public Test()
{
InitializeComponent();
RunConsole();
bot = new Botnana("192.168.7.2");
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
BeginInvoke(new Deg(() =>
{
sdoControl1.Awake();
driveControl1.Awake();
axisControl1.Awake();
}));
Console.WriteLine("WS connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
BeginInvoke(new Deg(() =>
{
sdoControl1.Sleep();
driveControl1.Sleep();
axisControl1.Sleep();
}));
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
sdoControl1.InitializeBotnana(bot);
axisControl1.InitializeBotnana(bot);
realTimeScriptControl1.InitializeBotnana(bot);
driveControl1.InitializeBotnana(bot);
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
onMessageCallback = new HandleMessage(HandleMessageCB);
bot.SetOnMessageCB(IntPtr.Zero, onMessageCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 0, IntPtr.Zero, slavesRespondingCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
targetPositionCallback = new HandleMessage(TargetPositionCB);
bot.SetTagCB("target_position.1.1", 0, IntPtr.Zero, targetPositionCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
profileVelocityCallback = new HandleMessage(ProfileVelocityCB);
bot.SetTagCB("profile_velocity.1.1", 0, IntPtr.Zero, profileVelocityCallback);
profileAccelerationCallback = new HandleMessage(ProfileAccelerationCB);
bot.SetTagCB("profile_acceleration.1.1", 0, IntPtr.Zero, profileAccelerationCallback);
deployedCallback = new HandleMessage(DeployedCB);
bot.SetTagCB("deployed", 0, IntPtr.Zero, deployedCallback);
endOfProgramCallback = new HandleMessage(EndOfProgramCB);
bot.SetTagCB("end-of-program", 0, IntPtr.Zero, endOfProgramCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links");
bot.EvaluateScript("1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
sdoIndexCallback = new HandleMessage(SdoIndexCB);
bot.SetTagCB("sdo_index.1", 0, IntPtr.Zero, sdoIndexCallback);
sdoSubindexCallback = new HandleMessage(SdoSubindexCB);
bot.SetTagCB("sdo_subindex.1", 0, IntPtr.Zero, sdoSubindexCallback);
sdoErrorCallback = new HandleMessage(SdoErrorCB);
bot.SetTagCB("sdo_error.1", 0, IntPtr.Zero, sdoErrorCallback);
sdoBusyCallback = new HandleMessage(SdoBusyCB);
bot.SetTagCB("sdo_busy.1", 0, IntPtr.Zero, sdoBusyCallback);
sdoDataCallback = new HandleMessage(SdoDataCB);
bot.SetTagCB("sdo_data.1", 0, IntPtr.Zero, sdoDataCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
homingCallback = new HandleMessage(HomingCB);
bot.SetTagCB("homing", 0, IntPtr.Zero, homingCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 1, IntPtr.Zero, slavesRespondingCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links 0 $60B8 1 sdo-upload-i16 1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onDiWord = new HandleMessage(OnDiWordCallback);
bot.SetTagCB("din_wd.1.3", 0, IntPtr.Zero, onDiWord);
onDoWord = new HandleMessage(OnDoWordCallback);
bot.SetTagCB("dout_wd.1.2", 0, IntPtr.Zero, onDoWord);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 1000;
timer2.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onRTRealTorque = new HandleMessage(OnRTRealTorqueCallback);
bot.SetTagCB(@"rt_real_torque", 0, IntPtr.Zero, onRTRealTorque);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
onWaitingSDOs = new HandleMessage(OnWaitingSDOsCallback);
bot.SetTagCB(@"waiting_sdos_len", 0, IntPtr.Zero, onWaitingSDOs);
onPDSState = new HandleTagNameMessage(OnPDSStateCallback);
bot.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
onDriveStatus = new HandleTagNameMessage(OnDriveStatusCallback);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationModeCallback);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleTagNameMessage(OnHomingMethodCallback);
bot.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed1 = new HandleTagNameMessage(OnHomingSpeed1Callback);
bot.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
onHomingSpeed2 = new HandleTagNameMessage(OnHomingSpeed2Callback);
bot.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
onHomingAcc = new HandleTagNameMessage(OnHomingAccCallback);
bot.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcc);
onProfileVelocity = new HandleTagNameMessage(OnProfileVelocityCallback);
bot.SetTagNameCB(@"profile_velocity", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcc = new HandleTagNameMessage(OnProfileAccCallback);
bot.SetTagNameCB(@"profile_acceleration", 0, IntPtr.Zero, onProfileAcc);
onRealPosition = new HandleTagNameMessage(OnRealPositionCallback);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
onRealTorque = new HandleTagNameMessage(OnRealTorqueCallback);
bot.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
onDigitalInputs = new HandleTagNameMessage(OnDigitalInputsCallback);
bot.SetTagNameCB("digital_inputs", 0, IntPtr.Zero, onDigitalInputs);
onTargetPosition = new HandleTagNameMessage(OnTargetPositionCallback);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onAxisPosition = new HandleTagNameMessage(OnAxisPositionCallback);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisPosition);
onFeedbackPosition = new HandleTagNameMessage(OnFeedbackPositionCallback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onFeedbackPosition);
onEncoderLengthUnit = new HandleTagNameMessage(OnEncoderLengthUnitCallback);
bot.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
onEncoderPPU = new HandleTagNameMessage(OnEncoderPPUCallback);
bot.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
onDriveAlias = new HandleTagNameMessage(OnDriveAliasCallback);
bot.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
onDriveSlavePosition = new HandleTagNameMessage(OnDriveSlavePositionCallback);
bot.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
onDriveChannel = new HandleTagNameMessage(OnDriveChannelCallback);
bot.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
onAxisVmax = new HandleTagNameMessage(OnAxisVmaxCallback);
bot.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
onAxisAmax = new HandleTagNameMessage(OnAxisAmaxCallback);
bot.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
onGroupType = new HandleTagNameMessage(OnGroupTypeCallback);
bot.SetTagNameCB(@"group_type", 0, IntPtr.Zero, onGroupType);
onGroupMapping = new HandleTagNameMessage(OnGroupMappingCallback);
bot.SetTagNameCB(@"group_mapping", 0, IntPtr.Zero, onGroupMapping);
onGroupVmax = new HandleTagNameMessage(OnGroupVmaxCallback);
bot.SetTagNameCB(@"group_vmax", 0, IntPtr.Zero, onGroupVmax);
onGroupAmax = new HandleTagNameMessage(OnGroupAmaxCallback);
bot.SetTagNameCB(@"group_amax", 0, IntPtr.Zero, onGroupAmax);
onGroupJmax = new HandleTagNameMessage(OnGroupJmaxCallback);
bot.SetTagNameCB(@"group_jmax", 0, IntPtr.Zero, onGroupJmax);
onTravelTime = new HandleMessage(OnTravelTimeCallback);
bot.SetTagCB(@"travel_time", 0, IntPtr.Zero, onTravelTime);
onDeviceInfos = new HandleMessage(OnDeviceInfos);
bot.SetTagCB(@"device_infos", 1, IntPtr.Zero, onDeviceInfos);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
chartTorque.ChartAreas[0].AxisX.Minimum = 0;
chartTorque.ChartAreas[0].AxisX.Maximum = QueueCapacity;
timer1.Interval = 10;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
torqueThread = new Thread(new ThreadStart(this.getTorqueInformation));
pauseEvent = new ManualResetEvent(false);
torqueThread.IsBackground = true;
torqueThread.Start();
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onAxisSectionPositions = new HandleTagNameMessage(OnAxisSectionPositions);
bot.SetTagNameCB(@"axis_section_p", 0, IntPtr.Zero, onAxisSectionPositions);
onAxisSectionVecloities = new HandleTagNameMessage(OnAxisSectionVecloities);
bot.SetTagNameCB(@"axis_section_v", 0, IntPtr.Zero, onAxisSectionVecloities);
onAxisRunnings = new HandleTagNameMessage(OnAxisRunnings);
bot.SetTagNameCB(@"axis_running", 0, IntPtr.Zero, onAxisRunnings);
onAxisCmds = new HandleTagNameMessage(OnAxisCmds);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxisCmds);
onAxisDemands = new HandleTagNameMessage(OnAxisDemands);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisDemands);
onAxisFeedbacks = new HandleTagNameMessage(OnAxisFeedbacks);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxisFeedbacks);
onAxisReacheds = new HandleTagNameMessage(OnAxisReacheds);
bot.SetTagNameCB(@"axis_interpolator_reached", 0, IntPtr.Zero, onAxisReacheds);
onAxisInterpolatorEnables = new HandleTagNameMessage(OnAxisInterpolatorEnables);
bot.SetTagNameCB(@"axis_interpolator_enabled", 0, IntPtr.Zero, onAxisInterpolatorEnables);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 將區段位置與速度的參數元件放到一個陣列內
textAxisSectionPositions[1, 1] = textAxis1P1;
textAxisSectionPositions[1, 2] = textAxis1P2;
textAxisSectionPositions[1, 3] = textAxis1P3;
textAxisSectionPositions[1, 4] = textAxis1P4;
textAxisSectionPositions[1, 5] = textAxis1P5;
textAxisSectionVecloities[1, 1] = textAxis1V1;
textAxisSectionVecloities[1, 2] = textAxis1V2;
textAxisSectionVecloities[1, 3] = textAxis1V3;
textAxisSectionVecloities[1, 4] = textAxis1V4;
textAxisSectionVecloities[1, 5] = textAxis1V5;
textAxisSectionPositions[2, 1] = textAxis2P1;
textAxisSectionPositions[2, 2] = textAxis2P2;
textAxisSectionPositions[2, 3] = textAxis2P3;
textAxisSectionPositions[2, 4] = textAxis2P4;
textAxisSectionPositions[2, 5] = textAxis2P5;
textAxisSectionVecloities[2, 1] = textAxis2V1;
textAxisSectionVecloities[2, 2] = textAxis2V2;
textAxisSectionVecloities[2, 3] = textAxis2V3;
textAxisSectionVecloities[2, 4] = textAxis2V4;
textAxisSectionVecloities[2, 5] = textAxis2V5;
timerWSCheck.Interval = 1000;
timerWSCheck.Enabled = true;
timerLoop.Interval = 50;
timerLoop.Enabled = true;
}
public FormApp()
{
InitializeComponent();
bot = new Botnana("192.168.7.2");
// 啟動終端機，可幫助除錯，若不使用可不啟動。
RunConsole();
// On WebSocket open callback.
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
rebooting = false;
BeginInvoke(new Appdeg(() =>
{
buttonWSState.Text = "WebSocket ready";
buttonWSState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .device-infos 取得周邊裝置的資訊
// .user-para 回應的訊息範例如下:
// user_parameter|0
bot.EvaluateScript(@"user-para@ 32 min user-para! .user-para");
Console.WriteLine("WebSocket connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// On WebSocket error callback.
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
slavesCount = 0;
hasSFC = false;
BeginInvoke(new Appdeg(() => {
buttonWSState.Text = "WebSocket not ready";
buttonWSState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
formTorque.Reset();
formFeeder.Reset();
formRCON.Reset();
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// On Message callback.
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// On Error tag callback
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (errorsLen < 3)
{
errorsLen += 1;
new Thread(() =>
{
System.Windows.Forms.MessageBox.Show("Error|" + str);
errorsLen -= 1;
}).Start();
}
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// On user_parameter tag callback.
onUserParameter = new HandleMessage((IntPtr dataPtr, string str) =>
{
switch (Int32.Parse(str))
{
case 0:
Console.WriteLine("OnUserParameterCallback 0");
if (webSocketState == 2 && !rebooting)
{
// 設定 user parameter 為 16，如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
bot.EvaluateScript(@"ignore-overrun 0sfc -work marker -work");
bot.LoadSFC(@"config.fs");
bot.LoadSFC(@"sdo.fs");
bot.LoadSFC(@"torque.fs");
bot.LoadSFC(@"feeder.fs");
bot.LoadSFC(@"rcon.fs");
bot.LoadSFC(@"manager.fs");
bot.EvaluateScript(@"marker -app .user-para");
}
break;
case 16:
Console.WriteLine("OnUserParameterCallback 16");
// 載入後執行 `reset-overrun`
BotEvaluateScript(@"reset-overrun 32 user-para! .user-para");
break;
case 32:
Console.WriteLine("OnUserParameterCallback 32");
formTorque.Initialize();
formFeeder.Initialize();
formRCON.Initialize();
BotEvaluateScript(@"+coordinator 64 user-para! .user-para");
break;
case 64:
Console.WriteLine("OnUserParameterCallback 64");
hasSFC = true;
break;
default:
break;
}
});
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// On ec_ready tag callback.
onECReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "1")
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onECReady);
// On slaves_responding tag callback.
onSlavesResponding = new HandleMessage((IntPtr dataPtr, string str) =>
{
slavesCount = int.Parse(str);
});
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// On system_ready tag callback.
onSystemReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "-1")
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System ready";
buttonSystemReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
formTorque = new FormTorque();
formFeeder = new FormFeeder();
formRCON = new FormRCON();
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onGroupNextV = new HandleMessage(OnGroupNextV);
bot.SetTagCB(@"group_next_v", 0, IntPtr.Zero, onGroupNextV);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onDeviceType = new HandleTagNameMessage(OnDeviceType);
bot.SetTagNameCB(@"device_type", 0, IntPtr.Zero, onDeviceType);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onAxesCmd = new HandleTagNameMessage(OnAxesCmd);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxesCmd);
onAxesFeedback = new HandleTagNameMessage(OnAxesFeedback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxesFeedback);
onAxesFollowingErr = new HandleTagNameMessage(OnAxesFollowingErr);
bot.SetTagNameCB(@"following_error", 0, IntPtr.Zero, onAxesFollowingErr);
onMPGEncoder = new HandleMessage(OnMPGEncoder);
bot.SetTagCB("real_position.1.6", 0, IntPtr.Zero, onMPGEncoder);
onMPGDis = new HandleMessage(OnMPGDisCB);
bot.SetTagCB("din_wd.1.7", 0, IntPtr.Zero, onMPGDis);
chartPath.ChartAreas[0].AxisX.Minimum = -10.0;
chartPath.ChartAreas[0].AxisX.Maximum = 160.0;
chartVelocity.ChartAreas[0].AxisX.Minimum = 0;
chartVelocity.ChartAreas[0].AxisX.Maximum = 2000;
chartVelocity.ChartAreas[0].AxisY.Minimum = -500;
chartVelocity.ChartAreas[0].AxisY.Maximum = 2000;
chartVelocity.Series[0].BorderWidth = 3;
chartVelocity.ChartAreas[0].AxisX.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisX.MinorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MinorGrid.Enabled = false;
pathThread = new Thread(new ThreadStart(this.getPathInformation));
velocityThread = new Thread(new ThreadStart(this.getVelocityInformation));
pauseEvent = new ManualResetEvent(true);
pathThread.IsBackground = true;
pathThread.Start();
velocityThread.IsBackground = true;
velocityThread.Start();
InitPathChart();
InitVelocityChart();
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onError = new HandleMessage(OnErrorCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onError);
onPr3411 = new HandleMessage(OnPr3411Callback);
bot.SetTagCB(@"pr3411 ", 0, IntPtr.Zero, onPr3411);
onPr3444 = new HandleMessage(OnPr3444Callback);
bot.SetTagCB(@"pr3444 ", 0, IntPtr.Zero, onPr3444);
onPr3445 = new HandleMessage(OnPr3445Callback);
bot.SetTagCB(@"pr3445 ", 0, IntPtr.Zero, onPr3445);
onPr3447 = new HandleMessage(OnPr3447Callback);
bot.SetTagCB(@"pr3447 ", 0, IntPtr.Zero, onPr3447);
onPr3448 = new HandleMessage(OnPr3448Callback);
bot.SetTagCB(@"pr3448 ", 0, IntPtr.Zero, onPr3448);
onPr3449 = new HandleMessage(OnPr3449Callback);
bot.SetTagCB(@"pr3449 ", 0, IntPtr.Zero, onPr3449);
onPr3450 = new HandleMessage(OnPr3450Callback);
bot.SetTagCB(@"pr3450 ", 0, IntPtr.Zero, onPr3450);
onPr3451 = new HandleMessage(OnPr3451Callback);
bot.SetTagCB(@"pr3451 ", 0, IntPtr.Zero, onPr3451);
onPr3452 = new HandleMessage(OnPr3452Callback);
bot.SetTagCB(@"pr3452 ", 0, IntPtr.Zero, onPr3452);
onPr3453 = new HandleMessage(OnPr3453Callback);
bot.SetTagCB(@"pr3453 ", 0, IntPtr.Zero, onPr3453);
onPr3454 = new HandleMessage(OnPr3454Callback);
bot.SetTagCB(@"pr3454 ", 0, IntPtr.Zero, onPr3454);
onPr3455 = new HandleMessage(OnPr3455Callback);
bot.SetTagCB(@"pr3455 ", 0, IntPtr.Zero, onPr3455);
onPr3456 = new HandleMessage(OnPr3456Callback);
bot.SetTagCB(@"pr3456 ", 0, IntPtr.Zero, onPr3456);
onPr3457 = new HandleMessage(OnPr3457Callback);
bot.SetTagCB(@"pr3457 ", 0, IntPtr.Zero, onPr3457);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onWaitingSDOs = new HandleMessage(OnWaitingSDOsCallback);
bot.SetTagCB(@"waiting_sdos_len", 0, IntPtr.Zero, onWaitingSDOs);
onOperationMode = new HandleMessage(OnOperationModeCallback);
bot.SetTagCB(@"operation_mode.1.1", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleMessage(OnHomingMethodCallback);
bot.SetTagCB(@"homing_method.1.1", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed2 = new HandleMessage(OnHomingSpeed2Callback);
bot.SetTagCB(@"homing_speed_2.1.1", 0, IntPtr.Zero, onHomingSpeed2);
onProfileVelocity = new HandleMessage(OnProfileVelocityCallback);
bot.SetTagCB(@"profile_velocity.1.1", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcc = new HandleMessage(OnProfileAccCallback);
bot.SetTagCB(@"profile_acceleration.1.1", 0, IntPtr.Zero, onProfileAcc);
onRealPosition = new HandleMessage(OnRealPositionCallback);
bot.SetTagCB(@"real_position.1.1", 0, IntPtr.Zero, onRealPosition);
onTargetPosition = new HandleMessage(OnTargetPositionCallback);
bot.SetTagCB(@"target_position.1.1", 0, IntPtr.Zero, onTargetPosition);
onPDSState = new HandleMessage(OnPDSStateCallback);
bot.SetTagCB(@"pds_state.1.1", 0, IntPtr.Zero, onPDSState);
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 200;
timer2.Enabled = true;
}
public Form1()
{
InitializeComponent();
bot = new Botnana("192.168.7.2");
onWSOpen = new HandleMessage(OnWSOpenCB);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onWSError = new HandleMessage(OnWSErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onUserParameter = new HandleMessage(OnUserParameterCB);
bot.SetTagCB("user_parameter", 0, IntPtr.Zero, onUserParameter);
onSFCReady = new HandleMessage(OnSFCReadyCB);
bot.SetTagCB("SFC_ready", 0, IntPtr.Zero, onSFCReady);
onRCONReady = new HandleMessage(OnRCONReadyCB);
bot.SetTagCB("RCON_ready", 0, IntPtr.Zero, onRCONReady);
onPLCEnabled = new HandleMessage(OnPLCEnabledCB);
bot.SetTagCB("PLC_enabled", 0, IntPtr.Zero, onPLCEnabled);
onGWControl = new HandleMessage(OnGWControlCB);
bot.SetTagCB("GW_control", 0, IntPtr.Zero, onGWControl);
onGWStatus = new HandleMessage(OnGWStatusCB);
bot.SetTagCB("GW_status", 0, IntPtr.Zero, onGWStatus);
onAXControl = new HandleMessage(OnAXControlCB);
bot.SetTagCB("AX_control", 0, IntPtr.Zero, onAXControl);
onAXPSD = new HandleMessage(OnAXPSDCB);
bot.SetTagCB("AX_PSD", 0, IntPtr.Zero, onAXPSD);
onAXPW = new HandleMessage(OnAXPWCB);
bot.SetTagCB("AX_PW", 0, IntPtr.Zero, onAXPW);
onAXSPD = new HandleMessage(OnAXSPDCB);
bot.SetTagCB("AX_SPD", 0, IntPtr.Zero, onAXSPD);
onAXACDEC = new HandleMessage(OnAXACDECCB);
bot.SetTagCB("AX_ACDEC", 0, IntPtr.Zero, onAXACDEC);
onAXPCLV = new HandleMessage(OnAXPCLVCB);
bot.SetTagCB("AX_PCLV", 0, IntPtr.Zero, onAXPCLV);
onAXStatus = new HandleMessage(OnAXStatusCB);
bot.SetTagCB("AX_status", 0, IntPtr.Zero, onAXStatus);
onAXPPD = new HandleMessage(OnAXPPDCB);
bot.SetTagCB("AX_PPD", 0, IntPtr.Zero, onAXPPD);
onAXMCCV = new HandleMessage(OnAXMCCVCB);
bot.SetTagCB("AX_MCCV", 0, IntPtr.Zero, onAXMCCV);
onAXPSPD = new HandleMessage(OnAXPSPDCB);
bot.SetTagCB("AX_PSPD", 0, IntPtr.Zero, onAXPSPD);
onAXALMC = new HandleMessage(OnAXALMCCB);
bot.SetTagCB("AX_ALMC", 0, IntPtr.Zero, onAXALMC);
}
private void Form1_Load(object sender, EventArgs e)
{
botnana = new Botnana("192.168.7.2");
// 設定 callback function
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
botnana.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
onWsOpenCallback = new HandleMessage(OnWsOpenCB);
botnana.SetOnOpenCB(IntPtr.Zero, onWsOpenCallback);
onErrorMessage = new HandleMessage(OnErrorMessageCB);
botnana.SetTagCB("error", 0, IntPtr.Zero, onErrorMessage);
onEcReady = new HandleMessage(OnEcReadyCB);
botnana.SetTagCB("ec_ready", 0, IntPtr.Zero, onEcReady);
onSlavesLen = new HandleMessage(OnSlavesLenCB);
botnana.SetTagCB("slaves_responding", 0, IntPtr.Zero, onSlavesLen);
onMPGEncoder = new HandleMessage(OnMPGEncoderCB);
botnana.SetTagCB("real_position.1.3", 0, IntPtr.Zero, onMPGEncoder);
onMPGDis = new HandleMessage(OnMPGDisCB);
botnana.SetTagCB("din_wd.1.4", 0, IntPtr.Zero, onMPGDis);
onDriveRealPosition = new HandleMessage(OnDriveRealPositionCB);
botnana.SetTagCB("real_position.1.1", 0, IntPtr.Zero, onDriveRealPosition);
onDriveTargetPosition = new HandleMessage(OnDriveTargetPositionCB);
botnana.SetTagCB("target_position.1.1", 0, IntPtr.Zero, onDriveTargetPosition);
onDriveStatus = new HandleMessage(OnDriveStatusCB);
botnana.SetTagCB("status_word.1.1", 0, IntPtr.Zero, onDriveStatus);
onDriveMode = new HandleMessage(OnDriveModeCB);
botnana.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, onDriveMode);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabledCB);
botnana.SetTagCB("coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
onAxisEnabled = new HandleMessage(OnAxisEnabledCB);
botnana.SetTagCB("axis_interpolator_enabled.1", 0, IntPtr.Zero, onAxisEnabled);
onAxisReached = new HandleMessage(OnAxisReachedCB);
botnana.SetTagCB("axis_interpolator_reached.1", 0, IntPtr.Zero, onAxisReached);
onAxisFeedback = new HandleMessage(OnAxisFeedbackCB);
botnana.SetTagCB("feedback_position.1", 0, IntPtr.Zero, onAxisFeedback);
onAxisDemand = new HandleMessage(OnAxisDemandCB);
botnana.SetTagCB("axis_demand_position.1", 0, IntPtr.Zero, onAxisDemand);
onAxisCommand = new HandleMessage(OnAxisCommandCB);
botnana.SetTagCB("axis_command_position.1", 0, IntPtr.Zero, onAxisCommand);
onAxisFollowingError = new HandleMessage(OnAxisFollowingErrorCB);
botnana.SetTagCB("following_error.1", 0, IntPtr.Zero, onAxisFollowingError);
onUserParameter = new HandleMessage(OnUserParameterCB);
botnana.SetTagCB("user_parameter", 0, IntPtr.Zero, onUserParameter);
onMpgSelected = new HandleMessage(OnMpgSelectedCB);
botnana.SetTagCB("mpg_selected", 0, IntPtr.Zero, onMpgSelected);
onMpgSfcRate = new HandleMessage(OnMpgSfcRateCB);
botnana.SetTagCB("mpg_rate", 0, IntPtr.Zero, onMpgSfcRate);
onSfcCondition = new HandleMessage(OnSfcConditionCB);
botnana.SetTagCB("condition_ok", 0, IntPtr.Zero, onSfcCondition);
timer1.Interval = 50;
timer1.Enabled = true;
timerSlow.Interval = 1000;
timerSlow.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// 收到 tag = slaves_responding 就呼叫 OnSlavesRespondingCallback
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// 收到 tag = al_states 就呼叫 OnSlavesStateCallback
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// 收到 tag = ain.1.4 就呼叫 OnAin1Callback
// ain.1.4 表示第 4 個從站第 1 管道的 AIN
onAins[1] = new HandleMessage(OnAin1Callback);
bot.SetTagCB(@"ain.1." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[1]);
onAins[2] = new HandleMessage(OnAin2Callback);
bot.SetTagCB(@"ain.2." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[2]);
onAins[3] = new HandleMessage(OnAin3Callback);
bot.SetTagCB(@"ain.3." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[3]);
onAins[4] = new HandleMessage(OnAin4Callback);
bot.SetTagCB(@"ain.4." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[4]);
// 收到 tag = aout.1.4 就呼叫 OnAout1Callback
// aout.1.5 表示第 5 個從站第 1 管道的 Aout
onAouts[1] = new HandleMessage(OnAout1Callback);
bot.SetTagCB(@"aout.1." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[1]);
onAouts[2] = new HandleMessage(OnAout2Callback);
bot.SetTagCB(@"aout.2." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[2]);
onAouts[3] = new HandleMessage(OnAout3Callback);
bot.SetTagCB(@"aout.3." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[3]);
onAouts[4] = new HandleMessage(OnAout4Callback);
bot.SetTagCB(@"aout.4." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[4]);
// 收到 tag = ain_enabled.1.4 就呼叫 OnAin1EnabledCallback
// ain_enabled.1.4 表示第 4 個從站第 1 管道的 AIN Enabled
onAinsEnabled[1] = new HandleMessage(OnAin1EnabledCallback);
bot.SetTagCB(@"ain_enabled.1." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[1]);
onAinsEnabled[2] = new HandleMessage(OnAin2EnabledCallback);
bot.SetTagCB(@"ain_enabled.2." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[2]);
onAinsEnabled[3] = new HandleMessage(OnAin3EnabledCallback);
bot.SetTagCB(@"ain_enabled.3." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[3]);
onAinsEnabled[4] = new HandleMessage(OnAin4EnabledCallback);
bot.SetTagCB(@"ain_enabled.4." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[4]);
// 收到 tag = aout_enabled.1.5 就呼叫 OnAout1EnabledCallback
// aout_enabled.1.5 表示第 5 個從站第 1 管道的 AOUT Enabled
onAoutsEnabled[1] = new HandleMessage(OnAout1EnabledCallback);
bot.SetTagCB(@"aout_enabled.1." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[1]);
onAoutsEnabled[2] = new HandleMessage(OnAout2EnabledCallback);
bot.SetTagCB(@"aout_enabled.2." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[2]);
onAoutsEnabled[3] = new HandleMessage(OnAout3EnabledCallback);
bot.SetTagCB(@"aout_enabled.3." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[3]);
onAoutsEnabled[4] = new HandleMessage(OnAout4EnabledCallback);
bot.SetTagCB(@"aout_enabled.4." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[4]);
// 收到 tag = aout1_mode 就呼叫 OnAout1ModeCallback
onAoutsMode[1] = new HandleMessage(OnAout1ModeCallback);
bot.SetTagCB(@"aout1_mode", 0, IntPtr.Zero, onAoutsMode[1]);
onAoutsMode[2] = new HandleMessage(OnAout2ModeCallback);
bot.SetTagCB(@"aout2_mode", 0, IntPtr.Zero, onAoutsMode[2]);
onAoutsMode[3] = new HandleMessage(OnAout3ModeCallback);
bot.SetTagCB(@"aout3_mode", 0, IntPtr.Zero, onAoutsMode[3]);
onAoutsMode[4] = new HandleMessage(OnAout4ModeCallback);
bot.SetTagCB(@"aout4_mode", 0, IntPtr.Zero, onAoutsMode[4]);
onAinMode = new HandleMessage(OnAinModeCallback);
bot.SetTagCB(@"ain_mode", 0, IntPtr.Zero, onAinMode);
// 收到 tag = user_parameter 就呼叫 OnUserParameterCallback
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// 進行連線
wsState = 1;
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 1000;
timer2.Enabled = true;
radioAin1Enabled.AutoCheck = false;
radioAin2Enabled.AutoCheck = false;
radioAin3Enabled.AutoCheck = false;
radioAin4Enabled.AutoCheck = false;
radioAout1Enabled.AutoCheck = false;
radioAout2Enabled.AutoCheck = false;
radioAout3Enabled.AutoCheck = false;
radioAout4Enabled.AutoCheck = false;
comboAout1Mode.SelectedIndex = 0;
comboAout2Mode.SelectedIndex = 0;
comboAout3Mode.SelectedIndex = 0;
comboAout4Mode.SelectedIndex = 0;
comboAinMode.SelectedIndex = 0;
groupAinStatus.Text = "AIN Status (Slave " + DeltaAinSlavePosStr + ")";
groupAoutStatus.Text = "AOUT Status (Slave " + DeltaAoutSlavePosStr + ")";
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
onFeederReady = new HandleMessage(OnFeederReady);
bot.SetTagCB(@"feeder_ready", 0, IntPtr.Zero, onFeederReady);
onEncoderPosition = new HandleTagNameMessage(OnEncoderPosition);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onEncoderPosition);
onTargetPosition = new HandleTagNameMessage(OnTargetPosition);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationMode);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onDriveDigitalInputs = new HandleTagNameMessage(OnDriveDigitalInputs);
bot.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDriveDigitalInputs);
onTouchProbe = new HandleTagNameMessage(OnTouchProbe);
bot.SetTagNameCB(@"touch_probe_function", 0, IntPtr.Zero, onTouchProbe);
onCylinder = new HandleTagNameMessage(OnCylinder);
bot.SetTagNameCB(@"dout", 0, IntPtr.Zero, onCylinder);
onTPLatchPosition1 = new HandleTagNameMessage(OnTPLatchPosition1);
bot.SetTagNameCB(@"tp_position_value_1", 0, IntPtr.Zero, onTPLatchPosition1);
onTPLatchPosition2 = new HandleTagNameMessage(OnTPLatchPosition2);
bot.SetTagNameCB(@"tp_position_value_2", 0, IntPtr.Zero, onTPLatchPosition2);
onCylinderOnMs = new HandleMessage(OnCylinderOnMs);
bot.SetTagCB(@"cylinder_on_duration", 0, IntPtr.Zero, onCylinderOnMs);
onCylinderOffMs = new HandleMessage(OnCylinderOffMs);
bot.SetTagCB(@"cylinder_off_duration", 0, IntPtr.Zero, onCylinderOffMs);
onRotationDistance = new HandleMessage(OnRotationDistance);
bot.SetTagCB(@"feeder_rotation_distance", 0, IntPtr.Zero, onRotationDistance);
onRotationSpeed = new HandleMessage(OnRotationSpeed);
bot.SetTagCB(@"feeder_rotation_speed", 0, IntPtr.Zero, onRotationSpeed);
onSettlingDuration = new HandleMessage(OnSettlingDuration);
bot.SetTagCB(@"feeder_settling_duration", 0, IntPtr.Zero, onSettlingDuration);
onRetryCountMax = new HandleMessage(OnRetryCountMax);
bot.SetTagCB(@"feeder_retry_count_max", 0, IntPtr.Zero, onRetryCountMax);
onDriveDeviceSlave = new HandleMessage(OnDriveDeviceSlave);
bot.SetTagCB(@"drive_device_slave", 1, IntPtr.Zero, onDriveDeviceSlave);
onDriveDeviceChannel = new HandleMessage(OnDriveDeviceChannel);
bot.SetTagCB(@"drive_device_channel", 1, IntPtr.Zero, onDriveDeviceChannel);
onCylinderDeviceSlave = new HandleMessage(OnCylinderDeviceSlave);
bot.SetTagCB(@"cylinder_device_slave", 1, IntPtr.Zero, onCylinderDeviceSlave);
onCylinderDeviceChannel = new HandleMessage(OnCylinderDeviceChannel);
bot.SetTagCB(@"cylinder_device_channel", 1, IntPtr.Zero, onCylinderDeviceChannel);
onFeederRunning = new HandleMessage(OnFeederRunning);
bot.SetTagCB(@"feeder_running", 0, IntPtr.Zero, onFeederRunning);
onFeederEMS = new HandleMessage(OnFeederEMS);
bot.SetTagCB(@"feeder_ems", 0, IntPtr.Zero, onFeederEMS);
onFeederOperationMs = new HandleMessage(OnFeederOperationMs);
bot.SetTagCB(@"feeder_operation_ms", 0, IntPtr.Zero, onFeederOperationMs);
onTPStatus = new HandleTagNameMessage(OnTPStatus);
bot.SetTagNameCB(@"sdo_0_24761", 0, IntPtr.Zero, onTPStatus);
onTPDetected1 = new HandleMessage(OnTPDetected1);
bot.SetTagCB(@"tp_detected_1", 0, IntPtr.Zero, onTPDetected1);
onTPDetected2 = new HandleMessage(OnTPDetected2);
bot.SetTagCB(@"tp_detected_2", 0, IntPtr.Zero, onTPDetected2);
onTPDetectedPosition1 = new HandleMessage(OnTPDetectedPosition1);
bot.SetTagCB(@"tp_detected_position_1", 0, IntPtr.Zero, onTPDetectedPosition1);
onTPDetectedPosition2 = new HandleMessage(OnTPDetectedPosition2);
bot.SetTagCB(@"tp_detected_position_2", 0, IntPtr.Zero, onTPDetectedPosition2);
timerSlow.Enabled = true;
timerPoll.Enabled = true;
timer1s.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
mcsPositions = new double[3];
pcsPositions = new double[3];
pva = new double[3];
axisHomed = new int[3];
axisRealPositions = new double[3];
axisHomingV1 = new UInt32[3];
axisHomingV2 = new UInt32[3];
axisHomingMethod = new UInt32[3];
// 首先要連線到 Botnana Control, 當收到 WS 連線錯誤, 就呼叫 on_error_callback
bot = new Botnana("192.168.7.2");
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// 當收到 Botnana Control 的訊息, 就呼叫 on_message_callback
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// 定義收到信息中指定的 Tag 時，所要呼叫的 callback 信息
bot.SetTagCB("MCS.1", 0, IntPtr.Zero, onMcs);
bot.SetTagCB("PCS.1", 0, IntPtr.Zero, onPcs);
bot.SetTagCB("pva.1", 0, IntPtr.Zero, onPva);
bot.SetTagCB("move_length.1", 0, IntPtr.Zero, onMoveLength);
bot.SetTagCB("path_id.1", 0, IntPtr.Zero, onPathId);
bot.SetTagCB("servo_on", 0, IntPtr.Zero, onServoOn);
bot.SetTagCB("motion_state", 0, IntPtr.Zero, onMotionState);
bot.SetTagCB("axis_corrected_position.1", 0, IntPtr.Zero, onAxisRealPositionX);
bot.SetTagCB("axis_corrected_position.2", 0, IntPtr.Zero, onAxisRealPositionY);
bot.SetTagCB("axis_corrected_position.3", 0, IntPtr.Zero, onAxisRealPositionZ);
bot.SetTagCB("axis_homed.1", 0, IntPtr.Zero, onAxisHomedX);
bot.SetTagCB("axis_homed.2", 0, IntPtr.Zero, onAxisHomedY);
bot.SetTagCB("axis_homed.3", 0, IntPtr.Zero, onAxisHomedZ);
bot.SetTagCB("nc_owner", 0, IntPtr.Zero, onNcOwner);
bot.SetTagCB("nc_suspended", 0, IntPtr.Zero, onNcSuspended);
bot.SetTagCB("devices_ok", 0, IntPtr.Zero, onDevicesOk);
bot.SetTagCB("monitor_failed", 0, IntPtr.Zero, onMonitorFailed);
bot.SetTagCB("rapid_travels_rate", 0, IntPtr.Zero, onRapidTravelsRate);
bot.SetTagCB("machining_rate", 0, IntPtr.Zero, onMachiningRate);
bot.SetTagCB("axis_homing_v1.1", 0, IntPtr.Zero, onAxisHomingV1X);
bot.SetTagCB("axis_homing_v1.2", 0, IntPtr.Zero, onAxisHomingV1Y);
bot.SetTagCB("axis_homing_v1.3", 0, IntPtr.Zero, onAxisHomingV1Z);
bot.SetTagCB("axis_homing_v2.1", 0, IntPtr.Zero, onAxisHomingV2X);
bot.SetTagCB("axis_homing_v2.2", 0, IntPtr.Zero, onAxisHomingV2Y);
bot.SetTagCB("axis_homing_v2.3", 0, IntPtr.Zero, onAxisHomingV2Z);
bot.SetTagCB("axis_homing_method.1", 0, IntPtr.Zero, onAxisHomingMethodX);
bot.SetTagCB("axis_homing_method.2", 0, IntPtr.Zero, onAxisHomingMethodY);
bot.SetTagCB("axis_homing_method.3", 0, IntPtr.Zero, onAxisHomingMethodZ);
bot.SetTagCB("error", 0, IntPtr.Zero, onError);
bot.SetTagCB("log", 0, IntPtr.Zero, onLog);
bot.SetTagCB("user_parameter", 0, IntPtr.Zero, onUserParameter);
bot.SetTagCB("deployed", 0, IntPtr.Zero, onDeployed);
bot.Connect();
Thread.Sleep(1000);
// 要求 Botnana Control 送出 user parameter 訊息
bot.EvaluateScript(".user-para");
// 初始化 NC program 內容
DataGridViewRowCollection rows = ncProgram.Rows;
rows.Add(new Object[] { "1", "92", "0.0", "0.0", "0.0", "900.0" });
rows.Add(new Object[] { "2", "01", "10", null, null, "500" });
rows.Add(new Object[] { "3", "01", "20", null, null, "500" });
rows.Add(new Object[] { "4", "01", "30", null, null, "500" });
rows.Add(new Object[] { "5", "01", "40", null, null, "500" });
rows.Add(new Object[] { "6", "01", "50", null, null, "600" });
rows.Add(new Object[] { "7", "01", "60", null, null, "700" });
rows.Add(new Object[] { "8", "01", "70", null, null, "800" });
rows.Add(new Object[] { "9", "01", "80", null, null, "900" });
rows.Add(new Object[] { "10", "01", "90", null, null, "1000" });
// 設置 timer
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
}
