private async void idButton_Click(object sender, EventArgs e)
{
try
{
Task t = Task.Factory.StartNew(() => TcpserverEx.net_port_initial());
await t;
if (t.IsFaulted)
{
debugBox.AppendText("No net port initial\n");
}
if (t.IsCompleted)
{
debugBox.AppendText("Net port initial completed\n");
}
if (t.IsCanceled)
{
debugBox.AppendText("Cancelled");
}
if (t.Exception != null)
{
throw t.Exception;
}
}
catch (Exception ex)
{
debugBox.AppendText(ex.Message);
}
Thread.Sleep(1000);
bool found = false;
try
{
for (int i = 0; i < 256; i++)
{
if (TcpserverEx.card_number_connect(i) == 1)
{
zArmId = i;
found = true;
debugBox.AppendText(string.Format("Zarm id: {0}\n", i));
break;
}
}
}
catch (Exception ex)
{
debugBox.AppendText(ex.Message);
}
if (!found)
{
debugBox.AppendText("No arm found\n");
}
}
public IReadOnlyList <int> GetConnectedZArms()
{
List <int> ids = new List <int>();
for (int i = 0; i < 256; i++)
{
if (TcpserverEx.card_number_connect(i) == 1)
{
ids.Add(i);
}
}
return(ids);
}
public static async Task <int> FindZArmId()
{
CancellationTokenSource tcs = new CancellationTokenSource(TimeSpan.FromSeconds(5));
await Task.Factory.StartNew(() => TcpserverEx.net_port_initial(), tcs.Token);
await Task.Delay(1200);
return(await Task.Factory.StartNew <int>(() =>
{
for (int i = 0; i < 256; i++)
{
if (TcpserverEx.card_number_connect(i) == 1)
{
return i;
}
}
return -1;
},
tcs.Token));
}
private async void connectButton_Click(object sender, EventArgs e)
{
try
{
Task task = Task.Factory.StartNew(() => TcpserverEx.net_port_initial());
await task;
if (task.IsFaulted)
{
debugTextbox.AppendText("No net port initial\r\n");
}
if (task.IsCanceled)
{
debugTextbox.AppendText("Cancelled\r\n");
}
if (task.IsCompleted)
{
debugTextbox.AppendText("Net port initial completed\r\n");
}
if (task.Exception != null)
{
throw task.Exception;
}
}
catch (Exception ex)
{
debugTextbox.AppendText(ex.Message);
return;
}
// Wait for net_port_initial to complete
await Task.Delay(1200);
debugTextbox.AppendText("Finding Z-Arm. \r\n");
bool found = false;
try
{
for (int i = 0; i < 256; i++)
{
if (TcpserverEx.card_number_connect(i) == 1)
{
zArmId = i;
found = true;
debugTextbox.AppendText($"Id: {i}\r\n");
break;
}
}
}
catch (Exception ex)
{
debugTextbox.AppendText(ex.Message);
return;
}
if (!found)
{
debugTextbox.AppendText("No arm found. Retry.\r\n");
return;
}
// Connect to the Z-Arm
robot = TcpserverEx.get_robot(zArmId);
int retryCount = 0;
bool isConnected = false;
while (!isConnected)
{
isConnected = await Task.Factory.StartNew(() => robot.is_connected());
debugTextbox.AppendText($"Attempting to connect to Z-Arm {zArmId}: {isConnected}\r\n");
if (++retryCount > 3)
{
break;
}
await Task.Delay(1000);
}
if (retryCount >= 3)
{
debugTextbox.AppendText($"Could not connect. Retry.\r\n");
return;
}
int ret = -1;
retryCount = 0;
while (ret != 1)
{
ret = await Task.Factory.StartNew(() => robot.initial(generation, verticalReach));
debugTextbox.AppendText($"Initializing: {ret} = {initialDebugMap[ret]}\r\n");
if (++retryCount > 3)
{
break;
}
await Task.Delay(1000);
}
if (ret != 1)
{
debugTextbox.AppendText($"Could not initialize Z-Arm Id {zArmId}, return value: {ret}\r\n");
return;
}
else
{
robot.unlock_position();
robot.set_arm_length(armLength, armLength);
robot.set_catch_or_release_accuracy(0.5f);
debugTextbox.AppendText($"Z Arm Id {zArmId} Initialized!\r\n");
SetManualControls(true);
}
}