public void Create_ValidIpPortShouldReturnConnected()
{
var uRDashboard = IURDashboardConnection.Create(VALID_SERVER);
Assert.NotNull(uRDashboard);
var actual = uRDashboard.IsConnected;
Assert.True(actual);
}
public void Create_InvalidIpPortShouldReturnNotConnected(string server, SocketError error)
{
try
{
var uRDashboard = IURDashboardConnection.Create(server);
Assert.NotNull(uRDashboard);
var actual = uRDashboard.IsConnected;
Assert.False(actual);
}
catch (SocketException e)
{
Assert.Equal(error, e.SocketErrorCode);
}
}
private void Connect_Click(object sender, RoutedEventArgs e)
{
dashboard = IURDashboardConnection.Create(IPAddress.Text);
secondary = IURSecondaryConnection.Create(IPAddress.Text);
// Connet UR RTDE port
rtde = IURRTDEConnection.Create(IPAddress.Text);
var np = new NegotiateProtocolVersion(rtde);
ControllerVersion cv = new ControllerVersion(rtde);
string vars = "timestamp,actual_TCP_pose,runtime_state";
SetupOutput setupOut = new SetupOutput(rtde, 125, vars);
var ss = new StartSending(rtde);
rd = new ReceiveData(rtde, setupOut.VariableTypes);
var taskRTDEReceiving = new Task(() => RTDEReceiving());
taskRTDEReceiving.Start();
}
public void Connect()
{
// Connect to UR
urDashboard = IURDashboardConnection.Create(IpAddress);
// Read connection message
var resp = urDashboard.Receive();
Logging += resp + Environment.NewLine;
// All commands are under ICommand class
var cmd = ICommand.GetSerialNumber();
Logging += $"[Send]: { cmd }" + Environment.NewLine;
resp = urDashboard.SendReceive(cmd);
SerialNumber = resp;
Logging += $"[Receive]: { resp }" + Environment.NewLine;
polyscopeVersion();
RobotModel();
}
