private void InitDataTables() { _DataTable = _Core.DataTable; { _CurPosUF = _DataTable.AddCurPosUF(FRIF_DATA_TYPE.CURPOS, 1, 15); _NumReg = _DataTable.AddNumReg(FRIF_DATA_TYPE.NUMREG_INT, 1, 2); _PosRegXyzwpr = _DataTable.AddPosRegXyzwpr(FRIF_DATA_TYPE.POSREG_XYZWPR, 1, 1, 1); _Alarm = _DataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_LIST, ALARM_COUNT, 0); } }
private void ClearDataTables() { _DataTable = null; { _CurPosUF = null; _NumReg = null; _PosRegXyzwpr = null; _Alarm = null; } }
//INITIALIZE, CONNECT, CONSTRUCT DATATABLES public void subInit(string[] selectedReg) { //Set core try { objCore = new FRRJIf.Core(); objSelectedReg = new FRRJIf.DataNumReg[selectedReg.Length]; //parse string[] to int[] selectedRegArr = Array.ConvertAll(selectedReg, int.Parse); //tasklist return object taskArr = new string[10]; //init datatable return objects dt_Selected = new System.Data.DataTable(); dt_Selected.Clear(); dt_Selected.Columns.Add("id", typeof(int)); dt_Selected.Columns.Add("Registry", typeof(int)); dt_Selected.Columns.Add("Value", typeof(double)); dt_Selected.Columns.Add("Selected", typeof(bool)); //welding params voltage = 0; amp = 0; try { //Set FANUC datatable1 objDataTable1 = objCore.get_DataTable(); //robotinfo numRegJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 2, 2); numRegofJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 3, 3); objRobotName = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 5, 5); //selected numregs for (int i = 0; i < objSelectedReg.Length; i++) { objSelectedReg[i] = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, selectedRegArr[i], selectedRegArr[i]); } //10 data tasks objTaskList = new FRRJIf.DataTask[10]; for (int i = 0; i < objTaskList.Length; i++) { objTaskList[i] = objDataTable1.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, i + 1); } isInit = true; return; } catch (Exception ex) { //handle ex Console.WriteLine(ex.ToString()); } } catch { Console.WriteLine("error.."); } }