private void StartApp()
{
try
{
xrc = new MotomanConnection((short)portNumber.Value);
ioClient.SetXrc(xrc);
xrc.StatusChanged += new EventHandler(StatusChanged);
xrc.ConnectionStatus += new EventHandler(rc1_connectionStatus);
xrc.EventStatus += new EventHandler(rc1_eventStatus);
xrc.ConnectionError += new EventHandler(rc1_errorStatus);
xrc.DispatchCurrentPosition += new EventHandler(
(object sender, EventArgs e) => { UpdateUiCurrentPosition(); }
);
xrc.MovingToPosition += new EventHandler(
(object sender, EventArgs e) => { UpdateUiSetpointPosition(); }
);
WriteLine("XRC Starting connection");
xrc.Connect();
UpdateUiSetpointPosition();
} catch (Exception ex)
{
MessageBox.Show("StartApp(): " + ex.Message);
}
}
private async void button7_Click(object sender, EventArgs e)
{
if (xrc == null)
{
return;
}
button7.Enabled = false;
await xrc.Disconnect();
xrc = null;
btnConnect.Enabled = true;
}
private async void Form1_FormClosing(object sender, EventArgs e)
{
if (ioClient != null)
{
Console.WriteLine("Stopping Socket IO");
await ioClient.Disconnect();
}
if (xrc != null)
{
await xrc.Disconnect();
xrc = null;
Console.WriteLine("Stopping XRC connection");
}
}
//public NodeTcpListener(string ip, int port)
public NodeTcpListener(Form1 form, MotomanConnection xrc, int port)
{
this.form = form;
this.xrc = xrc;
mainTread = new Thread(delegate()
{
//IPAddress localAddr = IPAddress.Parse(ip);
server = new TcpListener(IPAddress.Any, port);
isListening = true;
server.Start();
StartListener();
});
mainTread.Start();
if (form != null)
{
form.WriteLine(" TCP is listening");
}
}
public void SetXrc(MotomanConnection xrc)
{
this.xrc = xrc;
xrc.StatusChanged += new System.EventHandler(
(object sender, EventArgs e) => { if (xrc != null)
{
SendStatus(xrc.GetCopyOfRobotStatus());
}
}
);
xrc.DispatchCurrentPosition += new System.EventHandler(
(object sender, EventArgs e) => { if (xrc != null)
{
SendPosition(xrc.GetCurrentPositionCached());
}
}
);
xrc.ConnectionError += new System.EventHandler(
(object sender, EventArgs e) => { if (xrc != null)
{
EmitWrapperError(xrc.CurrentError);
}
}
);
//xrc.EventStatus += new System.EventHandler(
// (object sender, EventArgs e) => { if (xrc != null) EmitWrapperStatus(xrc.CurrentEvent); }
//);
xrc.ConnectionStatus += new System.EventHandler(
(object sender, EventArgs e) => { if (xrc != null)
{
EmitWrapperStatus(xrc.CurrentConnection);
}
}
);
}
public void DisposeXrc()
{
this.xrc = null;
}
