private void FormApp_Load(object sender, EventArgs e)
{
tabPageTorque.Controls.Add(formTorque);
tabPageFeeder.Controls.Add(formFeeder);
tabPageRCON.Controls.Add(formRCON);
formTorque.Awake();
bot.Connect();
timer1s.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot.Connect();
Thread.Sleep(500);
timer1.Interval = 50;
timer1.Enabled = true;
}
private void button2_Click(object sender, EventArgs e)
{
bot.Connect();
if (wsState != 2)
{
wsState = 1;
hasSlaveInfo = false;
}
}
// WS 連線控制
private void buttonWS_Click(object sender, EventArgs e)
{
if (wsState == 2)
{
bot.Disconnect();
}
else if (wsState == 0)
{
bot.Connect();
}
wsState = 1;
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
onMessageCallback = new HandleMessage(HandleMessageCB);
bot.SetOnMessageCB(IntPtr.Zero, onMessageCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 0, IntPtr.Zero, slavesRespondingCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
targetPositionCallback = new HandleMessage(TargetPositionCB);
bot.SetTagCB("target_position.1.1", 0, IntPtr.Zero, targetPositionCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
profileVelocityCallback = new HandleMessage(ProfileVelocityCB);
bot.SetTagCB("profile_velocity.1.1", 0, IntPtr.Zero, profileVelocityCallback);
profileAccelerationCallback = new HandleMessage(ProfileAccelerationCB);
bot.SetTagCB("profile_acceleration.1.1", 0, IntPtr.Zero, profileAccelerationCallback);
deployedCallback = new HandleMessage(DeployedCB);
bot.SetTagCB("deployed", 0, IntPtr.Zero, deployedCallback);
endOfProgramCallback = new HandleMessage(EndOfProgramCB);
bot.SetTagCB("end-of-program", 0, IntPtr.Zero, endOfProgramCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links");
bot.EvaluateScript("1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void timerSlow_Tick(object sender, EventArgs e)
{
// 處理 WebSocket 的連線狀態
if (wsState == 2)
{
buttonWs.BackColor = Color.SpringGreen;
}
else if (wsState == 1)
{
buttonWs.BackColor = Color.Gold;
}
else
{
// 自動連線
bot.Connect();
wsState = 1;
buttonWs.BackColor = Color.IndianRed;
}
if (ecReady)
{
buttonEtherCAT.BackColor = Color.SpringGreen;
}
else
{
buttonEtherCAT.BackColor = Color.IndianRed;
}
buttonEtherCAT.Text = @"ECAT(" + slavesLen.ToString() + @")";
// 當有錯誤發生時，需要 Acked 才會顯示下一個錯誤訊息
if (errorsLen == 0)
{
buttonError.BackColor = Color.SpringGreen;
buttonError.Text = "Acked";
}
else
{
buttonError.BackColor = Color.IndianRed;
buttonError.Text = "Error";
}
if (systemReady)
{
buttonSystemReady.BackColor = Color.SpringGreen;
}
else
{
buttonSystemReady.BackColor = Color.IndianRed;
}
}
private void timerWSCheck_Tick(object sender, EventArgs e)
{
// 處理 WebSocket 的連線狀態
if (wsState == 2)
{
buttonWS.BackColor = Color.SpringGreen;
}
else if (wsState == 1)
{
buttonWS.BackColor = Color.Gold;
}
else
{
// 自動連線
bot.Connect();
wsState = 1;
buttonWS.BackColor = Color.IndianRed;
}
// 當有錯誤發生時，需要 Acked 才會顯示下一個錯誤訊息
if (hasAcked)
{
buttonErrorAck.BackColor = Color.SpringGreen;
buttonErrorAck.Text = "Acked";
}
else
{
buttonErrorAck.BackColor = Color.IndianRed;
buttonErrorAck.Text = "Error";
}
// 顯示同動是否有啟動
if (coordinatorEnabled)
{
buttonCoordinator.BackColor = Color.SpringGreen;
}
else
{
buttonCoordinator.BackColor = Color.IndianRed;
}
if (hasSFC)
{
buttonSFCReload.BackColor = Color.SpringGreen;
}
else
{
buttonSFCReload.BackColor = Color.IndianRed;
}
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
sdoIndexCallback = new HandleMessage(SdoIndexCB);
bot.SetTagCB("sdo_index.1", 0, IntPtr.Zero, sdoIndexCallback);
sdoSubindexCallback = new HandleMessage(SdoSubindexCB);
bot.SetTagCB("sdo_subindex.1", 0, IntPtr.Zero, sdoSubindexCallback);
sdoErrorCallback = new HandleMessage(SdoErrorCB);
bot.SetTagCB("sdo_error.1", 0, IntPtr.Zero, sdoErrorCallback);
sdoBusyCallback = new HandleMessage(SdoBusyCB);
bot.SetTagCB("sdo_busy.1", 0, IntPtr.Zero, sdoBusyCallback);
sdoDataCallback = new HandleMessage(SdoDataCB);
bot.SetTagCB("sdo_data.1", 0, IntPtr.Zero, sdoDataCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
homingCallback = new HandleMessage(HomingCB);
bot.SetTagCB("homing", 0, IntPtr.Zero, homingCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 1, IntPtr.Zero, slavesRespondingCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links 0 $60B8 1 sdo-upload-i16 1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void timer1_Tick(object sender, EventArgs e)
{
switch (webSocketState)
{
case 0:
bot.Connect();
webSocketState = 1;
Console.WriteLine("Trying to connect to Botnana.");
break;
case 2:
// Do something after ready.
break;
default:
break;
}
}
private void timerSlow_Tick(object sender, EventArgs e)
{
textErrorCount.Text = errorMessageLen.ToString();
// 設定 WebSocket 連線狀態的顏色
if (wsState == 2)
{
buttonWebSocket.BackColor = Color.SpringGreen;
}
else if (wsState == 1)
{
buttonWebSocket.BackColor = Color.Gold;
}
else
{
// 嘗試重新連線
buttonWebSocket.BackColor = Color.IndianRed;
botnana.Connect();
wsState = 1;
}
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onDiWord = new HandleMessage(OnDiWordCallback);
bot.SetTagCB("din_wd.1.3", 0, IntPtr.Zero, onDiWord);
onDoWord = new HandleMessage(OnDoWordCallback);
bot.SetTagCB("dout_wd.1.2", 0, IntPtr.Zero, onDoWord);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 1000;
timer2.Enabled = true;
}
private void timer2_Tick(object sender, EventArgs e)
{
string cmd = null;
if (hasSFC)
{
cmd += @" poll";
}
// ".ec-links" 此命令會只回傳 EtherCAT 的連線狀態
// slaves_responding|5|al_states|8|link_up|1|input_wc|2|output_wc|2|input_wc_state|1
// |output_wc_state|1|input_wc_error|179|output_wc_error|213|waiting_sdos_len|0
//
// slaves_responding 表示有多少從站連線
// al_states: 8 表示所有從站都是在 Operation 狀態
cmd += @" .ec-links";
bot.EvaluateScript(cmd);
if (!homingMethodAccessed)
{
textHomingMethod.Text = homingMethod.ToString();
}
if (!homingSpeed1Accessed)
{
textHomingSpeed1.Text = homingSpeed1.ToString();
}
if (!homingSpeed2Accessed)
{
textHomingSpeed2.Text = homingSpeed2.ToString();
}
if (!homingAccAccessed)
{
textHomingAcc.Text = homingAcc.ToString();
}
if (!encoderPPUAccessed)
{
textEncoderPPU.Text = encoderPPU.ToString("F1");
}
labelEncoderResolution.Text = "pulse/" + encoderLengthUnit.Substring(0, 1).ToLower();
if (!axisVmaxAccessed)
{
textAxisVmax.Text = axisVmax.ToString("F1");
}
if (!axisAmaxAccessed)
{
textAxisAmax.Text = axisAmax.ToString("F1");
}
if (!driveAliasAccessed)
{
textDriveAlias.Text = driveAlias.ToString();
}
if (!driveSlavePositionAccessed)
{
textDriveSlavePosition.Text = driveSlavePosition.ToString();
}
if (!driveChannelAccessed)
{
textDriveChannel.Text = driveChannel.ToString();
}
textGroupType.Text = groupType;
if (!groupMappingAccessed)
{
textGroupMapping.Text = groupMapping;
}
if (!groupVmaxAccessed)
{
textGroupVmax.Text = groupVmax.ToString("F1");
}
if (!groupAmaxAccessed)
{
textGroupAmax.Text = groupAmax.ToString("F1");
}
if (!groupJmaxAccessed)
{
textGroupJmax.Text = groupJmax.ToString("F1");
}
// 處理 WebSocket 的連線狀態
if (wsState == 2)
{
buttonWSState.BackColor = Color.LightGreen;
}
else if (wsState == 1)
{
buttonWSState.BackColor = Color.Gold;
}
else
{
// 自動連線
bot.Connect();
wsState = 1;
buttonWSState.BackColor = Color.IndianRed;
}
// 處理 System Ready 狀態顯示
if (systemReady)
{
buttonSystemState.BackColor = Color.LightGreen;
}
else
{
buttonSystemState.BackColor = Color.IndianRed;
}
switch (pdsState)
{
case "Operation Enabled":
buttonDriveOn.BackColor = Color.LightGreen;
buttonDriveOff.BackColor = SystemColors.Control;
buttonResetFault.BackColor = SystemColors.Control;
break;
case "Fault":
buttonDriveOn.BackColor = SystemColors.Control;
buttonDriveOff.BackColor = Color.IndianRed;
buttonResetFault.BackColor = Color.IndianRed;
break;
default:
buttonDriveOn.BackColor = SystemColors.Control;
buttonDriveOff.BackColor = Color.IndianRed;
buttonResetFault.BackColor = SystemColors.Control;
break;
}
}
private void timerWs_Tick(object sender, EventArgs e)
{
bot.EvaluateScript(@".ec-links");
// 處理 WebSocket 的連線狀態
if (wsState == 2)
{
buttonWs.BackColor = Color.SpringGreen;
}
else if (wsState == 1)
{
buttonWs.BackColor = Color.Gold;
}
else
{
// 自動連線
bot.Connect();
wsState = 1;
buttonWs.BackColor = Color.IndianRed;
}
// 顯示同動是否有啟動
if (coordinatorEnabled)
{
buttonCoordinator.BackColor = Color.SpringGreen;
}
else
{
buttonCoordinator.BackColor = Color.IndianRed;
}
// 當有錯誤發生時，需要 Acked 才會顯示下一個錯誤訊息
if (hasAcked)
{
buttonErrorAck.BackColor = Color.SpringGreen;
buttonErrorAck.Text = "Acked";
}
else
{
buttonErrorAck.BackColor = Color.IndianRed;
buttonErrorAck.Text = "Error";
}
if (hasSFC)
{
buttonReloadSfc.BackColor = Color.SpringGreen;
}
else
{
buttonReloadSfc.BackColor = Color.IndianRed;
}
textSlaves.Text = slavesLen.ToString();
if (ecReady)
{
textSlaves.BackColor = Color.SpringGreen;
}
else
{
textSlaves.BackColor = Color.IndianRed;
}
Boolean allDriveOn = true;
for (int i = 1; i <= 4; i++)
{
if (!isDriveOns[i])
{
allDriveOn = false;
break;
}
}
if (allDriveOn && !coordinatorEnabled)
{
bot.EvaluateScript(@"+coordinator");
}
if (isDriveOns[1])
{
buttonOn1.Text = @"ON";
buttonOn1.BackColor = Color.SpringGreen;
}
else
{
buttonOn1.Text = @"OFF";
buttonOn1.BackColor = Color.Gold;
}
if (isDriveOns[2])
{
buttonOn2.Text = @"ON";
buttonOn2.BackColor = Color.SpringGreen;
}
else
{
buttonOn2.Text = @"OFF";
buttonOn2.BackColor = Color.Gold;
}
if (isDriveOns[3])
{
buttonOn3.Text = @"ON";
buttonOn3.BackColor = Color.SpringGreen;
}
else
{
buttonOn3.Text = @"OFF";
buttonOn3.BackColor = Color.Gold;
}
if (isDriveOns[4])
{
buttonOn4.Text = @"ON";
buttonOn4.BackColor = Color.SpringGreen;
}
else
{
buttonOn4.Text = @"OFF";
buttonOn4.BackColor = Color.Gold;
}
if (isDriveFaults[1])
{
buttonFault1.BackColor = Color.IndianRed;
}
else
{
buttonFault1.BackColor = Color.SpringGreen;
}
if (isDriveFaults[2])
{
buttonFault2.BackColor = Color.IndianRed;
}
else
{
buttonFault2.BackColor = Color.SpringGreen;
}
if (isDriveFaults[3])
{
buttonFault3.BackColor = Color.IndianRed;
}
else
{
buttonFault3.BackColor = Color.SpringGreen;
}
if (isDriveFaults[4])
{
buttonFault4.BackColor = Color.IndianRed;
}
else
{
buttonFault4.BackColor = Color.SpringGreen;
}
}
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);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onError = new HandleMessage(OnErrorCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onError);
onPr3411 = new HandleMessage(OnPr3411Callback);
bot.SetTagCB(@"pr3411 ", 0, IntPtr.Zero, onPr3411);
onPr3444 = new HandleMessage(OnPr3444Callback);
bot.SetTagCB(@"pr3444 ", 0, IntPtr.Zero, onPr3444);
onPr3445 = new HandleMessage(OnPr3445Callback);
bot.SetTagCB(@"pr3445 ", 0, IntPtr.Zero, onPr3445);
onPr3447 = new HandleMessage(OnPr3447Callback);
bot.SetTagCB(@"pr3447 ", 0, IntPtr.Zero, onPr3447);
onPr3448 = new HandleMessage(OnPr3448Callback);
bot.SetTagCB(@"pr3448 ", 0, IntPtr.Zero, onPr3448);
onPr3449 = new HandleMessage(OnPr3449Callback);
bot.SetTagCB(@"pr3449 ", 0, IntPtr.Zero, onPr3449);
onPr3450 = new HandleMessage(OnPr3450Callback);
bot.SetTagCB(@"pr3450 ", 0, IntPtr.Zero, onPr3450);
onPr3451 = new HandleMessage(OnPr3451Callback);
bot.SetTagCB(@"pr3451 ", 0, IntPtr.Zero, onPr3451);
onPr3452 = new HandleMessage(OnPr3452Callback);
bot.SetTagCB(@"pr3452 ", 0, IntPtr.Zero, onPr3452);
onPr3453 = new HandleMessage(OnPr3453Callback);
bot.SetTagCB(@"pr3453 ", 0, IntPtr.Zero, onPr3453);
onPr3454 = new HandleMessage(OnPr3454Callback);
bot.SetTagCB(@"pr3454 ", 0, IntPtr.Zero, onPr3454);
onPr3455 = new HandleMessage(OnPr3455Callback);
bot.SetTagCB(@"pr3455 ", 0, IntPtr.Zero, onPr3455);
onPr3456 = new HandleMessage(OnPr3456Callback);
bot.SetTagCB(@"pr3456 ", 0, IntPtr.Zero, onPr3456);
onPr3457 = new HandleMessage(OnPr3457Callback);
bot.SetTagCB(@"pr3457 ", 0, IntPtr.Zero, onPr3457);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onWaitingSDOs = new HandleMessage(OnWaitingSDOsCallback);
bot.SetTagCB(@"waiting_sdos_len", 0, IntPtr.Zero, onWaitingSDOs);
onOperationMode = new HandleMessage(OnOperationModeCallback);
bot.SetTagCB(@"operation_mode.1.1", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleMessage(OnHomingMethodCallback);
bot.SetTagCB(@"homing_method.1.1", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed2 = new HandleMessage(OnHomingSpeed2Callback);
bot.SetTagCB(@"homing_speed_2.1.1", 0, IntPtr.Zero, onHomingSpeed2);
onProfileVelocity = new HandleMessage(OnProfileVelocityCallback);
bot.SetTagCB(@"profile_velocity.1.1", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcc = new HandleMessage(OnProfileAccCallback);
bot.SetTagCB(@"profile_acceleration.1.1", 0, IntPtr.Zero, onProfileAcc);
onRealPosition = new HandleMessage(OnRealPositionCallback);
bot.SetTagCB(@"real_position.1.1", 0, IntPtr.Zero, onRealPosition);
onTargetPosition = new HandleMessage(OnTargetPositionCallback);
bot.SetTagCB(@"target_position.1.1", 0, IntPtr.Zero, onTargetPosition);
onPDSState = new HandleMessage(OnPDSStateCallback);
bot.SetTagCB(@"pds_state.1.1", 0, IntPtr.Zero, onPDSState);
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 200;
timer2.Enabled = true;
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
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 = slaves_responding 就呼叫 OnSlavesRespondingCallback
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// 收到 tag = al_states 就呼叫 OnSlavesStateCallback
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// 收到 tag = ain.1.4 就呼叫 OnAin1Callback
// ain.1.4 表示第 4 個從站第 1 管道的 AIN
onAins[1] = new HandleMessage(OnAin1Callback);
bot.SetTagCB(@"ain.1." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[1]);
onAins[2] = new HandleMessage(OnAin2Callback);
bot.SetTagCB(@"ain.2." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[2]);
onAins[3] = new HandleMessage(OnAin3Callback);
bot.SetTagCB(@"ain.3." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[3]);
onAins[4] = new HandleMessage(OnAin4Callback);
bot.SetTagCB(@"ain.4." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAins[4]);
// 收到 tag = aout.1.4 就呼叫 OnAout1Callback
// aout.1.5 表示第 5 個從站第 1 管道的 Aout
onAouts[1] = new HandleMessage(OnAout1Callback);
bot.SetTagCB(@"aout.1." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[1]);
onAouts[2] = new HandleMessage(OnAout2Callback);
bot.SetTagCB(@"aout.2." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[2]);
onAouts[3] = new HandleMessage(OnAout3Callback);
bot.SetTagCB(@"aout.3." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[3]);
onAouts[4] = new HandleMessage(OnAout4Callback);
bot.SetTagCB(@"aout.4." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAouts[4]);
// 收到 tag = ain_enabled.1.4 就呼叫 OnAin1EnabledCallback
// ain_enabled.1.4 表示第 4 個從站第 1 管道的 AIN Enabled
onAinsEnabled[1] = new HandleMessage(OnAin1EnabledCallback);
bot.SetTagCB(@"ain_enabled.1." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[1]);
onAinsEnabled[2] = new HandleMessage(OnAin2EnabledCallback);
bot.SetTagCB(@"ain_enabled.2." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[2]);
onAinsEnabled[3] = new HandleMessage(OnAin3EnabledCallback);
bot.SetTagCB(@"ain_enabled.3." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[3]);
onAinsEnabled[4] = new HandleMessage(OnAin4EnabledCallback);
bot.SetTagCB(@"ain_enabled.4." + DeltaAinSlavePosStr, 0, IntPtr.Zero, onAinsEnabled[4]);
// 收到 tag = aout_enabled.1.5 就呼叫 OnAout1EnabledCallback
// aout_enabled.1.5 表示第 5 個從站第 1 管道的 AOUT Enabled
onAoutsEnabled[1] = new HandleMessage(OnAout1EnabledCallback);
bot.SetTagCB(@"aout_enabled.1." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[1]);
onAoutsEnabled[2] = new HandleMessage(OnAout2EnabledCallback);
bot.SetTagCB(@"aout_enabled.2." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[2]);
onAoutsEnabled[3] = new HandleMessage(OnAout3EnabledCallback);
bot.SetTagCB(@"aout_enabled.3." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[3]);
onAoutsEnabled[4] = new HandleMessage(OnAout4EnabledCallback);
bot.SetTagCB(@"aout_enabled.4." + DeltaAoutSlavePosStr, 0, IntPtr.Zero, onAoutsEnabled[4]);
// 收到 tag = aout1_mode 就呼叫 OnAout1ModeCallback
onAoutsMode[1] = new HandleMessage(OnAout1ModeCallback);
bot.SetTagCB(@"aout1_mode", 0, IntPtr.Zero, onAoutsMode[1]);
onAoutsMode[2] = new HandleMessage(OnAout2ModeCallback);
bot.SetTagCB(@"aout2_mode", 0, IntPtr.Zero, onAoutsMode[2]);
onAoutsMode[3] = new HandleMessage(OnAout3ModeCallback);
bot.SetTagCB(@"aout3_mode", 0, IntPtr.Zero, onAoutsMode[3]);
onAoutsMode[4] = new HandleMessage(OnAout4ModeCallback);
bot.SetTagCB(@"aout4_mode", 0, IntPtr.Zero, onAoutsMode[4]);
onAinMode = new HandleMessage(OnAinModeCallback);
bot.SetTagCB(@"ain_mode", 0, IntPtr.Zero, onAinMode);
// 收到 tag = user_parameter 就呼叫 OnUserParameterCallback
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// 進行連線
wsState = 1;
bot.Connect();
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 1000;
timer2.Enabled = true;
radioAin1Enabled.AutoCheck = false;
radioAin2Enabled.AutoCheck = false;
radioAin3Enabled.AutoCheck = false;
radioAin4Enabled.AutoCheck = false;
radioAout1Enabled.AutoCheck = false;
radioAout2Enabled.AutoCheck = false;
radioAout3Enabled.AutoCheck = false;
radioAout4Enabled.AutoCheck = false;
comboAout1Mode.SelectedIndex = 0;
comboAout2Mode.SelectedIndex = 0;
comboAout3Mode.SelectedIndex = 0;
comboAout4Mode.SelectedIndex = 0;
comboAinMode.SelectedIndex = 0;
groupAinStatus.Text = "AIN Status (Slave " + DeltaAinSlavePosStr + ")";
groupAoutStatus.Text = "AOUT Status (Slave " + DeltaAoutSlavePosStr + ")";
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
mcsPositions = new double[3];
pcsPositions = new double[3];
pva = new double[3];
axisHomed = new int[3];
axisRealPositions = new double[3];
axisHomingV1 = new UInt32[3];
axisHomingV2 = new UInt32[3];
axisHomingMethod = new UInt32[3];
// 首先要連線到 Botnana Control, 當收到 WS 連線錯誤, 就呼叫 on_error_callback
bot = new Botnana("192.168.7.2");
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// 當收到 Botnana Control 的訊息, 就呼叫 on_message_callback
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// 定義收到信息中指定的 Tag 時，所要呼叫的 callback 信息
bot.SetTagCB("MCS.1", 0, IntPtr.Zero, onMcs);
bot.SetTagCB("PCS.1", 0, IntPtr.Zero, onPcs);
bot.SetTagCB("pva.1", 0, IntPtr.Zero, onPva);
bot.SetTagCB("move_length.1", 0, IntPtr.Zero, onMoveLength);
bot.SetTagCB("path_id.1", 0, IntPtr.Zero, onPathId);
bot.SetTagCB("servo_on", 0, IntPtr.Zero, onServoOn);
bot.SetTagCB("motion_state", 0, IntPtr.Zero, onMotionState);
bot.SetTagCB("axis_corrected_position.1", 0, IntPtr.Zero, onAxisRealPositionX);
bot.SetTagCB("axis_corrected_position.2", 0, IntPtr.Zero, onAxisRealPositionY);
bot.SetTagCB("axis_corrected_position.3", 0, IntPtr.Zero, onAxisRealPositionZ);
bot.SetTagCB("axis_homed.1", 0, IntPtr.Zero, onAxisHomedX);
bot.SetTagCB("axis_homed.2", 0, IntPtr.Zero, onAxisHomedY);
bot.SetTagCB("axis_homed.3", 0, IntPtr.Zero, onAxisHomedZ);
bot.SetTagCB("nc_owner", 0, IntPtr.Zero, onNcOwner);
bot.SetTagCB("nc_suspended", 0, IntPtr.Zero, onNcSuspended);
bot.SetTagCB("devices_ok", 0, IntPtr.Zero, onDevicesOk);
bot.SetTagCB("monitor_failed", 0, IntPtr.Zero, onMonitorFailed);
bot.SetTagCB("rapid_travels_rate", 0, IntPtr.Zero, onRapidTravelsRate);
bot.SetTagCB("machining_rate", 0, IntPtr.Zero, onMachiningRate);
bot.SetTagCB("axis_homing_v1.1", 0, IntPtr.Zero, onAxisHomingV1X);
bot.SetTagCB("axis_homing_v1.2", 0, IntPtr.Zero, onAxisHomingV1Y);
bot.SetTagCB("axis_homing_v1.3", 0, IntPtr.Zero, onAxisHomingV1Z);
bot.SetTagCB("axis_homing_v2.1", 0, IntPtr.Zero, onAxisHomingV2X);
bot.SetTagCB("axis_homing_v2.2", 0, IntPtr.Zero, onAxisHomingV2Y);
bot.SetTagCB("axis_homing_v2.3", 0, IntPtr.Zero, onAxisHomingV2Z);
bot.SetTagCB("axis_homing_method.1", 0, IntPtr.Zero, onAxisHomingMethodX);
bot.SetTagCB("axis_homing_method.2", 0, IntPtr.Zero, onAxisHomingMethodY);
bot.SetTagCB("axis_homing_method.3", 0, IntPtr.Zero, onAxisHomingMethodZ);
bot.SetTagCB("error", 0, IntPtr.Zero, onError);
bot.SetTagCB("log", 0, IntPtr.Zero, onLog);
bot.SetTagCB("user_parameter", 0, IntPtr.Zero, onUserParameter);
bot.SetTagCB("deployed", 0, IntPtr.Zero, onDeployed);
bot.Connect();
Thread.Sleep(1000);
// 要求 Botnana Control 送出 user parameter 訊息
bot.EvaluateScript(".user-para");
// 初始化 NC program 內容
DataGridViewRowCollection rows = ncProgram.Rows;
rows.Add(new Object[] { "1", "92", "0.0", "0.0", "0.0", "900.0" });
rows.Add(new Object[] { "2", "01", "10", null, null, "500" });
rows.Add(new Object[] { "3", "01", "20", null, null, "500" });
rows.Add(new Object[] { "4", "01", "30", null, null, "500" });
rows.Add(new Object[] { "5", "01", "40", null, null, "500" });
rows.Add(new Object[] { "6", "01", "50", null, null, "600" });
rows.Add(new Object[] { "7", "01", "60", null, null, "700" });
rows.Add(new Object[] { "8", "01", "70", null, null, "800" });
rows.Add(new Object[] { "9", "01", "80", null, null, "900" });
rows.Add(new Object[] { "10", "01", "90", null, null, "1000" });
// 設置 timer
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
}
