private void refreshRobotDataInstance() { if (aRTDE.isSynchronizing) { RTDEOutputObj OutObj = aRTDE.getOutputObj(); dataGridData otherData = RobotOtherData.Find(x => x.varName == "A1"); otherData.varValue = Math.Round(OutObj.actual_q.X / Math.PI * 180, 2); otherData = RobotOtherData.Find(x => x.varName == "A2"); otherData.varValue = Math.Round(OutObj.actual_q.Y / Math.PI * 180, 2); otherData = RobotOtherData.Find(x => x.varName == "A3"); otherData.varValue = Math.Round(OutObj.actual_q.Z / Math.PI * 180, 2); otherData = RobotOtherData.Find(x => x.varName == "A4"); otherData.varValue = Math.Round(OutObj.actual_q.Rx / Math.PI * 180, 2); otherData = RobotOtherData.Find(x => x.varName == "A5"); otherData.varValue = Math.Round(OutObj.actual_q.Ry / Math.PI * 180, 2); otherData = RobotOtherData.Find(x => x.varName == "A6"); otherData.varValue = Math.Round(OutObj.actual_q.Rz / Math.PI * 180, 2); } }
private void initData() { for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "I" + i; myData.varValue = 0; RexrothInputData.Add(myData); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "O" + i; myData.varValue = 0; RexrothOutputData.Add(myData); } dataGridData otherData = new dataGridData(); otherData.varName = "AI1"; otherData.varValue = 0; RexrothOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "AI2"; otherData.varValue = 0; RexrothOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "AO1"; otherData.varValue = 0; RexrothOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "AO2"; otherData.varValue = 0; RexrothOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "X电机"; otherData.varValue = 0; RexrothOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "Y电机"; otherData.varValue = 0; RexrothOtherData.Add(otherData); }
/// <summary> /// OPC UA值的响应函数 /// </summary> /// <param name="clientHandle"></param> /// <param name="value"></param> private void ClientApi_ValueChanged(object clientHandle, DataValue value) { opcRealated.opcUA.opcUAServer curServer = m_Server; // 如果需要唤醒主线程的更新控件功能. if (!this.CheckAccess()) { // Asynchronous execution of the valueChanged delegate. this.Dispatcher.BeginInvoke(new valueChanged(ClientApi_ValueChanged), clientHandle, value); return; } String keyID = (String)clientHandle; dataGridData curData = beckhoffInputData.Find(c => c.IID.Equals(keyID)); curData.varValue = double.Parse(Utils.Format("{0}", value.Value)); }
private void initData() { for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "I" + i; myData.varValue = 0; beckhoffInputData.Add(myData); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "O" + i; myData.varValue = 0; beckhoffOutputData.Add(myData); } dataGridData otherData = new dataGridData(); otherData.varName = "AI1"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "AO1"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "电流"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "气压"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); }
private void initData() { for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "I" + i; myData.varValue = 0; SiemensInputData.Add(myData); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "O" + i; myData.varValue = 0; SiemensOutputData.Add(myData); } //dataGridData otherData = new dataGridData(); //otherData.varName = "AI1"; //otherData.varValue = 0; //SiemensOtherData.Add(otherData); //otherData = new dataGridData(); //otherData.varName = "AO1"; //otherData.varValue = 0; //SiemensOtherData.Add(otherData); //otherData = new dataGridData(); //otherData.varName = "电流"; //otherData.varValue = 0; //SiemensOtherData.Add(otherData); //otherData = new dataGridData(); //otherData.varName = "气压"; //otherData.varValue = 0; //SiemensOtherData.Add(otherData); }
private RTDE aRTDE; //RTDE instance, port: 30004 #endregion #region initialize private void initData() { aDashBoard = new DashBoard("192.168.100.11"); aRTClient = new RTClient("192.168.100.11"); aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11"); //RTDE用于采集数据 aRTDE.startSync(); if (!aRTDE.isSynchronizing) { Thread.Sleep(10); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "I" + i; myData.varValue = 0; RobotInputData.Add(myData); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "O" + i; myData.varValue = 0; RobotOutputData.Add(myData); } dataGridData otherData = new dataGridData(); otherData.varName = "A1"; otherData.varValue = 0; RobotOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "A2"; otherData.varValue = 0; RobotOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "A3"; otherData.varValue = 0; RobotOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "A4"; otherData.varValue = 0; RobotOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "A5"; otherData.varValue = 0; RobotOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "A6"; otherData.varValue = 0; RobotOtherData.Add(otherData); Thread thread = new Thread(new ThreadStart(refreshRobotData)); thread.Start(); }
private void initData(opcUAServer curServer) { Subscription in_Subscription = curServer.AddSubscription(100); object serverHandle = null; //初始化服务器句柄 String nodeIDStr = "ns=2;s=curSimulation.IOGroup.Input0"; NodeId nodeId = new NodeId(nodeIDStr); String iid = "data1"; object item = iid; try { in_Subscription.AddDataMonitoredItem(nodeId, item, ClientApi_ValueChanged, 100, out serverHandle); dataGridData myData = new dataGridData(); myData.IID = iid; myData.varName = "I0"; myData.varValue = 0; beckhoffInputData.Add(myData); } catch (Exception ex) { Console.WriteLine("添加项时出现异常,异常信息:" + ex); } serverHandle = null; //初始化服务器句柄 nodeIDStr = "ns=2;s=curSimulation.IOGroup.Input1"; nodeId = new NodeId(nodeIDStr); iid = "data2"; item = iid; try { in_Subscription.AddDataMonitoredItem(nodeId, item, ClientApi_ValueChanged, 100, out serverHandle); dataGridData myData = new dataGridData(); myData.IID = iid; myData.varName = "I1"; myData.varValue = 0; beckhoffInputData.Add(myData); } catch (Exception ex) { Console.WriteLine("添加项时出现异常,异常信息:" + ex); } for (int i = 2; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "I" + i; myData.varValue = 0; beckhoffInputData.Add(myData); } for (int i = 0; i < 16; i++) { dataGridData myData = new dataGridData(); myData.varName = "O" + i; myData.varValue = 0; beckhoffOutputData.Add(myData); } dataGridData otherData = new dataGridData(); otherData.varName = "AI1"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "AO1"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "电流"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); otherData = new dataGridData(); otherData.varName = "气压"; otherData.varValue = 0; beckhoffOtherData.Add(otherData); }
private void initData() { for (int i = 0; i < 6; i++) { dataGridData myData = new dataGridData(); String explainName = ""; switch (i) { case 0: explainName = "绿按钮"; break; case 1: explainName = "红按钮"; break; case 2: explainName = "急停按钮"; break; case 3: explainName = "气缸左位"; break; case 4: explainName = "气缸右位"; break; case 5: explainName = ""; break; default: explainName = ""; break; } myData.varName = "I" + i + "/" + explainName; myData.varValue = 0; PFInputData.Add(myData); } for (int i = 0; i < 6; i++) { dataGridData myData = new dataGridData(); String explainName = ""; switch (i) { case 0: explainName = "红灯"; break; case 1: explainName = "绿灯"; break; case 2: explainName = "黄灯"; break; case 3: explainName = "急停灯"; break; case 4: explainName = "气缸左移"; break; case 5: explainName = "气缸右移"; break; default: explainName = ""; break; } myData.varName = "O" + i + "/" + explainName; myData.varValue = 0; PFOutputData.Add(myData); } }