private void Connect_Click(object sender, RoutedEventArgs e)
{
// Connet UR Secondary Port
urSec = IURSecondaryConnection.Create(IPAddress.Text);
var resp = urSec.Receive();
// Connet UR RTDE port
rtde = IURRTDEConnection.Create(IPAddress.Text);
var np = new NegotiateProtocolVersion(rtde);
Logging.Text += $"NegotiateProtocolVersion Accepted: { np.Accepted }";
ControllerVersion cv = new ControllerVersion(rtde);
Logging.Text += $"Controller Version: major { cv.Major }" +
$" minor { cv.Minor } bugfix { cv.Bugfix } build { cv.Build }";
string vars = "timestamp,actual_TCP_pose,actual_q,runtime_state";
SetupOutput setupOut = new SetupOutput(rtde, 125, vars);
Logging.Text += $"Setup Output: output recipe id { setupOut.OutputRecipeId }" +
$" variable types { setupOut.VariableTypes }";
var ss = new StartSending(rtde);
rd = new ReceiveData(rtde, setupOut.VariableTypes);
var task = new Task(() => ReceiveRTDE());
task.Start();
}
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();
}
