through this event |
| MessageReceived | All general messages are pumped out from the internal callback handler thru this event |
See Also