private void InitVariables()
{
// Add local variables that are linked to corresponding variables on the physical RC8 controller
// Add a variable linked to the robot connected to the RC8 controller
Robot = RC8Controller.AddRobot("Arm");
// Add robot variables
RobotBusyStatus = Robot.AddVariable("@BUSY_STATUS"); // Add a variable linked to the robot's busy status
RobotState = Robot.AddVariable("@State"); // Add a variable which contains the current state of the robot
RobotExternalSpeed = Robot.AddVariable("@Extspeed"); // Add a variable linked to the external (teach pendant) speed
RobotCurrentPosition = Robot.AddVariable("@CURRENT_POSITION"); // Add a variable which contains the current robot position
RobotCurrentAngle = Robot.AddVariable("@CURRENT_ANGLE"); // Add a variable which contains the current robot angle
// Add variables that are linked to the current error code and description
CurrentErrorCode = RC8Controller.AddVariable("@ERROR_CODE");
CurrentErrorDescription = RC8Controller.AddVariable("@ERROR_DESCRIPTION");
// Register to handle new message events from the controller
// Every time the controller has a new message, the ShowMessage function will be called
RC8Controller.OnMessage += new _ICaoControllerEvents_OnMessageEventHandler(ShowMessage);
// Add a variable linked to string variable S10
RC8variable_S10 = RC8Controller.AddVariable("S10");
timer_InterfaceUpdate.Start(); // Start the GUI timer
}
private void Disconnect()
{
// Properly shut down the local variables in reverse order of precedence so that the ORiN engine is not left hanging
TurnOffMotors();
try {
Robot.Execute("GiveArm"); // Release the arm
} catch (Exception ex) {
ShowError("GiveArm", ex);
}
Robot.Variables.Clear(); // Clear all robot-specific variables from the main robot variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
RobotBusyStatus = null; // Set the individual robot-specific variable to null
RobotState = null;
RobotExternalSpeed = null;
RobotCurrentPosition = null;
RobotCurrentAngle = null;
RC8Controller.Robots.Clear(); // Clear all local robot variables from the controller variable
Robot = null; // Set the individual robot variable to null
RC8Controller.Variables.Clear(); // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
CurrentErrorCode = null; // Set the individual local variables to null
CurrentErrorDescription = null;
RC8variable_S10 = null;
ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC8Controller.Index); // Remove the controller variable from the ORiN engine
RC8Controller = null; // Set the individual controller variable to null
ORiN_Engine = null; // Set the ORiN engine variable to null
}
public DensoRobot(CaoRobot r)
{
robot = r;
OnLogEvent("Robot: robot add variable...");
foreach (var s in RobotVarStrings)
{
RobCaoVars.Add(s, robot.AddVariable(s, ""));
}
}
public void Init()
{
if (IsInitialized)
{
return;
}
Kill();
// Create CaoEngine object
caoEngine = new CaoEngine();
caoWorkspace = caoEngine.Workspaces.Item(0);
//caoController = caoWorkspace.AddController("RC7", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.0.1");
caoController = caoWorkspace.AddController("RC8", "CaoProv.DENSO.RC8", null,
"Server=192.168.0.1,@IfNotMember=True");
caoRobot = caoController.AddRobot("Arm", "");
Robot = new DensoRobot(caoRobot);
Robot.LogEvent += OnLogEvent;
Controller = new DensoController(caoController);
Controller.LogEvent += OnLogEvent;
Controller.ClearError();
if ((int)Controller.ControllerCaoVars["@MODE"].Value <= 2)
{
MessageBox.Show("Controller not in Auto Mode! Retry!");
Close();
Kill();
IsInitialized = false;
return;
}
//Controller.PutAutoMode();
Controller.Initialize();
//RobslaveTask = new DensoTask(caoController.AddTask("robslave", null));
//RobslaveTask.LogEvent += OnLogEvent;
//RobslaveTask.Stop();
//RobslaveTask.Start();
IsInitialized = true;
}
public void Close()
{
// Release caoRobot object
if (caoRobot != null)
{
caoRobot.Variables.Clear();
Marshal.ReleaseComObject(caoRobot);
caoRobot = null;
}
// Release controller object
if (caoController != null)
{
caoController.Variables.Clear();
caoController.Robots.Clear();
Marshal.ReleaseComObject(caoController);
caoController = null;
}
if (caoWorkspace != null)
{
caoWorkspace.Controllers.Clear();
Marshal.ReleaseComObject(caoWorkspace);
caoWorkspace = null;
}
if (caoEngine != null)
{
caoEngine.Workspaces.Clear();
Marshal.ReleaseComObject(caoEngine);
caoEngine = null;
}
IsInitialized = false;
}
