private void Disconnect()
{
// Properly shut down the local variables in reverse order of precedence so that the ORiN engine is not left hanging
TurnOffMotors();
try {
Robot.Execute("GiveArm"); // Release the arm
} catch (Exception ex) {
ShowError("GiveArm", ex);
}
Robot.Variables.Clear(); // Clear all robot-specific variables from the main robot variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
RobotBusyStatus = null; // Set the individual robot-specific variable to null
RobotState = null;
RobotExternalSpeed = null;
RobotCurrentPosition = null;
RobotCurrentAngle = null;
RC8Controller.Robots.Clear(); // Clear all local robot variables from the controller variable
Robot = null; // Set the individual robot variable to null
RC8Controller.Variables.Clear(); // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
CurrentErrorCode = null; // Set the individual local variables to null
CurrentErrorDescription = null;
RC8variable_S10 = null;
ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC8Controller.Index); // Remove the controller variable from the ORiN engine
RC8Controller = null; // Set the individual controller variable to null
ORiN_Engine = null; // Set the ORiN engine variable to null
}
private void ConnectToController()
{
KillCaoExecutableIfItIsAlreadyRunning(); // This is required to prevent lockup in the event that this program is not properly shut down
ORiN_Engine = new CaoEngine(); // This starts a separate program called "CAO.exe" which allows this program to talk with RC8 controllers
// Create a link to the RC8 controller via the engine (CAO.exe)
RC8Controller = ORiN_Engine.Workspaces.Item(0).AddController(
"", // This is the name of the connection to the RC8 controller; Pass an empty string to have the controller auto-generate a name
"CaoProv.DENSO.RC8", // This is the name of the DENSO ORiN provider for RC8; It must be exactly as shown
"localhost", // This is the name of the machine executing the DENSO ORiN provider (usually the machine running this program)
"Server=192.168.0.1"); // This is the IP address of the physical RC8 controller
}
private void button_Close_Click(object sender, EventArgs e)
{
// Properly shut down the local variables in reverse order of precedence so that the ORiN engine is not left hanging
RC8Controller.Variables.Clear(); // Clear all local variables from the controller variable (THIS DOES NOT AFFECT VALUES ON THE PHYSICAL RC8 CONTROLLER)
RC8variable_S10 = null; // Set the individual local variables to null
ORiN_Engine.Workspaces.Item(0).Controllers.Remove(RC8Controller.Index); // Remove the controller variable from the ORiN engine
RC8Controller = null; // Set the individual controller variable to null
ORiN_Engine = null; // Set the ORiN engine variable to null
Close(); // Exit this C# program
}
private void button_Connect_Click(object sender, EventArgs e)
{
button_Connect.Enabled = false;
// Create a link to the RC8 controller via the engine (CAO.exe)
RC8Controller = ORiN_Engine.Workspaces.Item(0).AddController(
"", // This is the name of the connection to the RC8 controller; Pass an empty string to have the controller auto-generate a name
"CaoProv.DENSO.RC8", // This is the name of the DENSO ORiN provider for RC8; It must be exactly as shown
"localhost", // This is the name of the machine executing the DENSO ORiN provider (usually the machine running this program)
"Server=192.168.0.1"); // This is the IP address of the physical RC8 controller
// Add a local variable that is linked to string variable S10 on the physical RC8 controller
RC8variable_S10 = RC8Controller.AddVariable("S10");
button_ReadVariable.Enabled = true;
button_WriteVariable.Enabled = true;
button_Close.Enabled = true;
}
public void Init()
{
if (IsInitialized)
{
return;
}
Kill();
// Create CaoEngine object
caoEngine = new CaoEngine();
caoWorkspace = caoEngine.Workspaces.Item(0);
//caoController = caoWorkspace.AddController("RC7", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.0.1");
caoController = caoWorkspace.AddController("RC8", "CaoProv.DENSO.RC8", null,
"Server=192.168.0.1,@IfNotMember=True");
caoRobot = caoController.AddRobot("Arm", "");
Robot = new DensoRobot(caoRobot);
Robot.LogEvent += OnLogEvent;
Controller = new DensoController(caoController);
Controller.LogEvent += OnLogEvent;
Controller.ClearError();
if ((int)Controller.ControllerCaoVars["@MODE"].Value <= 2)
{
MessageBox.Show("Controller not in Auto Mode! Retry!");
Close();
Kill();
IsInitialized = false;
return;
}
//Controller.PutAutoMode();
Controller.Initialize();
//RobslaveTask = new DensoTask(caoController.AddTask("robslave", null));
//RobslaveTask.LogEvent += OnLogEvent;
//RobslaveTask.Stop();
//RobslaveTask.Start();
IsInitialized = true;
}
public DensoController(CaoController c)
{
controller = c;
c.OnMessage += OnMessageEvent;
OnLogEvent("Controller: robot add variable...");
foreach (var s in ControllerVarStrings)
{
ControllerCaoVars.Add(s, controller.AddVariable(s, null));
}
for (int i = 0; i < 100; i++)
{
ControllerPointsPVars.Add("P" + i, controller.AddVariable("P" + i, null));
}
for (int i = 0; i < 100; i++)
{
ControllerPointsJVars.Add("J" + i, controller.AddVariable("J" + i, null));
}
}
public void Close()
{
// Release caoRobot object
if (caoRobot != null)
{
caoRobot.Variables.Clear();
Marshal.ReleaseComObject(caoRobot);
caoRobot = null;
}
// Release controller object
if (caoController != null)
{
caoController.Variables.Clear();
caoController.Robots.Clear();
Marshal.ReleaseComObject(caoController);
caoController = null;
}
if (caoWorkspace != null)
{
caoWorkspace.Controllers.Clear();
Marshal.ReleaseComObject(caoWorkspace);
caoWorkspace = null;
}
if (caoEngine != null)
{
caoEngine.Workspaces.Clear();
Marshal.ReleaseComObject(caoEngine);
caoEngine = null;
}
IsInitialized = false;
}
private void button_Connect_Click(object sender, EventArgs e)
{
button_Connect.Enabled = false;
// Create a link to the RC7 controller via the engine (CAO.exe)
RC7Controller = ORiN_Engine.Workspaces.Item(0).AddController(
"Sample", // This is the name of the connection to the RC7 controller; Pass an empty string to have the controller auto-generate a name
"CaoProv.DENSO.NetwoRC", // This is the name of the DENSO ORiN provider for RC7; It must be exactly as shown
"", // This is the name of the machine executing the DENSO ORiN provider (usually the machine running this program)
"Conn=eth:192.168.0.2"); // This is the IP address of the physical RC7 controller
//In order to perform motion commands on the pc side you should start the RobSlave.pac program on the RC7
RC7Task_RobSlave = RC7Controller.AddTask("RobSlave", "");
RC7Task_RobSlave.Start(1, "");
// Add a local variable that is linked to string variable S10 on the physical RC7 controller
RC7variable_S10 = RC7Controller.AddVariable("S10");
button_ReadVariable.Enabled = true;
button_WriteVariable.Enabled = true;
button_Close.Enabled = true;
}
