public void Close()
{
if (robot == null)
{
return;
}
robot.Close();
robot = null;
}
public bool Connect(IPAddress address, int port)
{
if (AlreadyConnected())
{
return(false);
}
mode = connMode.Network;
bool success = netClient.Connect(address, port);
robot = (success ? netClient : null);
return(success);
}
public bool Connect(string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits)
{
if (AlreadyConnected())
{
return(false);
}
mode = connMode.Serial;
bool success = serial.Connect(portName, baudRate, parity, dataBits, stopBits);
robot = (success ? serial : null);
return(success);
}
public bool Connect(string hostName, int port)
{
if (AlreadyConnected())
{
return(false);
}
mode = connMode.Network;
bool success = netClient.Connect(hostName, port);
robot = (success ? netClient : null);
return(success);
}
public bool Disconnect()
{
if (robot == null)
{
return(true);
}
bool success = robot.Disconnect();
if (success)
{
robot = null;
}
return(success);
}
protected void CallOnDataSend(Robot_base connection, byte[] data, eventStatus status = eventStatus.any)
{
OnDataSend?.Invoke(this, connection, data, status);
}
protected void CallOnClose(Robot_base client, eventStatus status = eventStatus.any)
{
OnClose?.Invoke(this, client, status);
}
protected void CallOnDisconnect(Robot_base client, eventStatus status = eventStatus.any)
{
OnDisconnect?.Invoke(this, client, status);
}
