/// <summary>
/// Sets the FRCDigitalIOSignal at dioIndex. Should only be used to override robot IO.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="dioIndex">The index of the digital out signal to set.</param>
public void SetDigitalOutSignal(FRCRobot robot, long dioIndex, bool dioValue)
{
try
{
FRCDigitalIOType dioType = (FRCDigitalIOType)robot.IOTypes[FREIOTypeConstants.frDOutType];
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)dioType.Signals[dioIndex];
dioSignal.Value = dioValue;
}
catch (Exception e) { }
}
/// <summary>
/// Метод изменения значения сигнала
/// </summary>
/// <param name="robot">экземпляр подключения к роботу</param>
/// <param name="ioTypeConstant">константа типа сигнала</param>
/// <param name="index">индекс сигнала, значение которое нужно изменить</param>
/// <param name="value">новое значение сигнала</param>
private async void SetSignalsIO(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long index, bool value)
{
try
{
if (robot.IsConnected)
{
switch (ioTypeConstant)
{
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
dioSignal.Value = value;
dioSignal.Update();
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uop = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
uop.Value = value;
uop.Update();
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sop = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
sop.Value = value;
sop.Update();
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal flagSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[index];
flagSignal.Value = value;
flagSignal.Update();
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
FRCRobotIOSignal rd = (FRCRobotIOSignal)((FRCRobotIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
rd.Value = value;
rd.Update();
break;
}
}
}
catch (Exception e)
{
MessageBox.Show(e.Message, "Ошибка", MessageBoxButton.OK, MessageBoxImage.Error);
Signals.Clear();
await GetSignalsIO(robot, ioTypeConstant);
}
}
/// <summary>
/// Gets the FRCIOSignal of FREIOTypeConstants at ioIndex. It is recommended that you typecast the returned FRCIOSignal to the correct IO signal type.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public FRCIOSignal GetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frFlagType:
((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
return(((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frMarkerType:
((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frMaxIOType:
return(new FRCIOSignal()); // There is no FRCMaxIOType.
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
return(new FRCIOSignal()); // There is no FRCRDIOType.
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
default:
return(new FRCIOSignal());
break;
}
}
return(new FRCIOSignal());
}
catch (Exception e)
{
return(new FRCIOSignal());
}
}
/// <summary>
/// Sets the FRCIOSignal of FREIOTypeConstants at ioIndex.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public void SetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex, FRCIOSignal ioSignal)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
FRCAnalogIOSignal aioSignal = (FRCAnalogIOSignal)((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
aioSignal.Comment = ((FRCAnalogIOSignal)ioSignal).Comment;
aioSignal.Value = ((FRCAnalogIOSignal)ioSignal).Value;
aioSignal.Update();
return;
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
dioSignal.Comment = ((FRCDigitalIOSignal)ioSignal).Comment;
dioSignal.Value = ((FRCDigitalIOSignal)ioSignal).Value;
dioSignal.Update();
return;
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal fioSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
fioSignal.Comment = ((FRCFlagSignal)ioSignal).Comment;
fioSignal.Value = ((FRCFlagSignal)ioSignal).Value;
fioSignal.Update();
return;
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
FRCGroupIOSignal gioSignal = (FRCGroupIOSignal)((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
gioSignal.Comment = ((FRCGroupIOSignal)ioSignal).Comment;
gioSignal.Value = ((FRCGroupIOSignal)ioSignal).Value;
gioSignal.Update();
return;
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
FRCLaserAnalogIOSignal laioSignal = (FRCLaserAnalogIOSignal)((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
laioSignal.Comment = ((FRCLaserAnalogIOSignal)ioSignal).Comment;
laioSignal.Value = ((FRCLaserAnalogIOSignal)ioSignal).Value;
laioSignal.Update();
return;
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
FRCLaserDigitalIOSignal ldioSignal = (FRCLaserDigitalIOSignal)((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
ldioSignal.Comment = ((FRCLaserDigitalIOSignal)ioSignal).Comment;
ldioSignal.Value = ((FRCLaserDigitalIOSignal)ioSignal).Value;
ldioSignal.Update();
return;
break;
case FREIOTypeConstants.frMarkerType:
FRCMarkerSignal mrkioSignal = (FRCMarkerSignal)((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
mrkioSignal.Comment = ((FRCMarkerSignal)ioSignal).Comment;
mrkioSignal.Value = ((FRCMarkerSignal)ioSignal).Value;
mrkioSignal.Update();
return;
break;
case FREIOTypeConstants.frMaxIOType:
// There is no FRCMaxIOType.
return;
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
FRCPLCIOSignal plcioSignal = (FRCPLCIOSignal)((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
plcioSignal.Comment = ((FRCPLCIOSignal)ioSignal).Comment;
plcioSignal.Value = ((FRCPLCIOSignal)ioSignal).Value;
plcioSignal.Update();
return;
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
// There is no FRCRDIOType.
return;
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sopioSignal = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
sopioSignal.Comment = ((FRCSOPIOSignal)ioSignal).Comment;
sopioSignal.Value = ((FRCSOPIOSignal)ioSignal).Value;
sopioSignal.Update();
return;
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
FRCTPIOSignal tpioSignal = (FRCTPIOSignal)((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
tpioSignal.Comment = ((FRCTPIOSignal)ioSignal).Comment;
tpioSignal.Value = ((FRCTPIOSignal)ioSignal).Value;
tpioSignal.Update();
return;
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uopioSignal = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
uopioSignal.Comment = ((FRCUOPIOSignal)ioSignal).Comment;
uopioSignal.Value = ((FRCUOPIOSignal)ioSignal).Value;
return;
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
FRCWeldDigitalIOSignal wdioSignal = (FRCWeldDigitalIOSignal)((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wdioSignal.Comment = ((FRCWeldDigitalIOSignal)ioSignal).Comment;
wdioSignal.Value = ((FRCWeldDigitalIOSignal)ioSignal).Value;
wdioSignal.Update();
return;
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
FRCWeldStickIOSignal wsioSignal = (FRCWeldStickIOSignal)((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wsioSignal.Comment = ((FRCWeldStickIOSignal)ioSignal).Comment;
wsioSignal.Value = ((FRCWeldStickIOSignal)ioSignal).Value;
wsioSignal.Update();
return;
break;
default:
return;
break;
}
}
return;
}
catch (Exception e)
{
return;
}
}
static void Main(string[] args)
{
OptionSet optionSet = new OptionSet()
{
{ "h=|hostname=", "The {HOSTNAME} (or IP address) of the robot.", v => sHostname = v },
{ "d|debug", "Show debug messages.", v => bShowDebug = v != null },
{ "?|help", "Show this help message and exit.", v => bShowHelp = v != null }
};
List<string> lsArgs;
try
{
lsArgs = optionSet.Parse(args);
}
catch (OptionException e)
{
ui.WriteErrorMessage(e.Message);
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (bShowHelp)
{
// User has requested the help message.
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (sHostname == string.Empty)
{
// User did not provide required hostname field.
ui.WriteErrorMessage("A hostname or IP address must be provided.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Check to see if sHostname matches an IP Address or Hostname pattern.
string sRegexIPAddressPattern = @"^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])\.){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$";
string sRegexHostnamePattern = @"^(([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])\.)*([A-Za-z0-9]|[A-Za-z0-9][A-Za-z0-9\-]*[A-Za-z0-9])$";
Regex rIPAddress = new Regex(sRegexIPAddressPattern);
Regex rHostname = new Regex(sRegexHostnamePattern);
if (!rIPAddress.Match(sHostname).Success && !rHostname.Match(sHostname).Success)
{
ui.WriteErrorMessage("The hostname/IP address provided is not valid.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Unnecessary to check every time, bShowDebug is checked within WriteDebugMessage().
if (bShowDebug)
{
// User has requested debug messages.
ui.WriteDebugMessage("Debug messages will be shown.");
}
ui.ShowTitleMessage();
ui.WriteDebugMessage("User provided a valid hostname/IP address.");
try
{
ui.WriteDebugMessage("Attempting to create a new FRCRobot object using the FRRobot library.");
robot = new FRCRobot();
ui.WriteDebugMessage("Attempting to connect to the robot at the hostname/IP address.");
robot.Connect(sHostname);
}
catch (Exception e)
{
ui.WriteErrorMessage(e.Message);
}
if (robot.IsConnected)
{
ui.WriteDebugMessage("Sucessfully connected to robot at {0}.", sHostname);
}
try
{
/*
MBTCP_Core c = new MBTCP_Core();
c.GetCommChannel();
modbusTCPScanner = new ModbusTCPScanner();
modbusTCPScanner.Scan("127.0.0.1", 1000);
*/
}
catch (Exception e)
{
ui.WriteErrorMessage("Problem creating/connecting to Modbus PLC - {0}", e.Message);
}
FRCUOPIOSignal UOPI_IMSTP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_IMSTP);
FRCUOPIOSignal UOPI_HOLD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOLD);
FRCUOPIOSignal UOPI_SFSPD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_SFSPD);
FRCUOPIOSignal UOPI_CSTOP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_CSTOP);
FRCUOPIOSignal UOPI_RESET = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_RESET);
FRCUOPIOSignal UOPI_START = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_START);
FRCUOPIOSignal UOPI_HOME = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOME);
FRCUOPIOSignal UOPI_ENABL = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_ENABL);
List<FRCUOPIOSignal> UOPI_SIGNALS = new List<FRCUOPIOSignal> { UOPI_IMSTP, UOPI_HOLD, UOPI_SFSPD, UOPI_CSTOP, UOPI_RESET, UOPI_START, UOPI_HOME, UOPI_ENABL };
FRCGroupIOSignal GI_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPInType, (long)GINumber.GI_CARR);
List<FRCGroupIOSignal> GI_SIGNALS = new List<FRCGroupIOSignal> { GI_CARR };
FRCDigitalIOSignal DI_CARR_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_CARR_DAT_RDY);
//FRCDigitalIOSignal DI_SPARE_1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_1);
//FRCDigitalIOSignal DI_SPARE_2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_2);
FRCDigitalIOSignal DI_ON_LINE = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_ON_LINE);
FRCDigitalIOSignal DI_LINE_STOP = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_LINE_STOP);
FRCDigitalIOSignal DI_PE_SIGNAL = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_PE_SIGNAL);
FRCDigitalIOSignal DI_NXT_MLD_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_NXT_MLD_RDY);
FRCDigitalIOSignal DI_MACRO_RUN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_MACRO_RUN);
List<FRCDigitalIOSignal> DI_SIGNALS = new List<FRCDigitalIOSignal> { DI_CARR_DAT_RDY, /* DI_SPARE_1, DI_SPARE_2, */ DI_ON_LINE, DI_LINE_STOP, DI_PE_SIGNAL, DI_NXT_MLD_RDY, DI_MACRO_RUN };
FRCUOPIOSignal UOPO_CMDEN = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_CMDEN);
FRCUOPIOSignal UOPO_SYSRD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_SYSRD);
FRCUOPIOSignal UOPO_PROGR = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PROGR);
FRCUOPIOSignal UOPO_PAUSD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PAUSD);
FRCUOPIOSignal UOPO_HELD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_HELD);
FRCUOPIOSignal UOPO_FAULT = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_FAULT);
FRCUOPIOSignal UOPO_PERCH = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PERCH);
FRCUOPIOSignal UOPO_TPENB = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_TPENB);
List<FRCUOPIOSignal> UOPO_SIGNALS = new List<FRCUOPIOSignal> { UOPO_CMDEN, UOPO_SYSRD, UOPO_PROGR, UOPO_PAUSD, UOPO_HELD, UOPO_FAULT, UOPO_PERCH, UOPO_TPENB };
FRCDigitalIOSignal DO_CARR_DAT_ACK = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_CARR_DAT_ACK);
FRCDigitalIOSignal DO_NXT_MLD_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_NXT_MLD_DAT_RDY);
FRCDigitalIOSignal DO_PATH_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PATH_RUNG);
FRCDigitalIOSignal DO_SYS_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_SYS_RUNG);
FRCDigitalIOSignal DO_FAN_1_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_1_REQ);
FRCDigitalIOSignal DO_FAN_2_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_2_REQ);
FRCDigitalIOSignal DO_HI_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HI_PUFF_REQ);
FRCDigitalIOSignal DO_LO_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LO_PUFF_REQ);
FRCGroupIOSignal GO_PH_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)GONumber.GO_PH_CARR);
List<FRCGroupIOSignal> GO_SIGNALS = new List<FRCGroupIOSignal> { GO_PH_CARR };
FRCDigitalIOSignal DO_PH_MOL_BIT0 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT0);
FRCDigitalIOSignal DO_PH_MOL_BIT1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT1);
FRCDigitalIOSignal DO_PH_MOL_BIT2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT2);
FRCDigitalIOSignal DO_LINEUP_ERR = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LINEUP_ERR);
FRCDigitalIOSignal DO_PROGRAM = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROGRAM);
FRCDigitalIOSignal DO_HEAD_OPEN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HEAD_OPEN);
FRCDigitalIOSignal DO_PROG_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROG_RUNG);
FRCDigitalIOSignal DO_OPEN_PH = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_OPEN_PH);
List<FRCDigitalIOSignal> DO_SIGNALS = new List<FRCDigitalIOSignal> { DO_CARR_DAT_ACK, DO_NXT_MLD_DAT_RDY, DO_PATH_RUNG, DO_SYS_RUNG, DO_FAN_1_REQ, DO_FAN_2_REQ, DO_HI_PUFF_REQ, DO_LO_PUFF_REQ,
DO_PH_MOL_BIT0, DO_PH_MOL_BIT1, DO_PH_MOL_BIT2, DO_LINEUP_ERR, DO_PROGRAM, DO_HEAD_OPEN, DO_PROG_RUNG, DO_OPEN_PH};
foreach (FRCDigitalIOSignal signal in DI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
signal.StartMonitor(1);
//signal.Change += delegate () { eventType = EventType.Change; eventSender = (FRCIOSignal)signal; eventSenderType = FREIOTypeConstants.frDOutType; bEvent = true; };
signal.Change += delegate () { utility.RobotIO_Change((FRCIOSignal)signal, FREIOTypeConstants.frDOutType); };
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GO_SIGNALS)
{
//signal.StartMonitor(1);
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPO_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPONumber), signal.LogicalNum), signal.Value.ToString());
//signal.StartMonitor(1);
}
ui.WriteDebugMessage("Robot Time: {0}", robot.SysInfo.Clock.ToLongTimeString());
ui.WriteDebugMessage("DO[2] = \"{0}\"", ((FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)2)).Value.ToString());
ui.WriteDebugMessage("GO[1] = \"{0}\"", ((FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)1)).Value.ToString());
//ioSignal = ioType.
//ioTypes.Add(ioType);
while (!bEvent)
{
if (bEvent)
{
ui.WriteDebugMessage("****** EVENT TRIGGERED ******");
ui.WriteDebugMessage("Event Type: {0}", Enum.GetName(typeof(EventType), eventType));
ui.WriteDebugMessage("Event Sender: {0}", Enum.GetName(typeof(DONumber), eventSender.LogicalNum));
ui.WriteDebugMessage("Event Sender Type: {0}", Enum.GetName(typeof(FREIOTypeConstants), eventSenderType));
ui.WriteDebugMessage("*****************************");
}
}
/*
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
ui.WriteDebugMessage(".Equals {0,18}?: {1}", Enum.GetName(typeof(DONumber), signal.LogicalNum), LastChangeEventSender.Equals(signal));
}
*/
ui.ShowExitMessage();
}
/// <summary>
/// Gets the FRCIOSignal of FREIOTypeConstants at ioIndex. It is recommended that you typecast the returned FRCIOSignal to the correct IO signal type.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public FRCIOSignal GetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frFlagType:
((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
return ((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frMarkerType:
((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frMaxIOType:
return new FRCIOSignal(); // There is no FRCMaxIOType.
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
return new FRCIOSignal(); // There is no FRCRDIOType.
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
default:
return new FRCIOSignal();
break;
}
}
return new FRCIOSignal();
}
catch (Exception e)
{
return new FRCIOSignal();
}
}
/// <summary>
/// Sets the FRCIOSignal of FREIOTypeConstants at ioIndex.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public void SetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex, FRCIOSignal ioSignal)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
FRCAnalogIOSignal aioSignal = (FRCAnalogIOSignal)((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
aioSignal.Comment = ((FRCAnalogIOSignal)ioSignal).Comment;
aioSignal.Value = ((FRCAnalogIOSignal)ioSignal).Value;
aioSignal.Update();
return;
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
dioSignal.Comment = ((FRCDigitalIOSignal)ioSignal).Comment;
dioSignal.Value = ((FRCDigitalIOSignal)ioSignal).Value;
dioSignal.Update();
return;
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal fioSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
fioSignal.Comment = ((FRCFlagSignal)ioSignal).Comment;
fioSignal.Value = ((FRCFlagSignal)ioSignal).Value;
fioSignal.Update();
return;
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
FRCGroupIOSignal gioSignal = (FRCGroupIOSignal)((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
gioSignal.Comment = ((FRCGroupIOSignal)ioSignal).Comment;
gioSignal.Value = ((FRCGroupIOSignal)ioSignal).Value;
gioSignal.Update();
return;
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
FRCLaserAnalogIOSignal laioSignal = (FRCLaserAnalogIOSignal)((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
laioSignal.Comment = ((FRCLaserAnalogIOSignal)ioSignal).Comment;
laioSignal.Value = ((FRCLaserAnalogIOSignal)ioSignal).Value;
laioSignal.Update();
return;
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
FRCLaserDigitalIOSignal ldioSignal = (FRCLaserDigitalIOSignal)((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
ldioSignal.Comment = ((FRCLaserDigitalIOSignal)ioSignal).Comment;
ldioSignal.Value = ((FRCLaserDigitalIOSignal)ioSignal).Value;
ldioSignal.Update();
return;
break;
case FREIOTypeConstants.frMarkerType:
FRCMarkerSignal mrkioSignal = (FRCMarkerSignal)((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
mrkioSignal.Comment = ((FRCMarkerSignal)ioSignal).Comment;
mrkioSignal.Value = ((FRCMarkerSignal)ioSignal).Value;
mrkioSignal.Update();
return;
break;
case FREIOTypeConstants.frMaxIOType:
// There is no FRCMaxIOType.
return;
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
FRCPLCIOSignal plcioSignal = (FRCPLCIOSignal)((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
plcioSignal.Comment = ((FRCPLCIOSignal)ioSignal).Comment;
plcioSignal.Value = ((FRCPLCIOSignal)ioSignal).Value;
plcioSignal.Update();
return;
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
// There is no FRCRDIOType.
return;
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sopioSignal = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
sopioSignal.Comment = ((FRCSOPIOSignal)ioSignal).Comment;
sopioSignal.Value = ((FRCSOPIOSignal)ioSignal).Value;
sopioSignal.Update();
return;
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
FRCTPIOSignal tpioSignal = (FRCTPIOSignal)((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
tpioSignal.Comment = ((FRCTPIOSignal)ioSignal).Comment;
tpioSignal.Value = ((FRCTPIOSignal)ioSignal).Value;
tpioSignal.Update();
return;
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uopioSignal = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
uopioSignal.Comment = ((FRCUOPIOSignal)ioSignal).Comment;
uopioSignal.Value = ((FRCUOPIOSignal)ioSignal).Value;
return;
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
FRCWeldDigitalIOSignal wdioSignal = (FRCWeldDigitalIOSignal)((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wdioSignal.Comment = ((FRCWeldDigitalIOSignal)ioSignal).Comment;
wdioSignal.Value = ((FRCWeldDigitalIOSignal)ioSignal).Value;
wdioSignal.Update();
return;
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
FRCWeldStickIOSignal wsioSignal = (FRCWeldStickIOSignal)((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wsioSignal.Comment = ((FRCWeldStickIOSignal)ioSignal).Comment;
wsioSignal.Value = ((FRCWeldStickIOSignal)ioSignal).Value;
wsioSignal.Update();
return;
break;
default:
return;
break;
}
}
return;
}
catch (Exception e)
{
return;
}
}
/// <summary>
/// Sets the FRCDigitalIOSignal at dioIndex. Should only be used to override robot IO.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="dioIndex">The index of the digital out signal to set.</param>
public void SetDigitalOutSignal(FRCRobot robot, long dioIndex, bool dioValue)
{
try
{
FRCDigitalIOType dioType = (FRCDigitalIOType)robot.IOTypes[FREIOTypeConstants.frDOutType];
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)dioType.Signals[dioIndex];
dioSignal.Value = dioValue;
}
catch (Exception e) { }
}
public CurrentPosition(FRCRobot robot)
{
this.robot = robot;
}
static void Main(string[] args)
{
OptionSet optionSet = new OptionSet()
{
{ "h=|hostname=", "The {HOSTNAME} (or IP address) of the robot.", v => sHostname = v },
{ "d|debug", "Show debug messages.", v => bShowDebug = v != null },
{ "?|help", "Show this help message and exit.", v => bShowHelp = v != null }
};
List <string> lsArgs;
try
{
lsArgs = optionSet.Parse(args);
}
catch (OptionException e)
{
ui.WriteErrorMessage(e.Message);
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (bShowHelp)
{
// User has requested the help message.
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
if (sHostname == string.Empty)
{
// User did not provide required hostname field.
ui.WriteErrorMessage("A hostname or IP address must be provided.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Check to see if sHostname matches an IP Address or Hostname pattern.
string sRegexIPAddressPattern = @"^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])\.){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$";
string sRegexHostnamePattern = @"^(([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])\.)*([A-Za-z0-9]|[A-Za-z0-9][A-Za-z0-9\-]*[A-Za-z0-9])$";
Regex rIPAddress = new Regex(sRegexIPAddressPattern);
Regex rHostname = new Regex(sRegexHostnamePattern);
if (!rIPAddress.Match(sHostname).Success&& !rHostname.Match(sHostname).Success)
{
ui.WriteErrorMessage("The hostname/IP address provided is not valid.");
ui.ShowHelpMessage(optionSet);
ui.ShowExitMessage();
return;
}
// Unnecessary to check every time, bShowDebug is checked within WriteDebugMessage().
if (bShowDebug)
{
// User has requested debug messages.
ui.WriteDebugMessage("Debug messages will be shown.");
}
ui.ShowTitleMessage();
ui.WriteDebugMessage("User provided a valid hostname/IP address.");
try
{
ui.WriteDebugMessage("Attempting to create a new FRCRobot object using the FRRobot library.");
robot = new FRCRobot();
ui.WriteDebugMessage("Attempting to connect to the robot at the hostname/IP address.");
robot.Connect(sHostname);
}
catch (Exception e)
{
ui.WriteErrorMessage(e.Message);
}
if (robot.IsConnected)
{
ui.WriteDebugMessage("Sucessfully connected to robot at {0}.", sHostname);
}
try
{
/*
* MBTCP_Core c = new MBTCP_Core();
* c.GetCommChannel();
* modbusTCPScanner = new ModbusTCPScanner();
* modbusTCPScanner.Scan("127.0.0.1", 1000);
*/
}
catch (Exception e)
{
ui.WriteErrorMessage("Problem creating/connecting to Modbus PLC - {0}", e.Message);
}
FRCUOPIOSignal UOPI_IMSTP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_IMSTP);
FRCUOPIOSignal UOPI_HOLD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOLD);
FRCUOPIOSignal UOPI_SFSPD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_SFSPD);
FRCUOPIOSignal UOPI_CSTOP = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_CSTOP);
FRCUOPIOSignal UOPI_RESET = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_RESET);
FRCUOPIOSignal UOPI_START = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_START);
FRCUOPIOSignal UOPI_HOME = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_HOME);
FRCUOPIOSignal UOPI_ENABL = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPInType, (long)UOPINumber.UOPI_ENABL);
List <FRCUOPIOSignal> UOPI_SIGNALS = new List <FRCUOPIOSignal> {
UOPI_IMSTP, UOPI_HOLD, UOPI_SFSPD, UOPI_CSTOP, UOPI_RESET, UOPI_START, UOPI_HOME, UOPI_ENABL
};
FRCGroupIOSignal GI_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPInType, (long)GINumber.GI_CARR);
List <FRCGroupIOSignal> GI_SIGNALS = new List <FRCGroupIOSignal> {
GI_CARR
};
FRCDigitalIOSignal DI_CARR_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_CARR_DAT_RDY);
//FRCDigitalIOSignal DI_SPARE_1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_1);
//FRCDigitalIOSignal DI_SPARE_2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_SPARE_2);
FRCDigitalIOSignal DI_ON_LINE = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_ON_LINE);
FRCDigitalIOSignal DI_LINE_STOP = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_LINE_STOP);
FRCDigitalIOSignal DI_PE_SIGNAL = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_PE_SIGNAL);
FRCDigitalIOSignal DI_NXT_MLD_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_NXT_MLD_RDY);
FRCDigitalIOSignal DI_MACRO_RUN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDInType, (long)DINumber.DI_MACRO_RUN);
List <FRCDigitalIOSignal> DI_SIGNALS = new List <FRCDigitalIOSignal> {
DI_CARR_DAT_RDY, /* DI_SPARE_1, DI_SPARE_2, */ DI_ON_LINE, DI_LINE_STOP, DI_PE_SIGNAL, DI_NXT_MLD_RDY, DI_MACRO_RUN
};
FRCUOPIOSignal UOPO_CMDEN = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_CMDEN);
FRCUOPIOSignal UOPO_SYSRD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_SYSRD);
FRCUOPIOSignal UOPO_PROGR = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PROGR);
FRCUOPIOSignal UOPO_PAUSD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PAUSD);
FRCUOPIOSignal UOPO_HELD = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_HELD);
FRCUOPIOSignal UOPO_FAULT = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_FAULT);
FRCUOPIOSignal UOPO_PERCH = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_PERCH);
FRCUOPIOSignal UOPO_TPENB = (FRCUOPIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frUOPOutType, (long)UOPONumber.UOPO_TPENB);
List <FRCUOPIOSignal> UOPO_SIGNALS = new List <FRCUOPIOSignal> {
UOPO_CMDEN, UOPO_SYSRD, UOPO_PROGR, UOPO_PAUSD, UOPO_HELD, UOPO_FAULT, UOPO_PERCH, UOPO_TPENB
};
FRCDigitalIOSignal DO_CARR_DAT_ACK = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_CARR_DAT_ACK);
FRCDigitalIOSignal DO_NXT_MLD_DAT_RDY = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_NXT_MLD_DAT_RDY);
FRCDigitalIOSignal DO_PATH_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PATH_RUNG);
FRCDigitalIOSignal DO_SYS_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_SYS_RUNG);
FRCDigitalIOSignal DO_FAN_1_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_1_REQ);
FRCDigitalIOSignal DO_FAN_2_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_FAN_2_REQ);
FRCDigitalIOSignal DO_HI_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HI_PUFF_REQ);
FRCDigitalIOSignal DO_LO_PUFF_REQ = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LO_PUFF_REQ);
FRCGroupIOSignal GO_PH_CARR = (FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)GONumber.GO_PH_CARR);
List <FRCGroupIOSignal> GO_SIGNALS = new List <FRCGroupIOSignal> {
GO_PH_CARR
};
FRCDigitalIOSignal DO_PH_MOL_BIT0 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT0);
FRCDigitalIOSignal DO_PH_MOL_BIT1 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT1);
FRCDigitalIOSignal DO_PH_MOL_BIT2 = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PH_MOL_BIT2);
FRCDigitalIOSignal DO_LINEUP_ERR = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_LINEUP_ERR);
FRCDigitalIOSignal DO_PROGRAM = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROGRAM);
FRCDigitalIOSignal DO_HEAD_OPEN = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_HEAD_OPEN);
FRCDigitalIOSignal DO_PROG_RUNG = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_PROG_RUNG);
FRCDigitalIOSignal DO_OPEN_PH = (FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)DONumber.DO_OPEN_PH);
List <FRCDigitalIOSignal> DO_SIGNALS = new List <FRCDigitalIOSignal> {
DO_CARR_DAT_ACK, DO_NXT_MLD_DAT_RDY, DO_PATH_RUNG, DO_SYS_RUNG, DO_FAN_1_REQ, DO_FAN_2_REQ, DO_HI_PUFF_REQ, DO_LO_PUFF_REQ,
DO_PH_MOL_BIT0, DO_PH_MOL_BIT1, DO_PH_MOL_BIT2, DO_LINEUP_ERR, DO_PROGRAM, DO_HEAD_OPEN, DO_PROG_RUNG, DO_OPEN_PH
};
foreach (FRCDigitalIOSignal signal in DI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
{
signal.StartMonitor(1);
//signal.Change += delegate () { eventType = EventType.Change; eventSender = (FRCIOSignal)signal; eventSenderType = FREIOTypeConstants.frDOutType; bEvent = true; };
signal.Change += delegate() { utility.RobotIO_Change((FRCIOSignal)signal, FREIOTypeConstants.frDOutType); };
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(DONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCGroupIOSignal signal in GO_SIGNALS)
{
//signal.StartMonitor(1);
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(GONumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPI_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPINumber), signal.LogicalNum), signal.Value.ToString());
}
foreach (FRCUOPIOSignal signal in UOPO_SIGNALS)
{
ui.WriteDebugMessage("{0,18} = \"{1}\"", Enum.GetName(typeof(UOPONumber), signal.LogicalNum), signal.Value.ToString());
//signal.StartMonitor(1);
}
ui.WriteDebugMessage("Robot Time: {0}", robot.SysInfo.Clock.ToLongTimeString());
ui.WriteDebugMessage("DO[2] = \"{0}\"", ((FRCDigitalIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frDOutType, (long)2)).Value.ToString());
ui.WriteDebugMessage("GO[1] = \"{0}\"", ((FRCGroupIOSignal)utility.GetRobotIOSignal(robot, FREIOTypeConstants.frGPOutType, (long)1)).Value.ToString());
//ioSignal = ioType.
//ioTypes.Add(ioType);
while (!bEvent)
{
if (bEvent)
{
ui.WriteDebugMessage("****** EVENT TRIGGERED ******");
ui.WriteDebugMessage("Event Type: {0}", Enum.GetName(typeof(EventType), eventType));
ui.WriteDebugMessage("Event Sender: {0}", Enum.GetName(typeof(DONumber), eventSender.LogicalNum));
ui.WriteDebugMessage("Event Sender Type: {0}", Enum.GetName(typeof(FREIOTypeConstants), eventSenderType));
ui.WriteDebugMessage("*****************************");
}
}
/*
* foreach (FRCDigitalIOSignal signal in DO_SIGNALS)
* {
* ui.WriteDebugMessage(".Equals {0,18}?: {1}", Enum.GetName(typeof(DONumber), signal.LogicalNum), LastChangeEventSender.Equals(signal));
* }
*/
ui.ShowExitMessage();
}
/// <summary>
/// Получение списка сигналов и передача в список Signals
/// </summary>
/// <param name="robot">экземпляр подключения к роботу</param>
/// <param name="ioTypeConstant">константа типа сигналов</param>
/// <returns>возвращаемое значение-текущая задача</returns>
private async Task GetSignalsIO(FRCRobot robot, FREIOTypeConstants ioTypeConstant)
{
Task task = new Task(() =>
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
try
{
if (robot.IsConnected)
{
Signals.Clear();
switch (ioTypeConstant)
{
//DIN DOUT
case FREIOTypeConstants.frDOutType:
case FREIOTypeConstants.frDInType:
FRCDigitalIOType dioTypeIn = (FRCDigitalIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCDigitalIOSignal item in dioTypeIn.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//UI UO
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOType TypeUO = (FRCUOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCUOPIOSignal item in TypeUO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//SI SO
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOType TypeSO = (FRCSOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCSOPIOSignal item in TypeSO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//FLAG
case FREIOTypeConstants.frFlagType:
FRCFlagType TypeFlag = (FRCFlagType)robot.IOTypes[ioTypeConstant];
foreach (FRCFlagSignal item in TypeFlag.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//RO RI
case FREIOTypeConstants.frRDOutType:
case FREIOTypeConstants.frRDInType:
FRCRobotIOType TypeRI = (FRCRobotIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCRobotIOSignal item in TypeRI.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
}
}
}
catch (Exception e)
{
MessageBox.Show(e.Message, "Ошибка", MessageBoxButton.OK, MessageBoxImage.Error);
}
}));
}, TaskCreationOptions.LongRunning);
task.Start();
await task;
}
public ConnectionToFanuc()
{
robot = new FRCRobot();
IPaddress = ConfigurationManager.AppSettings["IPaddressFanuc"];
}