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;
}
public Test()
{
InitializeComponent();
RunConsole();
bot = new Botnana("192.168.7.2");
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
BeginInvoke(new Deg(() =>
{
sdoControl1.Awake();
driveControl1.Awake();
axisControl1.Awake();
}));
Console.WriteLine("WS connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
BeginInvoke(new Deg(() =>
{
sdoControl1.Sleep();
driveControl1.Sleep();
axisControl1.Sleep();
}));
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
sdoControl1.InitializeBotnana(bot);
axisControl1.InitializeBotnana(bot);
realTimeScriptControl1.InitializeBotnana(bot);
driveControl1.InitializeBotnana(bot);
}
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 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();
}
public FormApp()
{
InitializeComponent();
bot = new Botnana("192.168.7.2");
// 啟動終端機，可幫助除錯，若不使用可不啟動。
RunConsole();
// On WebSocket open callback.
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
rebooting = false;
BeginInvoke(new Appdeg(() =>
{
buttonWSState.Text = "WebSocket ready";
buttonWSState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .device-infos 取得周邊裝置的資訊
// .user-para 回應的訊息範例如下:
// user_parameter|0
bot.EvaluateScript(@"user-para@ 32 min user-para! .user-para");
Console.WriteLine("WebSocket connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// On WebSocket error callback.
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
slavesCount = 0;
hasSFC = false;
BeginInvoke(new Appdeg(() => {
buttonWSState.Text = "WebSocket not ready";
buttonWSState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
formTorque.Reset();
formFeeder.Reset();
formRCON.Reset();
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// On Message callback.
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// On Error tag callback
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (errorsLen < 3)
{
errorsLen += 1;
new Thread(() =>
{
System.Windows.Forms.MessageBox.Show("Error|" + str);
errorsLen -= 1;
}).Start();
}
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// On user_parameter tag callback.
onUserParameter = new HandleMessage((IntPtr dataPtr, string str) =>
{
switch (Int32.Parse(str))
{
case 0:
Console.WriteLine("OnUserParameterCallback 0");
if (webSocketState == 2 && !rebooting)
{
// 設定 user parameter 為 16，如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
bot.EvaluateScript(@"ignore-overrun 0sfc -work marker -work");
bot.LoadSFC(@"config.fs");
bot.LoadSFC(@"sdo.fs");
bot.LoadSFC(@"torque.fs");
bot.LoadSFC(@"feeder.fs");
bot.LoadSFC(@"rcon.fs");
bot.LoadSFC(@"manager.fs");
bot.EvaluateScript(@"marker -app .user-para");
}
break;
case 16:
Console.WriteLine("OnUserParameterCallback 16");
// 載入後執行 `reset-overrun`
BotEvaluateScript(@"reset-overrun 32 user-para! .user-para");
break;
case 32:
Console.WriteLine("OnUserParameterCallback 32");
formTorque.Initialize();
formFeeder.Initialize();
formRCON.Initialize();
BotEvaluateScript(@"+coordinator 64 user-para! .user-para");
break;
case 64:
Console.WriteLine("OnUserParameterCallback 64");
hasSFC = true;
break;
default:
break;
}
});
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// On ec_ready tag callback.
onECReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "1")
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onECReady);
// On slaves_responding tag callback.
onSlavesResponding = new HandleMessage((IntPtr dataPtr, string str) =>
{
slavesCount = int.Parse(str);
});
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// On system_ready tag callback.
onSystemReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "-1")
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System ready";
buttonSystemReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
formTorque = new FormTorque();
formFeeder = new FormFeeder();
formRCON = new FormRCON();
}
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;
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;
}
