private void 机器人坐标ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (this.dataGridView1.SelectedRows.Count == 1)
{
Task.Run(() => {
var robot = new TsRemoteS();
robot.SetIPaddr(0, this.IpAddress, this.Port);
robot.Connect(1);
TsPointS p = robot.GetPsnFbkWorld();
DataGridViewRow dr = this.dataGridView1.SelectedRows.OfType <DataGridViewRow>().Single();
this.CalData.Rows[dr.Index]["x"] = p.X;
this.CalData.Rows[dr.Index]["y"] = p.Y;
this.CalData.Rows[dr.Index]["z"] = p.Z;
Task.Run(() => {
robot.Disconnect();
robot.Dispose();
});
});
}
}
public bool disConnect()
{
//已經關閉，直接回傳
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return(true);
}
try
{
//P.34
if (_Robot.Disconnect() == true)
{
ConnectStatus &= ~CONNECTTYPE.CONNECTED;
return(true);
}
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("disConnect: " + ex.Message);
}
return(false);
}