/// <summary>
/// Form load
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void frmMain_Load(object sender, EventArgs e)
{
cts = new CancellationTokenSource();
sendQueue = new ConcurrentQueue <List <char[]> >();
robotManager.Open("cifX0", 0);
Thread.Sleep(1000);
UpdateLogList("리셋");
robotManager.Reset();
Thread.Sleep(1000);
UpdateLogList("프로그램 넣기");
robotManager.SetProgram();
// 실행시 파일에 저장한 마지막 실행 스탭을 가져온다.
lastStep = GetLastStepFromFile();
LoopCount = GetLoopCount();
cboWorkCount.SelectedIndex = LoopCount;
StartService();
StartRobot();
Restart();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
cts = new CancellationTokenSource();
robotManager = new RobotManager();
uint ret = robotManager.Open("cifX0", 0);
assembly = new Assembly();
settings = new Settings(this);
RobotStatus(cts.Token);
DisplayAssembly(cts.Token);
GetStep(cts.Token);
}
catch (Exception ex)
{
AutoClosingMessageBox.Show("프로그램 실행 중 에러가 발생하였습니다.", "Error", 2000);
logger.Error(ex);
}
}
static void Main(string[] args)
{
robotManager = new RobotManager();
robotManager.Open("cifX0", 0);
Thread.Sleep(1000);
robotManager.Reset();
Debug.WriteLine("All robot reset");
//while (true)
//{
// // 모든 로봇이 모터 온이 되었다면
// if (robotManager.IsMotorOn(Robots.R1)
// && robotManager.IsMotorOn(Robots.R2)
// && robotManager.IsMotorOn(Robots.R3))
// {
// Debug.WriteLine("All robot's motor is on");
// break;
// }
// if (!robotManager.IsMotorOn(Robots.R1))
// {
// robotManager.MotorOn(Robots.R1);
// Thread.Sleep(500);
// robotManager.Reset(Robots.R1);
// Debug.WriteLine("R1 motor on send");
// }
// if (!robotManager.IsMotorOn(Robots.R2))
// {
// robotManager.MotorOn(Robots.R2);
// Thread.Sleep(500);
// robotManager.Reset(Robots.R2);
// Debug.WriteLine("R2 motor on send");
// }
// if (!robotManager.IsMotorOn(Robots.R3))
// {
// robotManager.MotorOn(Robots.R3);
// Thread.Sleep(500);
// robotManager.Reset(Robots.R3);
// Debug.WriteLine("R3 motor on send");
// }
// Thread.Sleep(1000);
//}
//StepType stepType = StepType.Full;
//// 프로그램 밀어넣기
//if (robotManager.SetProgram())
//{
// Thread.Sleep(500);
// // 오더 밀어넣기
// robotManager.SendOrder(Robots.R1, stepType);
// Thread.Sleep(500);
// robotManager.SendOrder(Robots.R2, stepType);
// Thread.Sleep(500);
// robotManager.SendOrder(Robots.R3, stepType);
//}
//Thread.Sleep(1000);
//robotManager.RobotRun();
//if (robotManager.RestartOn(Robots.R1)) robotManager.RobotRunReset(Robots.R1);
//if (robotManager.RestartOn(Robots.R2)) robotManager.RobotRunReset(Robots.R2);
//if (robotManager.RestartOn(Robots.R3)) robotManager.RobotRunReset(Robots.R3);
cts = new CancellationTokenSource();
CheckError(cts.Token);
ReadTrigger(cts.Token);
Console.ReadLine();
}
