static void Main(string[] args)
{
#region Find VC ports with PCSDK
//var scanner = new NetworkScanner();
//scanner.Scan();
//ControllerInfoCollection controllers = scanner.Controllers;
//var vcPorts = controllers.Where(c => c.IsVirtual).Select(c => c.WebServicesPort);
#endregion
ControllerSession rwsCs1 = new ControllerSession("localhost");
var ios = rwsCs1.RobotWareService.GetIOSignals().Embedded.State;
var io0 = ios[0];
io0.OnValueChanged += IOSignal_ValueChanged;
Console.ReadKey();
io0.OnValueChanged -= IOSignal_ValueChanged;
Console.ReadKey();
//"/rw/panel/opmode"
//"/rw/elog/0"
//rwsCs1.UserService.RequestRmmp(Enums.Privilege.MODIFY);
//var rmmpState = rwsCs1.UserService.GetRmmpState();
//rwsCs1.UserService.RegisterUser("SEPARIA", "RobotStudio", "SWE", Enums.LoginType.LOCAL);
//rwsCs1.UserService.GrantOrDenyRmmp(rmmpState.Embedded.State.First().UserID, Enums.Privilege.MODIFY);
//rwsCs1.RobotWareService.MastershipRequest();
//rwsCs1.UserService.CancelHeldOrRequestedRmmp();
//rwsCs1.ControllerService.Restart(Enums.RestartMode.RESTART);
//rwsCs1.RobotWareService.SetMechunitForJogging("ROB_R");
//var sdf = rwsCs1.RobotWareService.GetMotionSystem();
//rwsCs.FileService.UploadFile(@"C:/Users/SEPARIA/Downloads/Sync14050W.pgf", "$home/Sync14050W.pgf", true); //Replace with your paths
}
public Task <BaseResponse <ControllerResourcesState> > GetControllerActionsAsync()
{
Tuple <string, string>[] dataParameters = null;
Tuple <string, string>[] urlParameters = { Tuple.Create("action", "show"), Tuple.Create("json", "1") };
return(ControllerSession.CallAsync <ControllerResourcesState>(RequestMethod.GET, "ctrl", dataParameters, urlParameters));
}
public async Task <BaseResponse <ControllerResourcesState> > GetControllerResourcesAsync()
{
Tuple <string, string>[] dataParameters = null;
Tuple <string, string>[] urlParameters = { Tuple.Create("json", "1") };
return(await ControllerSession.CallAsync <ControllerResourcesState>(RequestMethod.GET, "ctrl", dataParameters, urlParameters).ConfigureAwait(false));
}
public async void StartSubscription(ControllerSession cs, string resource)
{
using (HttpClientHandler handler = new HttpClientHandler {
Credentials = new NetworkCredential(cs?.UAS.User, cs?.UAS.Password)
})
{
handler.Proxy = null; // disable the proxy, the controller is connected on same subnet as the PC
handler.UseProxy = false;
using (HttpClient client = new HttpClient(handler))
{
using (CancellationTokenSource cancelToken = new CancellationTokenSource())
{
var httpContent = new Dictionary <string, string>
{
{ "resources", "1" },
{ "1", resource },
{ "1-p", Prio.ToString(CultureInfo.InvariantCulture) }
};
await SocketThreadAsync(client, cs.IP, httpContent, cs.UAS, cancelToken.Token).ConfigureAwait(true);
}
}
}
}
public async Task RestartAsync(RestartMode restartMode)
{
string rstMode = GetRestartModeString(restartMode);
Tuple <string, string>[] dataParameters = { Tuple.Create("restart-mode", rstMode) };
Tuple <string, string>[] urlParameters = { Tuple.Create("json", "1") };
await ControllerSession.CallAsync <dynamic>(RequestMethod.POST, "ctrl", dataParameters, urlParameters).ConfigureAwait(false);
}
public void GetIOSignals_Localhost_HasValue()
{
//Arrange
ControllerSession rwsCs1 = new ControllerSession("localhost");
//Act
var ios = rwsCs1.RobotWareService.GetIOSignals().Embedded.State;
//Assert
Assert.IsNotEmpty(ios);
Assert.IsNotNull(ios.First().LValue);
}
public RobotWareService(ControllerSession cs)
{
Controller = cs;
}
public SubscriptionService(ControllerSession cs)
{
Controller = cs;
}
public UserService(ControllerSession cs)
{
Controller = cs;
}
public FileService(ControllerSession cs)
{
Controller = cs;
}
