private void 机器人坐标ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (this.dataGridView1.SelectedRows.Count == 1)
{
Task.Run(() => {
var robot = new TsRemoteS();
robot.SetIPaddr(0, this.IpAddress, this.Port);
robot.Connect(1);
TsPointS p = robot.GetPsnFbkWorld();
DataGridViewRow dr = this.dataGridView1.SelectedRows.OfType <DataGridViewRow>().Single();
this.CalData.Rows[dr.Index]["x"] = p.X;
this.CalData.Rows[dr.Index]["y"] = p.Y;
this.CalData.Rows[dr.Index]["z"] = p.Z;
Task.Run(() => {
robot.Disconnect();
robot.Dispose();
});
});
}
}
public bool doConncet_Network(string IPAddress, int IPPort)
{
//已經開啟，直接回傳
if ((ConnectStatus & CONNECTTYPE.CONNECTED) > 0)
{
return(true);
}
try
{
//P.88
//openmode: 0=Server(not installed); 1=Client
//destAddr: 目標IPv4位置
//destPort: 目標Port
if (_Robot.SetIPaddr(0, IPAddress, IPPort) == false)
{
//Return value: true=Successful; false=Failed
return(false);
}
//P.31
//int type Specify a connection type. Connection under RS-232C(COM) is not supported.
//0:RS-232C(function not yet installed)
//1:TCP/IP
//Return value: true:Connect successful; false:Connect failed
if (_Robot.Connect(1) == true)
{
ConnectStatus |= CONNECTTYPE.CONNECTED;
checkServo();
return(true);
}
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("doConncet_Network: " + ex.Message);
}
return(false);
}