[Kenn_Tran]

I want to be able to timeout the collision check with MoveL_Test after 10 seconds on the C# API. But there doesn't seem to be a way to change the timeout unless i modify the function itself on the API. 

This is the function from the API:

Code:

        public int MoveL_Test(double[] j1, Mat t2, double minstepDeg = -1)
        {
            Link.check_connection();
            var command = "CollisionMoveL";
            Link.send_line(command);
            Link.send_item(this);
            Link.send_array(j1);
            Link.send_pose(t2);
            Link.send_int((int) (minstepDeg * 1000.0));
            Link.ReceiveTimeout = 3600 * 1000;
            var collision = Link.rec_int();
            Link.ReceiveTimeout = Link.DefaultSocketTimeoutMilliseconds;
            Link.check_status();
            return collision;
        }

I know there is the IRoboDKLink interface and the RoboDKLink class that inherits it but there's no public function to send the array, pose, and integer. For me to just create a copy of the function and specify the timeout time that I want.

What are my options to set the timeout for collision checking with MoveL_Test?

[Albert]

The timeout for the MoveL_Test function is hardcoded. You could use a variable instead. I'll bring this up with the tech team so we can provide an official update which allows you to customize this timeout.