private void refreshRobotDataInstance()
{
if (aRTDE.isSynchronizing)
{
RTDEOutputObj OutObj = aRTDE.getOutputObj();
dataGridData otherData = RobotOtherData.Find(x => x.varName == "A1");
otherData.varValue = Math.Round(OutObj.actual_q.X / Math.PI * 180, 2);
otherData = RobotOtherData.Find(x => x.varName == "A2");
otherData.varValue = Math.Round(OutObj.actual_q.Y / Math.PI * 180, 2);
otherData = RobotOtherData.Find(x => x.varName == "A3");
otherData.varValue = Math.Round(OutObj.actual_q.Z / Math.PI * 180, 2);
otherData = RobotOtherData.Find(x => x.varName == "A4");
otherData.varValue = Math.Round(OutObj.actual_q.Rx / Math.PI * 180, 2);
otherData = RobotOtherData.Find(x => x.varName == "A5");
otherData.varValue = Math.Round(OutObj.actual_q.Ry / Math.PI * 180, 2);
otherData = RobotOtherData.Find(x => x.varName == "A6");
otherData.varValue = Math.Round(OutObj.actual_q.Rz / Math.PI * 180, 2);
}
}
private void initData()
{
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
RexrothInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
RexrothOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "AI1";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "AI2";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "AO1";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "AO2";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "X电机";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "Y电机";
otherData.varValue = 0;
RexrothOtherData.Add(otherData);
}
/// <summary>
/// OPC UA值的响应函数
/// </summary>
/// <param name="clientHandle"></param>
/// <param name="value"></param>
private void ClientApi_ValueChanged(object clientHandle, DataValue value)
{
opcRealated.opcUA.opcUAServer curServer = m_Server;
// 如果需要唤醒主线程的更新控件功能.
if (!this.CheckAccess())
{
// Asynchronous execution of the valueChanged delegate.
this.Dispatcher.BeginInvoke(new valueChanged(ClientApi_ValueChanged), clientHandle, value);
return;
}
String keyID = (String)clientHandle;
dataGridData curData = beckhoffInputData.Find(c => c.IID.Equals(keyID));
curData.varValue = double.Parse(Utils.Format("{0}", value.Value));
}
private void initData()
{
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
beckhoffInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
beckhoffOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "AI1";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "AO1";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "电流";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "气压";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
}
private void initData()
{
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
SiemensInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
SiemensOutputData.Add(myData);
}
//dataGridData otherData = new dataGridData();
//otherData.varName = "AI1";
//otherData.varValue = 0;
//SiemensOtherData.Add(otherData);
//otherData = new dataGridData();
//otherData.varName = "AO1";
//otherData.varValue = 0;
//SiemensOtherData.Add(otherData);
//otherData = new dataGridData();
//otherData.varName = "电流";
//otherData.varValue = 0;
//SiemensOtherData.Add(otherData);
//otherData = new dataGridData();
//otherData.varName = "气压";
//otherData.varValue = 0;
//SiemensOtherData.Add(otherData);
}
private RTDE aRTDE; //RTDE instance, port: 30004
#endregion
#region initialize
private void initData()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
RobotInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
RobotOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "A1";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A2";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A3";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A4";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A5";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A6";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
private void initData(opcUAServer curServer)
{
Subscription in_Subscription = curServer.AddSubscription(100);
object serverHandle = null; //初始化服务器句柄
String nodeIDStr = "ns=2;s=curSimulation.IOGroup.Input0";
NodeId nodeId = new NodeId(nodeIDStr);
String iid = "data1";
object item = iid;
try
{
in_Subscription.AddDataMonitoredItem(nodeId, item, ClientApi_ValueChanged, 100, out serverHandle);
dataGridData myData = new dataGridData();
myData.IID = iid;
myData.varName = "I0";
myData.varValue = 0;
beckhoffInputData.Add(myData);
}
catch (Exception ex)
{
Console.WriteLine("添加项时出现异常，异常信息：" + ex);
}
serverHandle = null; //初始化服务器句柄
nodeIDStr = "ns=2;s=curSimulation.IOGroup.Input1";
nodeId = new NodeId(nodeIDStr);
iid = "data2";
item = iid;
try
{
in_Subscription.AddDataMonitoredItem(nodeId, item, ClientApi_ValueChanged, 100, out serverHandle);
dataGridData myData = new dataGridData();
myData.IID = iid;
myData.varName = "I1";
myData.varValue = 0;
beckhoffInputData.Add(myData);
}
catch (Exception ex)
{
Console.WriteLine("添加项时出现异常，异常信息：" + ex);
}
for (int i = 2; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
beckhoffInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
beckhoffOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "AI1";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "AO1";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "电流";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "气压";
otherData.varValue = 0;
beckhoffOtherData.Add(otherData);
}
private void initData()
{
for (int i = 0; i < 6; i++)
{
dataGridData myData = new dataGridData();
String explainName = "";
switch (i)
{
case 0:
explainName = "绿按钮";
break;
case 1:
explainName = "红按钮";
break;
case 2:
explainName = "急停按钮";
break;
case 3:
explainName = "气缸左位";
break;
case 4:
explainName = "气缸右位";
break;
case 5:
explainName = "";
break;
default:
explainName = "";
break;
}
myData.varName = "I" + i + "/" + explainName;
myData.varValue = 0;
PFInputData.Add(myData);
}
for (int i = 0; i < 6; i++)
{
dataGridData myData = new dataGridData();
String explainName = "";
switch (i)
{
case 0:
explainName = "红灯";
break;
case 1:
explainName = "绿灯";
break;
case 2:
explainName = "黄灯";
break;
case 3:
explainName = "急停灯";
break;
case 4:
explainName = "气缸左移";
break;
case 5:
explainName = "气缸右移";
break;
default:
explainName = "";
break;
}
myData.varName = "O" + i + "/" + explainName;
myData.varValue = 0;
PFOutputData.Add(myData);
}
}
