internal TCPCommunicationManagerABB(Driver driver, RobotCursor writeCursor, RobotCursor motionCursor, string ip, int port)
{
this._parentDriver = driver;
this._writeCursor = writeCursor;
this._motionCursor = motionCursor;
this._ip = ip;
this._port = port;
this._translator = Protocols.Factory.GetTranslator(this._parentDriver);
}
internal TCPCommunicationManagerUR(Driver driver, RobotCursor writeCursor, RobotCursor motionCursor, string robotIP, int robotPort)
{
this._parentDriver = driver;
this._writeCursor = writeCursor;
this._motionCursor = motionCursor;
this._robotIP = robotIP;
//this._robotPort = robotPort; // It will always be 30003, user need not care about this
this._translator = Protocols.Factory.GetTranslator(this._parentDriver);
}
internal TCPCommunicationManagerABB(Driver driver, RobotCursor releaseCursor, RobotCursor executionCursor, string ip, int port)
{
this._parentDriver = driver;
this.logger = driver.parentControl.logger;
this._releaseCursor = releaseCursor;
this._executionCursor = executionCursor;
this._motionCursor = driver.parentControl.MotionCursor; // @TODO: homogeinize how the driver picks cursors from parent control: as constructor arguments or directly from the object
this._ip = ip;
this._port = port;
this._monitorIP = ip;
this._monitorPort = port + 1; // these should be configurable...
this._translator = Protocols.Factory.GetTranslator(this._parentDriver);
}
