private void PoseDifference_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);;
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
RefPos1 = ConfigController.INIRead("UR运动参数", "BasePos1", DefaultINIPath);
RefPos2 = ConfigController.INIRead("UR运动参数", "BasePos2", DefaultINIPath);
RefPos3 = ConfigController.INIRead("UR运动参数", "BasePos3", DefaultINIPath);
txtPose1.Text = RefPos1;
txtPose2.Text = RefPos2;
txtPose3.Text = RefPos3;
HomeVector = RefPos1;
//尝试连接，如果不能连接，则某些按钮不可用
try
{
URController.Creat_client(CurrentIP, Convert.ToInt32(Control_Port));
ifConnected = true;
}
catch
{
ifConnected = false;
MessageBox.Show("未连接UR，某些功能不可用");
}
}
private void Teach_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
string Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);;
URController.Creat_client(Target_IP, Convert.ToInt32(Control_Port));
//MessageBox.Show(Target_IP + "|" + Control_Port);
}
private void Register_Load(object sender, EventArgs e)
{
//读取配置文件的IP
FilesINI ConfigController = new FilesINI();
string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
URRegisterHandle.connectServer();
}
private void Register_Load(object sender, EventArgs e)
{
//读取配置文件的IP
FilesINI ConfigController = new FilesINI();
string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
//同样只是初始化的时候执行一次，由于是传统的读写寄存器，不需要保持连接，也就不需要实时的initialServer
//URRegisterHandle.initialServer();
}
private void Dashboard_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
int Control_Port = 29999;
//创建Dashboard客户端
URController.Creat_client(Target_IP, Control_Port);
//一开始连接到UR之后UR会主动发过来一条信息
string Feedback = URController.No_command_WaitFeedback();
txtFeedback.Items.Add(Feedback);
//设置这个Combobox
UserRoleBox.Items.Add("程序员");
UserRoleBox.Items.Add("操作员");
UserRoleBox.Items.Add("完全锁定");
}
