private void Poll()
{
double nidbuff = double.MaxValue;
DateTime dt = DateTime.Now;
while (!bExit)
{
if (ReadCount - ChartCount < 99 && !Pause)
{
byte[] data = sc.GetAppdata();
double nid = (DateTime.Now - dt).TotalSeconds;
if (!GetDataByTime)
{
nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data));
}
double nSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", StaubliXML.Byte2xd(data));
if (nid != nidbuff && nid > 0)
{
nidbuff = nid;
speeddata[ReadCount % 100, 0] = nid;
speeddata[ReadCount % 100, 1] = nSpeed;
ReadCount++;
}
}
System.Threading.Thread.Sleep(polltime);
}
}
private void BT_Login_Click(object sender, EventArgs e)
{
if (CB_IP.Text == "")
{
MessageBox.Show("请输入CS8C IP 地址");
return;
}
if (CB_App.Text == "")
{
MessageBox.Show("请输入下位机加载的应用程序名");
return;
}
sc = new SoapClient(CB_IP.Text.Trim());
if (!sc.PingNet())
{
MessageBox.Show("网络不通，请检查IP地址是否正确或者网络链接");
return;
}
if (!sc.Login())
{
MessageBox.Show("Soap登录失败");
return;
}
sc.SoapGetAppname = @"Disk://" + CB_App.Text + "/" + CB_App.Text + ".pjx";
byte[] data = sc.GetAppdata();
if (!RobotKit.StaubliXML.IsGlobelData("nRobotSpeed", data))
{
MessageBox.Show("应用程序中 nRobotSpeed变量不存在");
return;
}
GetDataByTime = RD_Time.Checked;
if (!GetDataByTime)
{
if (!RobotKit.StaubliXML.IsGlobelData("nID", data))
{
MessageBox.Show("应用程序中nID变量不存在");
return;
}
}
MessageBox.Show("登录成功");
BT_Start.Enabled = true;
GB_Setting.Enabled = false;
}
private void Poll()
{
double nidbuff = double.MaxValue;
DateTime dt = DateTime.Now;
while (!bExit)
{
if (ReadCount - ChartCount < 99 && !Pause)
{
byte[] data = sc.GetAppdata();
double nid = (DateTime.Now - dt).TotalSeconds;
if (!GetDataByTime)
{
nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data));
}
double[] nJointForce = StaubliXML.GetXMLDoubleArray("nJointForce", StaubliXML.Byte2xd(data));
if (nid != nidbuff && nid > 0)
{
nidbuff = nid;
speeddata[ReadCount % 100, 0] = nid;
if (nJointForce == null)
{
nJointForce = new double[6];
}
for (int i = 0; i < nJointForce.Length; i++)
{
speeddata[ReadCount % 100, 1 + i] = nJointForce[i];
}
ReadCount++;
}
}
System.Threading.Thread.Sleep(polltime);
}
}
private void BT_Login_Click(object sender, EventArgs e)
{
if (CB_IP.Text == "")
{
MessageBox.Show("请输入CS8C IP 地址");
return;
}
if (CB_App.Text == "")
{
MessageBox.Show("请输入下位机加载的应用程序名");
return;
}
sc = new SoapClient(CB_IP.Text.Trim());
if (!sc.PingNet())
{
MessageBox.Show("网络不通，请检查IP地址是否正确或者网络链接");
return;
}
if (!sc.Login())
{
MessageBox.Show("Soap登录失败");
return;
}
sc.SoapGetAppname = @"Disk://" + CB_App.Text + "/" + CB_App.Text + ".pjx";
byte[] data = sc.GetAppdata();
if (!RobotKit.StaubliXML.IsGlobelData("nJointForce", data))
{
MessageBox.Show("应用程序中nJointForce变量不存在");
return;
}
GetDataByTime = RD_Time.Checked;
if (!GetDataByTime)
{
if (!RobotKit.StaubliXML.IsGlobelData("nID", data))
{
MessageBox.Show("应用程序中nID变量不存在");
return;
}
}
JointIndex = CB_JointIndex.SelectedIndex;
pm.Title = "Staubli机器人关节" + (JointIndex + 1).ToString() + "受力";
MessageBox.Show("登录成功");
BT_Start.Enabled = true;
GB_Setting.Enabled = false;
}
