private void OnGUI()
{
if (!CanShowGUI)
{
return;
}
GUILayout.Space(40);
if (!DynaLinkHS.ServerLinkActBit && !MainCore.Instance.IsMachineDisabled)
{
if (GUILayout.Button(" 重连 ", GUILayout.Width(160), GUILayout.Height(60)))
{
StartCoroutine(OnReconnect());
}
}
if (GUILayout.Button(" 断开 ", GUILayout.Width(160), GUILayout.Height(60)))
{
if (!MainCore.Instance.IsMachineDisabled)
{
DynaLinkHS.CmdServoOff();
}
DynaLinkCore.StopSocket();
Application.Quit();
}
}
//IEnumerator PassiveMoveToRespawnLoc()
//{
// while (DynaLinkHS.MotionInProcess)
// {
// Debug.LogWarning("<color=orange>Motion in process! Waiting one frame!</color>");
// yield return "Wait for one frame";
// }
// Vector2 targetVec = new Vector2(81500, 35600);
// CommandFunctions.InitializeStartReset(targetVec, 150000, 300);
// Debug.Log(string.Format("<color=cyan>PassiveMoveTo:</color> ({0}, {1})", (int)targetVec.x, (int)targetVec.y));
// do
// {
// yield return new WaitForSeconds(1f);
// } while (!CommandFunctions.IsResetStartFinished || DynaLinkHS.MotionInProcess);
// CommandFunctions.IsResetStartFinished = false;
// Debug.Log("<color=yellow>End resetting!</color>");
// yield return "End resetting!";
// DynaLinkHS.CmdAssistLT(70);
//}
//IEnumerator CountDown()
//{
// if (!MainCore.Instance.IsMachineDisabled)
// {
// while (!DynaLinkHS.ServerLinkActBit)
// {
// yield return "Wait Connectting!";
// }
// yield return StartCoroutine(PassiveMoveToRespawnLoc());
// }
// FollowerObj.gameObject.SetActive(true);
// //_canFollow = true;
//}
IEnumerator OnReconnect()
{
if (!DynaLinkHS.ServerLinkActBit)
{
DynaLinkCore.StopSocket();
yield return(new WaitForSeconds(1f));
DynaLinkCore.ConnectClick();
}
}
/// <summary>
/// 开机连接到机器
/// </summary>
/// <returns></returns>
IEnumerator InitializeConnection()
{
//如果机器还未连接，发送连接命名
if (!DetectionManage.Instance.Connected)
{
Debug.Log("Begin Connect");
DynaLinkCore.ConnectClick();
}
//三秒等待连接
float initialTimeOut = 0;
while (!DetectionManage.Instance.Connected)
{
if (initialTimeOut >= 3f)
{
//超过三秒，连接超时，断开连接准备重连
DynaLinkCore.StopSocket();
Debug.Log("Initialize connection Time-out!");
Debug.Log("Disconnected!");
//断开连接有一定的延迟
yield return(new WaitForSeconds(1f));
//开始监听连接和急停的事件
DetectionManage.Instance.ActionReConnect += OnReConnect;
DetectionManage.Instance.ActionEmrgencyStop += OnEmrgencyStop;
//由于未连接上执行断开连接的事件一次
OnReConnect(false);
IsFinished = true;
yield break;
}
yield return(new WaitForSeconds(1f));
initialTimeOut += 1f;
}
CommandFunctions.IsConnected = true;
//如果连接上了，开始监听连接事件
DetectionManage.Instance.ActionReConnect += OnReConnect;
//判断机器是否有急停情况
if (DetectionManage.Instance.EMstopBit)
{
OnEmrgencyStop(true);
}
//开始监听急停事件
DetectionManage.Instance.ActionEmrgencyStop += OnEmrgencyStop;
IsFinished = true;
}
void DisConnectNetBtnClick()
{
DynaLinkCore.StopSocket();
}
void ConnectNetBtnClick()
{
DynaLinkCore.ConnectClick();
}
private void OnDestroy()
{
DynaLinkCore.StopSocket();
Thread.Sleep(100);
}
void OnApplicationQuit()
{
DynaLinkCore.StopSocket();
UdpBasicClass.UdpSocketClient.SocketQuit();
}
