private void Form1_Load(object sender, EventArgs e)
{
checkBox_hexCommand.Checked = Properties.Settings.Default.checkBox_hexCommand;
textBox_command.Text = Properties.Settings.Default.textBox_command;
checkBox_hexParam.Checked = Properties.Settings.Default.checkBox_hexParam;
textBox_param.Text = Properties.Settings.Default.textBox_param;
serialPort1.Encoding = Encoding.GetEncoding(Properties.Settings.Default.CodePage);
button_openport.Enabled = SerialPopulate(comboBox_portname1, comboBox_portspeed1, comboBox_databits1, comboBox_handshake1, comboBox_parity1, comboBox_stopbits1);
_logger = new TextLogger.TextLogger(this)
{
Channels = _directions,
FilterZeroChar = false,
};
textBox_terminal.DataBindings.Add("Text", _logger, "Text", false, DataSourceUpdateMode.OnPropertyChanged);
_logger.LineTimeLimit = Properties.Settings.Default.LineBreakTimeout;
_logger.LineLimit = Properties.Settings.Default.LogLinesLimit;
_logger.AutoSave = checkBox_saveTo.Checked;
_logger.LogFileName = textBox_saveTo.Text;
_logger.DefaultTextFormat = checkBox_hexTerminal.Checked
? TextLogger.TextLogger.TextFormat.Hex
: TextLogger.TextLogger.TextFormat.AutoReplaceHex;
_logger.DefaultTimeFormat =
checkBox_saveTime.Checked ? TextLogger.TextLogger.TimeFormat.LongTime : TextLogger.TextLogger.TimeFormat.None;
_logger.DefaultDateFormat =
checkBox_saveTime.Checked ? TextLogger.TextLogger.DateFormat.ShortDate : TextLogger.TextLogger.DateFormat.None;
_logger.AutoScroll = checkBox_autoscroll.Checked;
CheckBox_autoscroll_CheckedChanged(null, EventArgs.Empty);
}
private void Form1_Load(object sender, EventArgs e)
{
checkBox_hexCommand.Checked = Settings.Default.checkBox_hexCommand;
textBox_command.Text = Settings.Default.textBox_command;
checkBox_hexParam.Checked = Settings.Default.checkBox_hexParam;
textBox_param.Text = Settings.Default.textBox_param;
textBox_ipAddress.Text = Settings.Default.DefaultAddress;
textBox_port.Text = Settings.Default.DefaultPort;
timer1.Interval = Settings.Default.TCPDataRefreshInterval;
_logger = new TextLogger.TextLogger(this)
{
Channels = _directions,
FilterZeroChar = false
};
textBox_terminal.DataBindings.Add("Text", _logger, "Text", false, DataSourceUpdateMode.OnPropertyChanged);
_logger.LineTimeLimit = Settings.Default.LineBreakTimeout;
_logger.LineLimit = Settings.Default.LogLinesLimit;
_logger.AutoSave = checkBox_saveInput.Checked;
_logger.LogFileName = textBox_saveTo.Text;
_logger.DefaultTextFormat = checkBox_hexTerminal.Checked
? TextLogger.TextLogger.TextFormat.Hex
: TextLogger.TextLogger.TextFormat.AutoReplaceHex;
_logger.DefaultTimeFormat =
checkBox_saveTime.Checked
? TextLogger.TextLogger.TimeFormat.LongTime
: TextLogger.TextLogger.TimeFormat.None;
_logger.DefaultDateFormat =
checkBox_saveTime.Checked
? TextLogger.TextLogger.DateFormat.ShortDate
: TextLogger.TextLogger.DateFormat.None;
_logger.AutoScroll = checkBox_autoscroll.Checked;
CheckBox_autoscroll_CheckedChanged(null, EventArgs.Empty);
}
bool synchronModeRKorrActive_; // true if the RKorr synchron mode is active
#endregion Fields
#region Constructors
/* ----------------------------------------------------------------------------------------------------------------------------------------------- */
/**
* @brief Constructor of connector object
*
* @param pathToCommandXMLDocument ... here you will have to give the path for the command xml document; the easiest way is to place it in
* the same directory as the dll is then you only have to enter the name here; otherwise give the full
* path;
* listenIPAddress ... IP-Address as string where the wrapper has to listen for the robot connection; normally its an LAN adapter
* address; try to figure it out with Windows Start Button -> Run -> cmd Enter; then enter ipconfig and press
* Enter => search for the local area network adapter an its ip address
* listenPort ... Normally this value has to be set to 6008 if not other set in KUKA Config XML file on controller (INIT directory)
*
* @retval none...
*/
/* ----------------------------------------------------------------------------------------------------------------------------------------------- */
public ConnectorObject(String pathToCommandXMLDocument, String listenIPAddress, uint listenPort)
{
int iError = 0;
// ------------------------------------------------
// initialize all other needed instances
// ------------------------------------------------
logger_ = new TextLogger.TextLogger( 255 ); // 255 is buffer size of logger
// ------------------------------------------------------------------------
// initialize all communication variables and check if valid (if possible)
// ------------------------------------------------------------------------
if ((listenPort > 1024) && (listenPort < 65535))
{
robotCommunicationPort_ = listenPort;
}
else
{
robotCommunicationPort_ = 6008;
}
// check if the ipAddress is correct otherwise write a logMessage and exit
try
{
robotListenIPAddress_ = System.Net.IPAddress.Parse(listenIPAddress);
}
catch
{
makeLoggingEntry("please give a correct IP-address...");
iError = 1;
}
// --------------------------------------------------
// initialize comBuffer and according variables
// --------------------------------------------------
comBufferReadPointer_ = 0;
comBufferWritePointer_ = 0;
comBuffer_ = new byte[comBufferSize_];
// ---------------------------------------------------------------------------------------------------
// check if the path is correct otherwise take a file located in the same folder as the client is
// ---------------------------------------------------------------------------------------------------
if ((pathToCommandXMLDocument != null) && (pathToCommandXMLDocument.Length != 0))
{
pathToCommandXMLDocument_ = pathToCommandXMLDocument;
}
else
{
pathToCommandXMLDocument_ = "commanddoc.xml";
}
// -----------------------------------------
// initialize the connection states
// -----------------------------------------
robotConnectionState_ = new ConnectionState();
setRobotConnectionState(ConnectionState.init);
// -----------------------------------------
// initialize the stop watches
// -----------------------------------------
stopWatch_ = new System.Diagnostics.Stopwatch();
stopWatchReceive_ = new System.Diagnostics.Stopwatch();
stopWatchSend_ = new System.Diagnostics.Stopwatch();
// -----------------------------------------
// reset all statistical variables
// -----------------------------------------
receivedPackagesCount_ = 0;
sendPackagesCount_ = 0;
communicationTimeMilliSeconds_ = 0;
communicationTimeTicks_ = 0;
delayedPackagesCount_ = 0;
// allow commands from initial state
lockCorrectionCommands_ = false;
// -----------------------------------------
// reset synchron mode flags
// -----------------------------------------
synchronModeAKorrActive_ = false;
synchronModeRKorrActive_ = false;
synchronKorrBufferReadPointer_ = 0;
synchronKorrBufferWritePointer_ = 0;
synchronKorrBuffer_ = new synchronKorrBufferStruct[synchronKorrBufferSize_];
// ------------------------------------------------------------------------------------
// initilize all mutexes
// ------------------------------------------------------------------------------------
mutexRobotCommandString_ = new System.Threading.Mutex(false, "robotCommandString");
mutexRobotInfoString_ = new System.Threading.Mutex(false, "robotInfoString");
mutexRobotCommandXML_ = new System.Threading.Mutex(false, "robotCommandXML");
mutexRobotInfoXML_ = new System.Threading.Mutex(false, "robotInfoXML");
// -----------------------------------------------
// initialize the xml container
// -----------------------------------------------
receiveXML_ = new System.Xml.XmlDocument();
commandXML_ = new System.Xml.XmlDocument();
// -----------------------------------------------------------------
// try to load the given xml document for commands
// -----------------------------------------------------------------
commandXML_ = getXMLCommandDocument(pathToCommandXMLDocument_);
if (commandXML_ == null)
{
makeLoggingEntry("could not find command XML-file...");
iError = 2;
}
// ---------------------------------------------------------------
// only return constructor done if everything is done correctly
// ---------------------------------------------------------------
if (iError == 0)
{
makeLoggingEntry("constructor done...");
}
}
