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 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);
}
}
static public void ReadApplicationSlave(byte[] data)
{
if (data == null)
{
TxtData.DataBase.InterfaceType = -1;
return;
}
MemoryStream sm = null;
StreamReader rd = null;
XmlDocument xd = null;
try
{
sm = new MemoryStream(data);
sm.Position = 0;
rd = new StreamReader(sm);
xd = new XmlDocument();
xd.LoadXml(rd.ReadToEnd());
TxtData.DataBaseSlave.nProcedure = StaubliXML.GetXMLInt("nProcedure", xd);
TxtData.DataBaseSlave.bCycle = StaubliXML.GetXMLBool("bCycle", xd);
TxtData.DataBaseSlave.bPcStartCycle = StaubliXML.GetXMLBool("bPcStartCycle", xd);
TxtData.DataBaseSlave.bPcStopCycle = StaubliXML.GetXMLBool("bPcStopCycle", xd);
//TxtData.DataBase.Upload = StaubliXML.GetXMLBool("bUpload", xd);
//TxtData.DataBase.IsHome = StaubliXML.GetXMLBool("bIsHome", xd);
//TxtData.DataBase.PowerOn = StaubliXML.GetXMLBool("bPowerOn", xd);
//TxtData.DataBase.InterfaceType = StaubliXML.GetXMLInt("nInterfaceType", xd);
//TxtData.DataBase.ToolMode = StaubliXML.GetXMLInt("nToolMode", xd);
//TxtData.DataBase.CurrentJoint = StaubliXML.GetXMLJoint("jCurrentJoint", xd);
//TxtData.DataBase.CurrentPoint = StaubliXML.GetXMLCarten("pCurrentPoint", xd);
//TxtData.DataBase.CycleIndex = (int)StaubliXML.GetXMLDouble("nCycleIndex", xd);
//TxtData.DataBase.CycleCount = (int)StaubliXML.GetXMLDouble("nCycleCount", xd);
//TxtData.DataBase.RobotSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", xd);
//TxtData.DataBase.WorkPlaceCount = StaubliXML.GetXMLInt("nWorkPlaceCount", xd);
//TxtData.DataBase.WorkPlaceIndex = StaubliXML.GetXMLInt("nWorkPlaceIndex", xd);
//TxtData.DataBase.PresetData = StaubliXML.GetXMLIntArray("nPresetData", xd);
//TxtData.DataBase.CycleTime = StaubliXML.GetXMLDouble("nCycleTime", xd);
//TxtData.DataBase.PointType = (int)StaubliXML.GetXMLDouble("nPointType", xd);
//TxtData.DataBase.TrajIndex = (int)StaubliXML.GetXMLDouble("nTrajIndex", xd);
//TxtData.DataBase.Custom = StaubliXML.GetXMLString("sCustom",xd);
//TxtData.DataBase.WorkPlaceProductCount = StaubliXML.GetXMLIntArray("nWpProduct", xd);
//TxtData.DataBase.ProductName = StaubliXML.GetXMLStringArray("sProductName", xd);
//TxtData.DataBase.AirOn = StaubliXML.GetXMLBool("bAirOn", xd);
//TxtData.DataBase.FollowOn = StaubliXML.GetXMLBool("bFollowOn", xd);
//TxtData.DataBase.LaserOn = StaubliXML.GetXMLBool("bLaserOn", xd);
}
catch
{
return;
}
finally
{
if (sm != null)
{
sm.Close();
}
if (rd != null)
{
rd.Close();
}
}
}
/// <summary>
/// 读取应用程序
/// </summary>
/// <param name="data"></param>
static public void ReadApplication(byte[] data)
{
if (data == null || data.Length < 1)
{
TxtData.SoapData.InterfaceType = -1;
return;
}
MemoryStream sm = null;
StreamReader rd = null;
XmlDocument xd = null;
try
{
sm = new MemoryStream(data);
sm.Position = 0;
rd = new StreamReader(sm);
xd = new XmlDocument();
xd.LoadXml(rd.ReadToEnd());
TxtData.SoapData.Upload = StaubliXML.GetXMLBool("bUpload", xd);
//TxtData.SoapData.CycleIndex = (int)StaubliXML.GetXMLDouble("nCycleIndex", xd);
//TxtData.SoapData.CycleCount = (int)StaubliXML.GetXMLDouble("nCycleCount", xd);
//TxtData.SoapData.RobotSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", xd);
//TxtData.SoapData.WorkPlaceCount = StaubliXML.GetXMLInt("nWorkPlaceCount", xd);
//TxtData.SoapData.WorkPlaceIndex = StaubliXML.GetXMLInt("nWorkPlaceIndex", xd);
//TxtData.SoapData.PresetData = StaubliXML.GetXMLIntArray("nPresetData", xd);
//TxtData.SoapData.CycleTime = StaubliXML.GetXMLDouble("nCycleTime", xd);
//TxtData.SoapData.PointType = (int)StaubliXML.GetXMLDouble("nPointType", xd);
//TxtData.SoapData.TrajIndex = (int)StaubliXML.GetXMLDouble("nTrajIndex", xd);
//TxtData.SoapData.Custom = StaubliXML.GetXMLString("sCustom", xd);
//TxtData.SoapData.WorkPlaceProductCount = StaubliXML.GetXMLIntArray("nWpProduct", xd);
//TxtData.SoapData.ProductName = StaubliXML.GetXMLStringArray("sProductName", xd);
TxtData.SoapData.InterfaceType = StaubliXML.GetXMLInt("nInterfaceType", xd);
TxtData.SoapData.CurrentJoint = StaubliXML.GetXMLJoint("jCurrentJoint", xd);
TxtData.SoapData.CurrentPoint = StaubliXML.GetXMLCarten("pCurrent", xd);
TxtData.SoapData.ToolMode = StaubliXML.GetXMLInt("nWorkingMode", xd);
TxtData.SoapData.IsHome = StaubliXML.GetXMLBool("bHome", xd);
TxtData.SoapData.PowerOn = StaubliXML.GetXMLBool("bIsPower", xd);
TxtData.SoapData.bZero = StaubliXML.GetXMLBool("bZero", xd);
TxtData.SoapData.BIOValue = StaubliXML.GetXMLBoolArray("bBIO", xd);
TxtData.SoapData.Home = StaubliXML.GetXMLJoint("jJHome", xd);
TxtData.SoapData.Tool = StaubliXML.GetXMLCarten("tTTool", xd);
TxtData.SoapData.Frame = StaubliXML.GetXMLCarten("trFrame", xd);
TxtData.SoapData.productStatus = StaubliXML.GetXMLStringArray("sPrdStatus", xd);
TxtData.SoapData.Moveid = StaubliXML.GetXMLDouble("nMoveID", xd);
TxtData.SoapData.ATIPress = StaubliXML.GetXMLDouble("nATIPress", xd);
}
catch
{
return;
}
finally
{
if (sm != null)
{
sm.Close();
}
if (rd != null)
{
rd.Close();
}
}
}