public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onSDOIndex = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOIndexS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_index", 0, IntPtr.Zero, onSDOIndex);
onSDOSubIndex = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOSubIndexS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_subindex", 0, IntPtr.Zero, onSDOSubIndex);
onSDOError = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOErrorS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_error", 0, IntPtr.Zero, onSDOError);
onSDOBusy = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOBusyS.Text = str;
}
}));
if (slv == slaveNumber && str == "true")
{
UpdateData();
}
});
botnana.SetTagNameCB(@"sdo_busy", 0, IntPtr.Zero, onSDOBusy);
onSDOData = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOValueS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_data", 0, IntPtr.Zero, onSDOData);
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onRTRealTorque = new HandleMessage(OnRTRealTorqueCallback);
bot.SetTagCB(@"rt_real_torque", 0, IntPtr.Zero, onRTRealTorque);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
onWaitingSDOs = new HandleMessage(OnWaitingSDOsCallback);
bot.SetTagCB(@"waiting_sdos_len", 0, IntPtr.Zero, onWaitingSDOs);
onPDSState = new HandleTagNameMessage(OnPDSStateCallback);
bot.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
onDriveStatus = new HandleTagNameMessage(OnDriveStatusCallback);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationModeCallback);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleTagNameMessage(OnHomingMethodCallback);
bot.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed1 = new HandleTagNameMessage(OnHomingSpeed1Callback);
bot.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
onHomingSpeed2 = new HandleTagNameMessage(OnHomingSpeed2Callback);
bot.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
onHomingAcc = new HandleTagNameMessage(OnHomingAccCallback);
bot.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcc);
onProfileVelocity = new HandleTagNameMessage(OnProfileVelocityCallback);
bot.SetTagNameCB(@"profile_velocity", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcc = new HandleTagNameMessage(OnProfileAccCallback);
bot.SetTagNameCB(@"profile_acceleration", 0, IntPtr.Zero, onProfileAcc);
onRealPosition = new HandleTagNameMessage(OnRealPositionCallback);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
onRealTorque = new HandleTagNameMessage(OnRealTorqueCallback);
bot.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
onDigitalInputs = new HandleTagNameMessage(OnDigitalInputsCallback);
bot.SetTagNameCB("digital_inputs", 0, IntPtr.Zero, onDigitalInputs);
onTargetPosition = new HandleTagNameMessage(OnTargetPositionCallback);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onAxisPosition = new HandleTagNameMessage(OnAxisPositionCallback);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisPosition);
onFeedbackPosition = new HandleTagNameMessage(OnFeedbackPositionCallback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onFeedbackPosition);
onEncoderLengthUnit = new HandleTagNameMessage(OnEncoderLengthUnitCallback);
bot.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
onEncoderPPU = new HandleTagNameMessage(OnEncoderPPUCallback);
bot.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
onDriveAlias = new HandleTagNameMessage(OnDriveAliasCallback);
bot.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
onDriveSlavePosition = new HandleTagNameMessage(OnDriveSlavePositionCallback);
bot.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
onDriveChannel = new HandleTagNameMessage(OnDriveChannelCallback);
bot.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
onAxisVmax = new HandleTagNameMessage(OnAxisVmaxCallback);
bot.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
onAxisAmax = new HandleTagNameMessage(OnAxisAmaxCallback);
bot.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
onGroupType = new HandleTagNameMessage(OnGroupTypeCallback);
bot.SetTagNameCB(@"group_type", 0, IntPtr.Zero, onGroupType);
onGroupMapping = new HandleTagNameMessage(OnGroupMappingCallback);
bot.SetTagNameCB(@"group_mapping", 0, IntPtr.Zero, onGroupMapping);
onGroupVmax = new HandleTagNameMessage(OnGroupVmaxCallback);
bot.SetTagNameCB(@"group_vmax", 0, IntPtr.Zero, onGroupVmax);
onGroupAmax = new HandleTagNameMessage(OnGroupAmaxCallback);
bot.SetTagNameCB(@"group_amax", 0, IntPtr.Zero, onGroupAmax);
onGroupJmax = new HandleTagNameMessage(OnGroupJmaxCallback);
bot.SetTagNameCB(@"group_jmax", 0, IntPtr.Zero, onGroupJmax);
onTravelTime = new HandleMessage(OnTravelTimeCallback);
bot.SetTagCB(@"travel_time", 0, IntPtr.Zero, onTravelTime);
onDeviceInfos = new HandleMessage(OnDeviceInfos);
bot.SetTagCB(@"device_infos", 1, IntPtr.Zero, onDeviceInfos);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
chartTorque.ChartAreas[0].AxisX.Minimum = 0;
chartTorque.ChartAreas[0].AxisX.Maximum = QueueCapacity;
timer1.Interval = 10;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
torqueThread = new Thread(new ThreadStart(this.getTorqueInformation));
pauseEvent = new ManualResetEvent(false);
torqueThread.IsBackground = true;
torqueThread.Start();
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onAxisSectionPositions = new HandleTagNameMessage(OnAxisSectionPositions);
bot.SetTagNameCB(@"axis_section_p", 0, IntPtr.Zero, onAxisSectionPositions);
onAxisSectionVecloities = new HandleTagNameMessage(OnAxisSectionVecloities);
bot.SetTagNameCB(@"axis_section_v", 0, IntPtr.Zero, onAxisSectionVecloities);
onAxisRunnings = new HandleTagNameMessage(OnAxisRunnings);
bot.SetTagNameCB(@"axis_running", 0, IntPtr.Zero, onAxisRunnings);
onAxisCmds = new HandleTagNameMessage(OnAxisCmds);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxisCmds);
onAxisDemands = new HandleTagNameMessage(OnAxisDemands);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisDemands);
onAxisFeedbacks = new HandleTagNameMessage(OnAxisFeedbacks);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxisFeedbacks);
onAxisReacheds = new HandleTagNameMessage(OnAxisReacheds);
bot.SetTagNameCB(@"axis_interpolator_reached", 0, IntPtr.Zero, onAxisReacheds);
onAxisInterpolatorEnables = new HandleTagNameMessage(OnAxisInterpolatorEnables);
bot.SetTagNameCB(@"axis_interpolator_enabled", 0, IntPtr.Zero, onAxisInterpolatorEnables);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 將區段位置與速度的參數元件放到一個陣列內
textAxisSectionPositions[1, 1] = textAxis1P1;
textAxisSectionPositions[1, 2] = textAxis1P2;
textAxisSectionPositions[1, 3] = textAxis1P3;
textAxisSectionPositions[1, 4] = textAxis1P4;
textAxisSectionPositions[1, 5] = textAxis1P5;
textAxisSectionVecloities[1, 1] = textAxis1V1;
textAxisSectionVecloities[1, 2] = textAxis1V2;
textAxisSectionVecloities[1, 3] = textAxis1V3;
textAxisSectionVecloities[1, 4] = textAxis1V4;
textAxisSectionVecloities[1, 5] = textAxis1V5;
textAxisSectionPositions[2, 1] = textAxis2P1;
textAxisSectionPositions[2, 2] = textAxis2P2;
textAxisSectionPositions[2, 3] = textAxis2P3;
textAxisSectionPositions[2, 4] = textAxis2P4;
textAxisSectionPositions[2, 5] = textAxis2P5;
textAxisSectionVecloities[2, 1] = textAxis2V1;
textAxisSectionVecloities[2, 2] = textAxis2V2;
textAxisSectionVecloities[2, 3] = textAxis2V3;
textAxisSectionVecloities[2, 4] = textAxis2V4;
textAxisSectionVecloities[2, 5] = textAxis2V5;
timerWSCheck.Interval = 1000;
timerWSCheck.Enabled = true;
timerLoop.Interval = 50;
timerLoop.Enabled = true;
}
public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onECAlias = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
UInt32 a = UInt32.Parse(str);
if (a != 0 && a == alias)
{
slaveNumber = slv;
BeginInvoke(new Deg(() => textBoxSlavePos.Text = slv.ToString()));
}
});
botnana.SetTagNameCB(@"ec_alias", 0, IntPtr.Zero, onECAlias);
onPDSState = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxPDSState.Text = str));
}
});
botnana.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
onSupportedMode = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber && !supportedOPModeUpdated)
{
Int32 supportedMode;
try { supportedMode = Convert.ToInt32(str, 16); } catch (Exception exc) { Console.WriteLine(exc); return; }
List <string> modes = new List <string>();
if ((supportedMode & 0x1) != 0)
{
modes.Add("PP");
}
if ((supportedMode & 0x4) != 0)
{
modes.Add("PV");
}
if ((supportedMode & 0x8) != 0)
{
modes.Add("PT");
}
if ((supportedMode & 0x20) != 0)
{
modes.Add("HM");
}
if ((supportedMode & 0x80) != 0)
{
modes.Add("CSP");
}
if ((supportedMode & 0x100) != 0)
{
modes.Add("CSV");
}
if ((supportedMode & 0x200) != 0)
{
modes.Add("CST");
}
BeginInvoke(new Deg(() => comboBoxOPMode.Items.AddRange(modes.Cast <object>().ToArray())));
supportedOPModeUpdated = true;
}
});
botnana.SetTagNameCB(@"supported_drive_mode", 0, IntPtr.Zero, onSupportedMode);
onRealPosition = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxRealPos.Text = str));
realPos = Int32.Parse(str);
}
});
botnana.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
onRealTorque = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxRealTorque.Text = str));
}
});
botnana.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
onDigitalInput = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxDigitalInput.Text = str));
}
});
botnana.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDigitalInput);
onControlWord = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxControlWord.Text = str));
}
});
botnana.SetTagNameCB(@"control_word", 0, IntPtr.Zero, onControlWord);
onStatusWord = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxStatusWord.Text = str));
}
});
botnana.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onStatusWord);
onOperationMode = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
string mode;
switch (UInt32.Parse(str))
{
case 1:
mode = @"PP";
break;
case 3:
mode = @"PV";
break;
case 4:
mode = @"PT";
break;
case 6:
mode = @"HM";
break;
case 8:
mode = @"CSP";
break;
case 9:
mode = @"CSV";
break;
case 10:
mode = @"CST";
break;
default:
return;
}
BeginInvoke(new Deg(() =>
{
// 不知為何 comboBoxOPMode 顯示的文字會有閃爍的問題，這裡設定兩次問題就消失了。
comboBoxOPMode.Text = mode;
comboBoxOPMode.Text = mode;
}));
}
});
botnana.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMMethod.Text = str));
}
});
botnana.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed1 = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMSpeed1.Text = str));
}
});
botnana.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
onHomingSpeed2 = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMSpeed2.Text = str));
}
});
botnana.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
onHomingAcceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMAcceleration.Text = str));
}
});
botnana.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcceleration);
onTargetPosition = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetPosition.Text = str));
targetPos = Int32.Parse(str);
}
});
botnana.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onTargetVelocity = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetVelocity.Text = str));
}
});
botnana.SetTagNameCB(@"target_velocity", 0, IntPtr.Zero, onTargetVelocity);
onProfileVelocity = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileVelocity.Text = str));
}
});
botnana.SetTagNameCB(@"profile_velocity", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileAcceleration.Text = str));
}
});
botnana.SetTagNameCB(@"profile_acceleration", 0, IntPtr.Zero, onProfileAcceleration);
onProfileDeceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileDeceleration.Text = str));
}
});
botnana.SetTagNameCB(@"profile_deceleration", 0, IntPtr.Zero, onProfileDeceleration);
onTargetTorque = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetTorque.Text = str));
}
});
botnana.SetTagNameCB(@"target_torque", 0, IntPtr.Zero, onTargetTorque);
onTorqueSlope = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTorqueSlope.Text = str));
}
});
botnana.SetTagNameCB(@"torque_slope", 0, IntPtr.Zero, onTorqueSlope);
timer1.Interval = 100;
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onGroupNextV = new HandleMessage(OnGroupNextV);
bot.SetTagCB(@"group_next_v", 0, IntPtr.Zero, onGroupNextV);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onDeviceType = new HandleTagNameMessage(OnDeviceType);
bot.SetTagNameCB(@"device_type", 0, IntPtr.Zero, onDeviceType);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onAxesCmd = new HandleTagNameMessage(OnAxesCmd);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxesCmd);
onAxesFeedback = new HandleTagNameMessage(OnAxesFeedback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxesFeedback);
onAxesFollowingErr = new HandleTagNameMessage(OnAxesFollowingErr);
bot.SetTagNameCB(@"following_error", 0, IntPtr.Zero, onAxesFollowingErr);
onMPGEncoder = new HandleMessage(OnMPGEncoder);
bot.SetTagCB("real_position.1.6", 0, IntPtr.Zero, onMPGEncoder);
onMPGDis = new HandleMessage(OnMPGDisCB);
bot.SetTagCB("din_wd.1.7", 0, IntPtr.Zero, onMPGDis);
chartPath.ChartAreas[0].AxisX.Minimum = -10.0;
chartPath.ChartAreas[0].AxisX.Maximum = 160.0;
chartVelocity.ChartAreas[0].AxisX.Minimum = 0;
chartVelocity.ChartAreas[0].AxisX.Maximum = 2000;
chartVelocity.ChartAreas[0].AxisY.Minimum = -500;
chartVelocity.ChartAreas[0].AxisY.Maximum = 2000;
chartVelocity.Series[0].BorderWidth = 3;
chartVelocity.ChartAreas[0].AxisX.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisX.MinorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MinorGrid.Enabled = false;
pathThread = new Thread(new ThreadStart(this.getPathInformation));
velocityThread = new Thread(new ThreadStart(this.getVelocityInformation));
pauseEvent = new ManualResetEvent(true);
pathThread.IsBackground = true;
pathThread.Start();
velocityThread.IsBackground = true;
velocityThread.Start();
InitPathChart();
InitVelocityChart();
}
public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onAxisName = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAxisName.Text = str;
}
}));
});
botnana.SetTagNameCB(@"config_axis_name", 0, IntPtr.Zero, onAxisName);
onAxisHomeOffset = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxHomeOffset.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_home_offset", 0, IntPtr.Zero, onAxisHomeOffset);
onEncoderLengthUnit = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
comboBoxEncoderUnit.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
onEncoderPPU = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderPPU.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
onEncoderDirection = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderDirection.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_direction", 0, IntPtr.Zero, onEncoderDirection);
onCloseLoopFilter = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxCloseLoopFilter.Text = str;
}
}));
});
botnana.SetTagNameCB(@"closed_loop_filter", 0, IntPtr.Zero, onCloseLoopFilter);
onMaxPositionDeviation = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxMaxPosDeviation.Text = str;
}
}));
});
botnana.SetTagNameCB(@"max_position_deviation", 0, IntPtr.Zero, onMaxPositionDeviation);
onDriveAlias = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveAlias.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
onDriveSlavePosition = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveSlavePos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
onDriveChannel = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveChannel.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
onExtEncoderPPU = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderPPU.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_ppu", 0, IntPtr.Zero, onExtEncoderPPU);
onExtEncoderDirection = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderDirection.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_direction", 0, IntPtr.Zero, onExtEncoderDirection);
onExtEncoderAlias = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderAlias.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_alias", 0, IntPtr.Zero, onExtEncoderAlias);
onExtEncoderSlavePosition = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderSlavePos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_slave_position", 0, IntPtr.Zero, onExtEncoderSlavePosition);
onExtEncoderChannel = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderChannel.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_channel", 0, IntPtr.Zero, onExtEncoderChannel);
onAxisAmax = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAmax.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
onAxisVmax = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVmax.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
onAxisIgnorableDistance = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxIgnorableDistance.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_ignorable_distance", 0, IntPtr.Zero, onAxisIgnorableDistance);
onAxisVff = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVff.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vff", 0, IntPtr.Zero, onAxisVff);
onAxisVfactor = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVfactor.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vfactor", 0, IntPtr.Zero, onAxisVfactor);
onAxisAff = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAff.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_aff", 0, IntPtr.Zero, onAxisAff);
onAxisAfactor = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAfactor.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_afactor", 0, IntPtr.Zero, onAxisAfactor);
onAxisDenamdPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
double ppu;
double pos;
if (!double.TryParse(textBoxEncoderPPU.Text, out ppu))
{
ppu = 0.0;
}
if (!double.TryParse(str, out pos))
{
pos = 0.0;
}
BeginInvoke(new Deg(() =>
{
if (ax == axisNumber)
{
textBoxDemandPos.Text = str;
textBoxOutputPulse.Text = (pos * ppu).ToString();
}
}));
});
botnana.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisDenamdPos);
onAxisEncoderPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderPos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_position", 0, IntPtr.Zero, onAxisEncoderPos);
onAxisFeedbackPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxFeedbackPos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxisFeedbackPos);
onAxisFollowingError = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxFollowingError.Text = str;
}
}));
});
botnana.SetTagNameCB(@"following_error", 0, IntPtr.Zero, onAxisFollowingError);
timer1.Interval = 100;
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
onFeederReady = new HandleMessage(OnFeederReady);
bot.SetTagCB(@"feeder_ready", 0, IntPtr.Zero, onFeederReady);
onEncoderPosition = new HandleTagNameMessage(OnEncoderPosition);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onEncoderPosition);
onTargetPosition = new HandleTagNameMessage(OnTargetPosition);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationMode);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onDriveDigitalInputs = new HandleTagNameMessage(OnDriveDigitalInputs);
bot.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDriveDigitalInputs);
onTouchProbe = new HandleTagNameMessage(OnTouchProbe);
bot.SetTagNameCB(@"touch_probe_function", 0, IntPtr.Zero, onTouchProbe);
onCylinder = new HandleTagNameMessage(OnCylinder);
bot.SetTagNameCB(@"dout", 0, IntPtr.Zero, onCylinder);
onTPLatchPosition1 = new HandleTagNameMessage(OnTPLatchPosition1);
bot.SetTagNameCB(@"tp_position_value_1", 0, IntPtr.Zero, onTPLatchPosition1);
onTPLatchPosition2 = new HandleTagNameMessage(OnTPLatchPosition2);
bot.SetTagNameCB(@"tp_position_value_2", 0, IntPtr.Zero, onTPLatchPosition2);
onCylinderOnMs = new HandleMessage(OnCylinderOnMs);
bot.SetTagCB(@"cylinder_on_duration", 0, IntPtr.Zero, onCylinderOnMs);
onCylinderOffMs = new HandleMessage(OnCylinderOffMs);
bot.SetTagCB(@"cylinder_off_duration", 0, IntPtr.Zero, onCylinderOffMs);
onRotationDistance = new HandleMessage(OnRotationDistance);
bot.SetTagCB(@"feeder_rotation_distance", 0, IntPtr.Zero, onRotationDistance);
onRotationSpeed = new HandleMessage(OnRotationSpeed);
bot.SetTagCB(@"feeder_rotation_speed", 0, IntPtr.Zero, onRotationSpeed);
onSettlingDuration = new HandleMessage(OnSettlingDuration);
bot.SetTagCB(@"feeder_settling_duration", 0, IntPtr.Zero, onSettlingDuration);
onRetryCountMax = new HandleMessage(OnRetryCountMax);
bot.SetTagCB(@"feeder_retry_count_max", 0, IntPtr.Zero, onRetryCountMax);
onDriveDeviceSlave = new HandleMessage(OnDriveDeviceSlave);
bot.SetTagCB(@"drive_device_slave", 1, IntPtr.Zero, onDriveDeviceSlave);
onDriveDeviceChannel = new HandleMessage(OnDriveDeviceChannel);
bot.SetTagCB(@"drive_device_channel", 1, IntPtr.Zero, onDriveDeviceChannel);
onCylinderDeviceSlave = new HandleMessage(OnCylinderDeviceSlave);
bot.SetTagCB(@"cylinder_device_slave", 1, IntPtr.Zero, onCylinderDeviceSlave);
onCylinderDeviceChannel = new HandleMessage(OnCylinderDeviceChannel);
bot.SetTagCB(@"cylinder_device_channel", 1, IntPtr.Zero, onCylinderDeviceChannel);
onFeederRunning = new HandleMessage(OnFeederRunning);
bot.SetTagCB(@"feeder_running", 0, IntPtr.Zero, onFeederRunning);
onFeederEMS = new HandleMessage(OnFeederEMS);
bot.SetTagCB(@"feeder_ems", 0, IntPtr.Zero, onFeederEMS);
onFeederOperationMs = new HandleMessage(OnFeederOperationMs);
bot.SetTagCB(@"feeder_operation_ms", 0, IntPtr.Zero, onFeederOperationMs);
onTPStatus = new HandleTagNameMessage(OnTPStatus);
bot.SetTagNameCB(@"sdo_0_24761", 0, IntPtr.Zero, onTPStatus);
onTPDetected1 = new HandleMessage(OnTPDetected1);
bot.SetTagCB(@"tp_detected_1", 0, IntPtr.Zero, onTPDetected1);
onTPDetected2 = new HandleMessage(OnTPDetected2);
bot.SetTagCB(@"tp_detected_2", 0, IntPtr.Zero, onTPDetected2);
onTPDetectedPosition1 = new HandleMessage(OnTPDetectedPosition1);
bot.SetTagCB(@"tp_detected_position_1", 0, IntPtr.Zero, onTPDetectedPosition1);
onTPDetectedPosition2 = new HandleMessage(OnTPDetectedPosition2);
bot.SetTagCB(@"tp_detected_position_2", 0, IntPtr.Zero, onTPDetectedPosition2);
timerSlow.Enabled = true;
timerPoll.Enabled = true;
timer1s.Enabled = true;
}