/// <summary>
/// метод подключения
/// </summary>
public void ConnectFanuc()
{
try
{
robot.Connect(IPaddress);
}
catch (Exception e)
{
MessageBox.Show("Error connection: " + e.Message);
}
}
static void Main(string[] args)
{
OptionSet optionSet = new OptionSet()
{
{ "h=|hostname=", "The {HOSTNAME} (or IP address) of the robot.", v => sHostname = v },
{ "d|debug", "Show debug messages.", v => bShowDebug = v != null },
{ "?|help", "Show this help message and exit.", v => bShowHelp = v != null }
};
List<string> lsArgs;
try
{
lsArgs = optionSet.Parse(args);
}
catch (OptionException e)
{
ui.WriteErrorMessage(e.Message);
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (bShowHelp)
{
// User has requested the help message.
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (sHostname == string.Empty)
{
// User did not provide required hostname field.
ui.WriteErrorMessage("A hostname or IP address must be provided.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Check to see if sHostname matches an IP Address or Hostname pattern.
string sRegexIPAddressPattern = @"^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])\.){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$";
string sRegexHostnamePattern = @"^(([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])\.)*([A-Za-z0-9]|[A-Za-z0-9][A-Za-z0-9\-]*[A-Za-z0-9])$";
Regex rIPAddress = new Regex(sRegexIPAddressPattern);
Regex rHostname = new Regex(sRegexHostnamePattern);
if (!rIPAddress.Match(sHostname).Success && !rHostname.Match(sHostname).Success)
{
ui.WriteErrorMessage("The hostname/IP address provided is not valid.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Unnecessary to check every time, bShowDebug is checked within WriteDebugMessage().
if (bShowDebug)
{
// User has requested debug messages.
ui.WriteDebugMessage("Debug messages will be shown.");
}
ui.ShowTitleMessage();
ui.WriteDebugMessage("User provided a valid hostname/IP address.");
try
{
ui.WriteDebugMessage("Attempting to create a new FRCRobot object using the FRRobot library.");
robot = new FRCRobot();
ui.WriteDebugMessage("Attempting to connect to the robot at the hostname/IP address.");
robot.Connect(sHostname);
}
catch (Exception e)
{
ui.WriteErrorMessage(e.Message);
}
if (robot.IsConnected)
{
ui.WriteDebugMessage("Sucessfully connected to robot at {0}.", sHostname);
}
try
{
/*
MBTCP_Core c = new MBTCP_Core();
c.GetCommChannel();
modbusTCPScanner = new ModbusTCPScanner();
modbusTCPScanner.Scan("127.0.0.1", 1000);
*/
}
catch (Exception e)
{
ui.WriteErrorMessage("Problem creating/connecting to Modbus PLC - {0}", e.Message);
}
FRCUOPIOSignal UOPI_IMSTP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_IMSTP);
FRCUOPIOSignal UOPI_HOLD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOLD);
FRCUOPIOSignal UOPI_SFSPD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_SFSPD);
FRCUOPIOSignal UOPI_CSTOP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_CSTOP);
FRCUOPIOSignal UOPI_RESET = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_RESET);
FRCUOPIOSignal UOPI_START = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_START);
FRCUOPIOSignal UOPI_HOME = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOME);
FRCUOPIOSignal UOPI_ENABL = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_ENABL);
List<FRCUOPIOSignal> UOPI_SIGNALS = new List<FRCUOPIOSignal> { UOPI_IMSTP, UOPI_HOLD, UOPI_SFSPD, UOPI_CSTOP, UOPI_RESET, UOPI_START, UOPI_HOME, UOPI_ENABL };
FRCGroupIOSignal GI_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPInType, (long)GINumber.GI_CARR);
List<FRCGroupIOSignal> GI_SIGNALS = new List<FRCGroupIOSignal> { GI_CARR };
FRCDigitalIOSignal DI_CARR_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_CARR_DAT_RDY);
//FRCDigitalIOSignal DI_SPARE_1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_1);
//FRCDigitalIOSignal DI_SPARE_2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_2);
FRCDigitalIOSignal DI_ON_LINE = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_ON_LINE);
FRCDigitalIOSignal DI_LINE_STOP = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_LINE_STOP);
FRCDigitalIOSignal DI_PE_SIGNAL = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_PE_SIGNAL);
FRCDigitalIOSignal DI_NXT_MLD_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_NXT_MLD_RDY);
FRCDigitalIOSignal DI_MACRO_RUN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_MACRO_RUN);
List<FRCDigitalIOSignal> DI_SIGNALS = new List<FRCDigitalIOSignal> { DI_CARR_DAT_RDY, /* DI_SPARE_1, DI_SPARE_2, */ DI_ON_LINE, DI_LINE_STOP, DI_PE_SIGNAL, DI_NXT_MLD_RDY, DI_MACRO_RUN };
FRCUOPIOSignal UOPO_CMDEN = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_CMDEN);
FRCUOPIOSignal UOPO_SYSRD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_SYSRD);
FRCUOPIOSignal UOPO_PROGR = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PROGR);
FRCUOPIOSignal UOPO_PAUSD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PAUSD);
FRCUOPIOSignal UOPO_HELD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_HELD);
FRCUOPIOSignal UOPO_FAULT = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_FAULT);
FRCUOPIOSignal UOPO_PERCH = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PERCH);
FRCUOPIOSignal UOPO_TPENB = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_TPENB);
List<FRCUOPIOSignal> UOPO_SIGNALS = new List<FRCUOPIOSignal> { UOPO_CMDEN, UOPO_SYSRD, UOPO_PROGR, UOPO_PAUSD, UOPO_HELD, UOPO_FAULT, UOPO_PERCH, UOPO_TPENB };
FRCDigitalIOSignal DO_CARR_DAT_ACK = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_CARR_DAT_ACK);
FRCDigitalIOSignal DO_NXT_MLD_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_NXT_MLD_DAT_RDY);
FRCDigitalIOSignal DO_PATH_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PATH_RUNG);
FRCDigitalIOSignal DO_SYS_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_SYS_RUNG);
FRCDigitalIOSignal DO_FAN_1_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_1_REQ);
FRCDigitalIOSignal DO_FAN_2_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_2_REQ);
FRCDigitalIOSignal DO_HI_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HI_PUFF_REQ);
FRCDigitalIOSignal DO_LO_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LO_PUFF_REQ);
FRCGroupIOSignal GO_PH_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)GONumber.GO_PH_CARR);
List<FRCGroupIOSignal> GO_SIGNALS = new List<FRCGroupIOSignal> { GO_PH_CARR };
FRCDigitalIOSignal DO_PH_MOL_BIT0 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT0);
FRCDigitalIOSignal DO_PH_MOL_BIT1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT1);
FRCDigitalIOSignal DO_PH_MOL_BIT2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT2);
FRCDigitalIOSignal DO_LINEUP_ERR = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LINEUP_ERR);
FRCDigitalIOSignal DO_PROGRAM = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROGRAM);
FRCDigitalIOSignal DO_HEAD_OPEN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HEAD_OPEN);
FRCDigitalIOSignal DO_PROG_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROG_RUNG);
FRCDigitalIOSignal DO_OPEN_PH = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_OPEN_PH);
List<FRCDigitalIOSignal> DO_SIGNALS = new List<FRCDigitalIOSignal> { DO_CARR_DAT_ACK, DO_NXT_MLD_DAT_RDY, DO_PATH_RUNG, DO_SYS_RUNG, DO_FAN_1_REQ, DO_FAN_2_REQ, DO_HI_PUFF_REQ, DO_LO_PUFF_REQ,
DO_PH_MOL_BIT0, DO_PH_MOL_BIT1, DO_PH_MOL_BIT2, DO_LINEUP_ERR, DO_PROGRAM, DO_HEAD_OPEN, DO_PROG_RUNG, DO_OPEN_PH};
foreach (FRCDigitalIOSignal signal in DI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
signal.StartMonitor(1);
//signal.Change += delegate () { eventType = EventType.Change; eventSender = (FRCIOSignal)signal; eventSenderType = FREIOTypeConstants.frDOutType; bEvent = true; };
signal.Change += delegate () { utility.RobotIO_Change((FRCIOSignal)signal, FREIOTypeConstants.frDOutType); };
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GO_SIGNALS)
{
//signal.StartMonitor(1);
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPO_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPONumber), signal.LogicalNum), signal.Value.ToString());
//signal.StartMonitor(1);
}
ui.WriteDebugMessage("Robot Time: {0}", robot.SysInfo.Clock.ToLongTimeString());
ui.WriteDebugMessage("DO[2] = \"{0}\"", ((FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)2)).Value.ToString());
ui.WriteDebugMessage("GO[1] = \"{0}\"", ((FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)1)).Value.ToString());
//ioSignal = ioType.
//ioTypes.Add(ioType);
while (!bEvent)
{
if (bEvent)
{
ui.WriteDebugMessage("****** EVENT TRIGGERED ******");
ui.WriteDebugMessage("Event Type: {0}", Enum.GetName(typeof(EventType), eventType));
ui.WriteDebugMessage("Event Sender: {0}", Enum.GetName(typeof(DONumber), eventSender.LogicalNum));
ui.WriteDebugMessage("Event Sender Type: {0}", Enum.GetName(typeof(FREIOTypeConstants), eventSenderType));
ui.WriteDebugMessage("*****************************");
}
}
/*
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
ui.WriteDebugMessage(".Equals {0,18}?: {1}", Enum.GetName(typeof(DONumber), signal.LogicalNum), LastChangeEventSender.Equals(signal));
}
*/
ui.ShowExitMessage();
}
static void Main(string[] args)
{
OptionSet optionSet = new OptionSet()
{
{ "h=|hostname=", "The {HOSTNAME} (or IP address) of the robot.", v => sHostname = v },
{ "d|debug", "Show debug messages.", v => bShowDebug = v != null },
{ "?|help", "Show this help message and exit.", v => bShowHelp = v != null }
};
List <string> lsArgs;
try
{
lsArgs = optionSet.Parse(args);
}
catch (OptionException e)
{
ui.WriteErrorMessage(e.Message);
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (bShowHelp)
{
// User has requested the help message.
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (sHostname == string.Empty)
{
// User did not provide required hostname field.
ui.WriteErrorMessage("A hostname or IP address must be provided.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Check to see if sHostname matches an IP Address or Hostname pattern.
string sRegexIPAddressPattern = @"^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])\.){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$";
string sRegexHostnamePattern = @"^(([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])\.)*([A-Za-z0-9]|[A-Za-z0-9][A-Za-z0-9\-]*[A-Za-z0-9])$";
Regex rIPAddress = new Regex(sRegexIPAddressPattern);
Regex rHostname = new Regex(sRegexHostnamePattern);
if (!rIPAddress.Match(sHostname).Success&& !rHostname.Match(sHostname).Success)
{
ui.WriteErrorMessage("The hostname/IP address provided is not valid.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Unnecessary to check every time, bShowDebug is checked within WriteDebugMessage().
if (bShowDebug)
{
// User has requested debug messages.
ui.WriteDebugMessage("Debug messages will be shown.");
}
ui.ShowTitleMessage();
ui.WriteDebugMessage("User provided a valid hostname/IP address.");
try
{
ui.WriteDebugMessage("Attempting to create a new FRCRobot object using the FRRobot library.");
robot = new FRCRobot();
ui.WriteDebugMessage("Attempting to connect to the robot at the hostname/IP address.");
robot.Connect(sHostname);
}
catch (Exception e)
{
ui.WriteErrorMessage(e.Message);
}
if (robot.IsConnected)
{
ui.WriteDebugMessage("Sucessfully connected to robot at {0}.", sHostname);
}
try
{
/*
* MBTCP_Core c = new MBTCP_Core();
* c.GetCommChannel();
* modbusTCPScanner = new ModbusTCPScanner();
* modbusTCPScanner.Scan("127.0.0.1", 1000);
*/
}
catch (Exception e)
{
ui.WriteErrorMessage("Problem creating/connecting to Modbus PLC - {0}", e.Message);
}
FRCUOPIOSignal UOPI_IMSTP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_IMSTP);
FRCUOPIOSignal UOPI_HOLD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOLD);
FRCUOPIOSignal UOPI_SFSPD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_SFSPD);
FRCUOPIOSignal UOPI_CSTOP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_CSTOP);
FRCUOPIOSignal UOPI_RESET = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_RESET);
FRCUOPIOSignal UOPI_START = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_START);
FRCUOPIOSignal UOPI_HOME = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOME);
FRCUOPIOSignal UOPI_ENABL = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_ENABL);
List <FRCUOPIOSignal> UOPI_SIGNALS = new List <FRCUOPIOSignal> {
UOPI_IMSTP, UOPI_HOLD, UOPI_SFSPD, UOPI_CSTOP, UOPI_RESET, UOPI_START, UOPI_HOME, UOPI_ENABL
};
FRCGroupIOSignal GI_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPInType, (long)GINumber.GI_CARR);
List <FRCGroupIOSignal> GI_SIGNALS = new List <FRCGroupIOSignal> {
GI_CARR
};
FRCDigitalIOSignal DI_CARR_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_CARR_DAT_RDY);
//FRCDigitalIOSignal DI_SPARE_1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_1);
//FRCDigitalIOSignal DI_SPARE_2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_2);
FRCDigitalIOSignal DI_ON_LINE = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_ON_LINE);
FRCDigitalIOSignal DI_LINE_STOP = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_LINE_STOP);
FRCDigitalIOSignal DI_PE_SIGNAL = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_PE_SIGNAL);
FRCDigitalIOSignal DI_NXT_MLD_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_NXT_MLD_RDY);
FRCDigitalIOSignal DI_MACRO_RUN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_MACRO_RUN);
List <FRCDigitalIOSignal> DI_SIGNALS = new List <FRCDigitalIOSignal> {
DI_CARR_DAT_RDY, /* DI_SPARE_1, DI_SPARE_2, */ DI_ON_LINE, DI_LINE_STOP, DI_PE_SIGNAL, DI_NXT_MLD_RDY, DI_MACRO_RUN
};
FRCUOPIOSignal UOPO_CMDEN = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_CMDEN);
FRCUOPIOSignal UOPO_SYSRD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_SYSRD);
FRCUOPIOSignal UOPO_PROGR = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PROGR);
FRCUOPIOSignal UOPO_PAUSD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PAUSD);
FRCUOPIOSignal UOPO_HELD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_HELD);
FRCUOPIOSignal UOPO_FAULT = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_FAULT);
FRCUOPIOSignal UOPO_PERCH = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PERCH);
FRCUOPIOSignal UOPO_TPENB = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_TPENB);
List <FRCUOPIOSignal> UOPO_SIGNALS = new List <FRCUOPIOSignal> {
UOPO_CMDEN, UOPO_SYSRD, UOPO_PROGR, UOPO_PAUSD, UOPO_HELD, UOPO_FAULT, UOPO_PERCH, UOPO_TPENB
};
FRCDigitalIOSignal DO_CARR_DAT_ACK = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_CARR_DAT_ACK);
FRCDigitalIOSignal DO_NXT_MLD_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_NXT_MLD_DAT_RDY);
FRCDigitalIOSignal DO_PATH_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PATH_RUNG);
FRCDigitalIOSignal DO_SYS_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_SYS_RUNG);
FRCDigitalIOSignal DO_FAN_1_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_1_REQ);
FRCDigitalIOSignal DO_FAN_2_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_2_REQ);
FRCDigitalIOSignal DO_HI_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HI_PUFF_REQ);
FRCDigitalIOSignal DO_LO_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LO_PUFF_REQ);
FRCGroupIOSignal GO_PH_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)GONumber.GO_PH_CARR);
List <FRCGroupIOSignal> GO_SIGNALS = new List <FRCGroupIOSignal> {
GO_PH_CARR
};
FRCDigitalIOSignal DO_PH_MOL_BIT0 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT0);
FRCDigitalIOSignal DO_PH_MOL_BIT1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT1);
FRCDigitalIOSignal DO_PH_MOL_BIT2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT2);
FRCDigitalIOSignal DO_LINEUP_ERR = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LINEUP_ERR);
FRCDigitalIOSignal DO_PROGRAM = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROGRAM);
FRCDigitalIOSignal DO_HEAD_OPEN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HEAD_OPEN);
FRCDigitalIOSignal DO_PROG_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROG_RUNG);
FRCDigitalIOSignal DO_OPEN_PH = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_OPEN_PH);
List <FRCDigitalIOSignal> DO_SIGNALS = new List <FRCDigitalIOSignal> {
DO_CARR_DAT_ACK, DO_NXT_MLD_DAT_RDY, DO_PATH_RUNG, DO_SYS_RUNG, DO_FAN_1_REQ, DO_FAN_2_REQ, DO_HI_PUFF_REQ, DO_LO_PUFF_REQ,
DO_PH_MOL_BIT0, DO_PH_MOL_BIT1, DO_PH_MOL_BIT2, DO_LINEUP_ERR, DO_PROGRAM, DO_HEAD_OPEN, DO_PROG_RUNG, DO_OPEN_PH
};
foreach (FRCDigitalIOSignal signal in DI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
signal.StartMonitor(1);
//signal.Change += delegate () { eventType = EventType.Change; eventSender = (FRCIOSignal)signal; eventSenderType = FREIOTypeConstants.frDOutType; bEvent = true; };
signal.Change += delegate() { utility.RobotIO_Change((FRCIOSignal)signal, FREIOTypeConstants.frDOutType); };
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GO_SIGNALS)
{
//signal.StartMonitor(1);
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPO_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPONumber), signal.LogicalNum), signal.Value.ToString());
//signal.StartMonitor(1);
}
ui.WriteDebugMessage("Robot Time: {0}", robot.SysInfo.Clock.ToLongTimeString());
ui.WriteDebugMessage("DO[2] = \"{0}\"", ((FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)2)).Value.ToString());
ui.WriteDebugMessage("GO[1] = \"{0}\"", ((FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)1)).Value.ToString());
//ioSignal = ioType.
//ioTypes.Add(ioType);
while (!bEvent)
{
if (bEvent)
{
ui.WriteDebugMessage("****** EVENT TRIGGERED ******");
ui.WriteDebugMessage("Event Type: {0}", Enum.GetName(typeof(EventType), eventType));
ui.WriteDebugMessage("Event Sender: {0}", Enum.GetName(typeof(DONumber), eventSender.LogicalNum));
ui.WriteDebugMessage("Event Sender Type: {0}", Enum.GetName(typeof(FREIOTypeConstants), eventSenderType));
ui.WriteDebugMessage("*****************************");
}
}
/*
* foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
* {
* ui.WriteDebugMessage(".Equals {0,18}?: {1}", Enum.GetName(typeof(DONumber), signal.LogicalNum), LastChangeEventSender.Equals(signal));
* }
*/
ui.ShowExitMessage();
}