public void WriteAsyn(MvLoggerEventArgs ea)
{
this.msgQueue.Enqueue(ea);
lock (this)
{
if (this.Task != null)
{
if (this.Task.IsEnd())
{
using (var obj = this.Task)
obj.Cancel();
}
else
{
return;
}
}
this.Task = MvCancelTask.RunLoop(() =>
{
MvSpinWait.SpinUntil(() => this.msgQueue.Count > 0);
MvLoggerEventArgs eaLog;
if (!this.msgQueue.TryDequeue(out eaLog))
{
return(true);
}
this.WriteSyn(eaLog);
return(true);
});
}
}
private void btnStartPns0102_Click(object sender, EventArgs e)
{
if (this.task != null)
{
return;
}
this.task = MvCancelTask.RunLoop(() =>
{
//大迴圈, 來回一次
try
{
robotHandler.SgsVerifyStartPns0102(ri =>
{
this.Invoke(new Action(() =>
{
tbPoseX.Text = ri.x + "";
tbPoseY.Text = ri.y + "";
tbPoseZ.Text = ri.z + "";
tbPoseW.Text = ri.w + "";
tbPoseP.Text = ri.p + "";
tbPoseR.Text = ri.r + "";
}));
});
return(true);
}
catch (Exception ex)
{
this.LogWrite(ex.Message);
return(false);
}
}, 1000);
}
public int StartAsyn()
{
this.m_keepConnection = MvCancelTask.RunLoop(() =>
{
this.Write(MacHalPlcEnumVariable.PC_TO_PLC_CheckClock, false);
if (!SpinWait.SpinUntil(() => !this.Read <bool>(MacHalPlcEnumVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
return(false);
}
this.LockAssign(ref this.m_isConnected, true);
this.Write(MacHalPlcEnumVariable.PC_TO_PLC_CheckClock, true);
if (!SpinWait.SpinUntil(() => this.Read <bool>(MacHalPlcEnumVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
//throw new MvException("PLC connection T1 timeout");
return(false);
}
else
{
this.LockAssign(ref this.m_isConnected, true);
}
return(true);
}, 1000);
return(0);
}
void TaskClose()
{
if (this.task != null)
{
using (var obj = this.task)
obj.Cancel();
this.task = null;
}
}
public void Close()
{
if (this.PlcLdd != null)
{
using (var obj = this.PlcLdd)
{
obj.NLPLC_ClosePort();
this.PlcLdd = null;
}
}
if (this.m_keepConnection != null)
{
using (var obj = this.m_keepConnection)
{
obj.Cancel();
SpinWait.SpinUntil(() => obj.IsEnd(), 1000);
}
this.m_keepConnection = null;
}
}
private void Button4_Click(object sender, EventArgs e)
{
if (this.task != null)
{
return;
}
if (this.task != null && !this.task.IsEnd())
{
return;
}
this.task = MvCancelTask.RunLoop(() =>
{
//大迴圈, 來回一次
try
{
robotHandler.SgsVerifyStartPns0102(ri =>
{
this.Invoke(new Action(() =>
{
X_VALUE.Text = ri.x + "";
Y_VALUE.Text = ri.y + "";
Z_VALUE.Text = ri.z + "";
W_VALUE.Text = ri.w + "";
P_VALUE.Text = ri.p + "";
R_VALUE.Text = ri.r + "";
E1_VALUE.Text = ri.e1 + "";
}));
});
return(true);
}
catch (Exception ex)
{
this.LogWrite(ex.Message);
return(false);
}
}, 1000);
}
public int StartAsyn()
{
this.PlcLdd = new MvOmronPlcLdd();
this.PlcLdd.NLPLC_Initial("192.168.0.200", 2);
this.m_keepConnection = MvCancelTask.RunLoop(() =>
{
this.Write(MvEnumPlcVariable.PC_TO_PLC_CheckClock, false);
if (!SpinWait.SpinUntil(() => !this.Read <bool>(MvEnumPlcVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
return(false);
}
this.LockAssign(ref this.m_isConnected, true);
this.Write(MvEnumPlcVariable.PC_TO_PLC_CheckClock, true);
if (!SpinWait.SpinUntil(() => this.Read <bool>(MvEnumPlcVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
//throw new MvException("PLC connection T1 timeout");
return(false);
}
else
{
this.LockAssign(ref this.m_isConnected, true);
}
return(true);
}, 500);
return(0);
}
