//private RobotModel _myRobotModel; public MainWindow() { InitializeComponent(); //_robotConnector = new RobotConnector("192.168.1.148", false); //_robotConnector = new RobotConnector("172.16.74.129", false); //_robotConnector = new RobotConnector("192.168.0.3", false); //_myRobotModel = _robotConnector.RobotModel; _hfi = new HFI("192.168.1.50"); _hfi.SetDigitalOut(0, true); _hfi.SetDigitalOut(1, true); _hfi.SetDigitalOut(2, true); _hfi.SetDigitalOut(3, true); //_robotConnector.RealTimeClient.Send("set_tcp(p[0.023, 0.053, 0.15, 0.000, 0.000, 0.000])"); //_robotConnector.DashboardClient.PowerOff(); //_robotConnector.DashboardClient.PowerOn(); //DistanceSensor distanceSensor = new DistanceSensor("StandardAnalogInput0"); //distanceSensor.TCP_Offset = new Vector6D(-0.012, 0.053, 0.051, 0, -0.018, 0.0); //distanceSensor.MaximumCurrent = 20; //distanceSensor.MinimumCurrent = 4; //distanceSensor.MaximumDistance = 0.5; //distanceSensor.MinimumDistance = 0.1; //Type[] types = new Type[] { typeof(Vector6D)}; //XmlTextWriter textWriter = new XmlTextWriter("test.xml", Encoding.UTF8); //XmlSerializer xmlSerializer = new XmlSerializer(typeof(DistanceSensor), types); //xmlSerializer.Serialize(textWriter, distanceSensor); //Thread.Sleep(2000); }
/// <summary> /// Read table info /// </summary> /// <param name="TableName"></param> /// <param name="DatabaseFilePath"></param> /// <returns></returns> internal static HFI Read(string TableName, string DatabaseFilePath) { const string FuncErrCode=ClassErrCode+".0001"; try { HFI hfi = new HFI(); FileStream fs = FileStream2.NewFileStream(System.IO.Path.GetDirectoryName(DatabaseFilePath)+"\\"+TableName+".hfi",FileMode.Open,FileAccess.Read,FileShare.None); BinaryReader br = new BinaryReader(fs); if(br.ReadInt64()!=magic) throw new Exception("HyperNetDatabase error: Magic failed."); hfi.fatid = br.ReadInt64(); hfi.IndexingDirty = br.ReadBoolean(); hfi.rowseq = br.ReadInt64(); hfi.fieldseq = br.ReadInt64(); hfi.encrypted = br.ReadBoolean(); br.Close(); return hfi; } catch(Exception ex) { throw new Exception(ex.Message+"\n"+FuncErrCode+": Inner exception."); } }