private bool WaitForMoved(int timeOut = 5000)
{
object vntValue = null;
Alarm[] alarms;
float[] previousPos = GetCurrentPos();
Stopwatch sw = null;
do
{
RefreshDataTable();
_NumReg.GetValue(_NumReg.StartIndex, ref vntValue);
alarms = CurrentAlarms(1);
if (alarms[0].IsAlert)
{
return(false);
}
var curentPos = GetCurrentPos();
if (Enumerable.SequenceEqual(previousPos, curentPos))
{
if (sw == null)
{
sw = new Stopwatch();
sw.Start();
}
if (sw.ElapsedMilliseconds > timeOut)
{
return(false);
}
}
else
{
sw = null;
}
} while ((int)vntValue == 1);
return(true);
}
//refresh datatable1
private void refresh_dt1()
{
//init
short intLine = 0, intState = 0;
object vntValue = null, jobValue = null, nameValue = null;
string strProg = "", strParentProg = "";
Array lngAI = new int[2];
bool validRefresh = false;
var dtTemp = dt_Selected.Clone();
//datatable gets refreshed
validRefresh = objDataTable1.Refresh();
//if refresh failed, disconnect
if (validRefresh == false)
{
objCore.Disconnect();
Console.WriteLine("Disconnecting - refresh failed");
return;
}
//DATA FORMATTING
//NUMERIC REGISTERS
for (int i = 0; i <= objSelectedReg.Length - 1; i++)
{
if (objSelectedReg[i].GetValue(selectedRegArr[i], ref vntValue) == true)
{
//add data to return-datatable {id,regnr,value,bool}
dtTemp.Rows.Add(new object[] { selectedRegArr[i], selectedRegArr[i], vntValue, false });
}
else
{
dtTemp.Rows.Add(new object[] { selectedRegArr[i], selectedRegArr[i], null, false });
}
}
dt_Selected = dtTemp;
//TASKS
for (int i = objTaskList.GetLowerBound(0); i <= objTaskList.GetUpperBound(0); i++)
{
if (objTaskList[i].GetValue(ref strProg, ref intLine, ref intState, ref strParentProg))
{
//if empty, exit to outer loop
if (strProg == "")
{
break;
}
taskArr[i] = "TASK " + objTaskList[i].Index + " - Program: " + strProg + " - Line: " + intLine + " - State: " + intState + " - Parent: " + strParentProg;
}
else
{
taskArr[i] = "TASK " + objTaskList[i].Index + " - ERROR";
}
}
//ANALOG IO
//read AnalogOut - offset 1000 to get AO as in FANUC documentation
{
//read AnalogIn - offset 1000 to get AI as in FANUC documentation
if (objCore.ReadGI(1000 + 1, ref lngAI, 2) == false)
{
Console.WriteLine("Disconnected - read AI fail");
objCore.Disconnect();
return;
}
voltage = (int)lngAI.GetValue(1);
amp = (int)lngAI.GetValue(0);
}
//TASKNR of total tasks & NAME
if (numRegJob.GetValue(0, ref jobValue) == true)
{
job = "" + jobValue;
}
if (numRegofJob.GetValue(0, ref jobValue) == true)
{
ofJob = "" + jobValue;
}
if (objRobotName.GetValue(0, ref nameValue) == true)
{
robotName = "" + nameValue;
}
}