private void ReConnectToRobot()
{
string strMsg = "";
try
{
if (!yamahaRCX340API.Connected)
{
_iTimes++;
strMsg = string.Format(">{0} 断开连接，即将尝试第 {1} 次重连...", _robotData.Name, _iTimes.ToString());
MainModule.AddRunMessage(strMsg, OutputLevel.Warn);
}
yamahaRCX340API.DisconnectToYamahaRobot();
System.Threading.Thread.Sleep(1000);
yamahaRCX340API.ConnectToYamahaRobot(_robotData.IP, (short)_robotData.Port, (short)_robotData.ReadTimeout);
if (yamahaRCX340API.Connected)
{
_iTimes = 0;
MainModule.AddRunMessage(">成功建立连接。", OutputLevel.Trace);
}
else
{
MainModule.AddRunMessage(">连接未成功。", OutputLevel.Warn);
}
System.Threading.Thread.Sleep(1000);
}
catch (Exception)
{
}
}
private void ThreadScan()
{
int iCount = 0;
System.Threading.Thread.Sleep(1000);
while (!MainModule.formMain.bExit)
{
System.Threading.Thread.Sleep(1000);
try
{
#region 掉线检测重连
if (!yamahaRCX340API.Connected) //取消自动重连
{
if (DataManage.CheckItemExist("System", "RXC340掉线重连次数"))
{
int iLimitTimes = DataManage.IntValue("System", "RXC340掉线重连次数");
if (_iTimes == iLimitTimes)
{
MainModule.alarmManage.InsertAlarm(AlarmKeys.ConnectAlarm1, "与机械手 YamahaRXC340 连接断开，请检查网络后在手动页面中手动重连！");
MainModule.AddRunMessage(">连接未成功。", OutputLevel.Warn);
_iTimes++;
continue;
}
else if (_iTimes > iLimitTimes)
{
continue;
}
}
ReConnectToRobot();
continue;
}
#endregion
#region 机械手信息获取
if (iCount % 2 == 0)
{
//2S
GetAlarmStatus();
//GetServoStatus();
GetCurrentPos();
}
if (iCount > 3)
{
//3S
//GetCurrentVel();
//GetCurrDist();
//iCount = 0;
}
//1S
GetInputStatus();
GetOutputStatus();
iCount++;
#endregion
}
catch (Exception)
{
}
}
}