public override void Initialize()
{
initializeTwisterPositions();
try
{
TwisterClsServer = new clsServer();
string iniFile = TwisterClsServer.ApplicationPath + "\\" + InitiationFile;//"Twister.ini";//hope this is right one
TwisterClsServer.ConfigureRobot(iniFile, ref SimulationMode);
TwisterClsServer.Initialize();
//THE TWISTER SERVE MUST BE INITIALIZED BEFORE IT WILL GIVE A ROBOT REF PROPERLY
RobotServ = TwisterClsServer.GetRobotRef();//this line must follow the server initialization
RobotServ.HomeAllAxes();
//BIG ERROR IF NOT FOLLOWED!!!!
short windowState = 1;//0 normal, 1 minimized, 2 maximized
TwisterClsServer.ShowWindow(ref windowState);
RobotServ.SpeedAsPercentMax = (short)50;
StatusOK = true;
}
catch(Exception thrown)
{
StatusOK = false;
throw new InstrumentError("Could not initialize Twister: "+thrown.Message, false, this);
}
}
public override bool CloseAndFreeUpResources()
{
//in vb6 these things are closed by setting them equal to none, not so in C# or .NET
//this setup is terrible
StatusOK = false;
try { DisableVerticalMotor(); }
catch { }
try
{
if (TwisterClsServer != null)
{
System.Runtime.InteropServices.Marshal.ReleaseComObject(TwisterClsServer);
TwisterClsServer = null;
}
//GC.Collect();
}
catch{}
try
{
if (RobotServ != null)
{
System.Runtime.InteropServices.Marshal.ReleaseComObject(RobotServ);
RobotServ = null;
}
//GC.Collect();
}
catch{}
string[] ToKill = new string[2]{"TwisterII Robot ICP","ZymarkRobotICP"};
foreach (string str in ToKill)
{
KillProcessAttempt(str);
}
return true;
}
