private void Form1_Load(object sender, EventArgs e)
{
string localIP;
using (Socket socket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, 0))
{
socket.Connect("8.8.8.8", 65530);
IPEndPoint endpoint = socket.LocalEndPoint as IPEndPoint;
localIP = endpoint.Address.ToString();
textBoxServer.Text = " Serevr address is " + localIP;
SERVER_IP = localIP;
}
//This will check for ABB controllers and list them in a combo box
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo info in controllers)
{
comboBox1.Items.Add(info.ControllerName + " / " + info.IPAddress.ToString());
comboBox1.SelectedIndex = 0;
}
if (backgroundWorker1.IsBusy != true)
{
backgroundWorker1.RunWorkerAsync();
}
}
public void DynamicCreation()
{
// ABB 自带接口扫描类
NetworkScanner networkScanner = new NetworkScanner();
// 条件运算符 获取控制器类型
ControllerInfo[] controllers = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
if (controllers.Length > 0)
{
Console.WriteLine(controllers);
// 获取控制器信息
ABBControllerInfo = controllers[0];
// 根据控制器信息 船舰实例
ABBController = ControllerFactory.CreateFrom(ABBControllerInfo);
Console.WriteLine($"Found one ABB.System Name is:{SystemName} System ID is:{SystemID} System IP is:{SystemIP}");
// $ 起到一个占位符的作用内容包含在 {} 中，可以用于获取{}中对应内容的信息,避免了利用{0}的形式占位。 以前占位符 需要 {0} 和 变量 配合使用
}
else
{
MessageBox.Show("No ABB Robot Found!");
}
}
public async Task Start()
{
BConsole.WriteLine("NetworkMonitor v1.0");
await Manager.Init();
new Thread(delegate()
{
int minutes = 10;
int interval = 1000;
int IntervalMax = minutes * 1000 * 60;
int timer = IntervalMax;
while (!StopCalled)
{
if (timer % interval != 0 || timer > IntervalMax)
{
break;
}
if (timer < IntervalMax)
{
Thread.Sleep(interval);
timer += interval;
}
else
{
timer = 0;
var devices = NetworkScanner.GetDevices(Config.GetDisplay());
Manager.AddDevices(devices);
}
}
}).Start();
await Listener.Start();
}
public List <Machine> reScanMachines()
{
CurrentContext.Validate();
var ips = NetworkScanner.GetAllMAchines();
foreach (int i in ips.Keys)
{
var ip = ips[i];
if (string.IsNullOrEmpty(ip.Name))
{
continue;
}
var m = MachineFactory.Find(ip.Name.ToUpper());
if (m != null)
{
bool bchange = false;
if (m.IP != ip.IpAddress)
{
m.IP = ip.IpAddress;
bchange = true;
}
if (m.MAC != ip.MacAddress)
{
m.MAC = ip.MacAddress;
bchange = true;
}
if (bchange)
{
MachineFactory.Update(m);
}
}
}
return(getMachines());
}
private void RefreshConnectedList()
{
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
connectedControllers = networkScanner.Controllers;
if (connectedControllers.Count != 0)
{
connectButton.Enabled = true;
}
else
{
connectButton.Enabled = false;
}
ListViewItem item = null;
controllerListView.Items.Clear();
foreach (ControllerInfo controllerInfo in connectedControllers)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
controllerListView.Items.Add(item);
item.Tag = controllerInfo;
}
}
public ControllerInfoCollection getCanner()
{
this.scanner = new NetworkScanner();
this.scanner.Scan();
infoControllers = scanner.Controllers;
return(infoControllers);
}
public void Scan()
{
NetworkScanner netscan = new NetworkScanner();
netscan.Scan();
controllers = netscan.Controllers;
}
public ABBController()
{
NetworkScanner netscan = new NetworkScanner();
netscan.Scan();
allControllers = netscan.Controllers;// 扫描到所有控制器:
}
/// <summary>
/// 初始化相关参数
/// </summary>
private void ABBControl_Load(object sender, EventArgs e)
{
this.abbscanner = new NetworkScanner();
this.abbscanner.Scan(); //扫描控制器
ControllerInfoCollection controllerInfos = this.abbscanner.Controllers;
ListViewItem item = null;
foreach (ControllerInfo controllerInfo in controllerInfos)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.ControllerName);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.VersionName);
this.listView1.Items.Add(item);
item.Tag = controllerInfo;
//组合框控件添加控制器
this.controllerscomboBox.Items.Add(controllerInfo.IPAddress.ToString() + @"/" + controllerInfo.ControllerName);
}
this.abbnetworkWatcher = new NetworkWatcher(this.abbscanner.Controllers);
this.abbnetworkWatcher.Found += AbbnetworkWatcher_Found; //添加订阅，发现新设备
this.abbnetworkWatcher.Lost += AbbnetworkWatcher_Lost;
this.abbnetworkWatcher.EnableRaisingEvents = true; //使能监控器
this.abbscanner = null;
//更新Table UI 控件
this.Invoke(new EventHandler(UpdateUI), new Object[] { this, e });
this.timer1.Start(); //启动定时器
//设置combox默认选择项
this.comboBox2.SelectedIndex = 0;
this.speed_comboBox.SelectedIndex = 1;
}
/// <summary>
/// 重新扫描控制器
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void scanBtn_Click(object sender, EventArgs e)
{
//断开控制器连接 待实现
//...
this.abbscanner = new NetworkScanner();
this.abbscanner.Scan(); //扫描控制器
ControllerInfoCollection controllerInfos = this.abbscanner.Controllers;
ListViewItem item = null;
this.listView1.Items.Clear(); //移除所有项重新扫描
this.controllerscomboBox.Items.Clear(); //移除所有项重新扫描
this.listView1.BeginUpdate(); //更新数据，直到EndUpdate()
foreach (ControllerInfo controllerInfo in controllerInfos)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.ControllerName);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.VersionName);
this.listView1.Items.Add(item);
item.Tag = controllerInfo;
//组合框控件添加控制器
this.controllerscomboBox.Items.Add(controllerInfo.IPAddress.ToString() + @"/" + controllerInfo.ControllerName);
}
this.listView1.EndUpdate(); //结束数据处理，一次绘制UI
Data.LogString = "扫描完成";
}
public static void Main(string[] args)
{
Twitchbot t = new Twitchbot();
NetworkScanner.Espipfound += OnEspFound;
chatsw = new Stopwatch();
execsw = new Stopwatch();
chatsw.Start();
execsw.Start();
// scan for the the esp and keep scanning untill found.
while (!NetworkScanner.espFound && !NetworkScanner.isScanning)
{
NetworkScanner.Scan();
Thread.Sleep(500);
}
// sub to the bot message event
TwitchClientIrc.ChatMessage += OnTwitchChat;
// start the twitch bot
t.Start();
}
private void ScanNetwork()
{
Dispatcher.Invoke(() =>
{
NetworkScanner.ScanAvailableDevices();
});
}
public void AutoConnect()
{
scanner = new NetworkScanner();
scanner.Scan();
controllers = scanner.Controllers;
string id = config.Read("ID", "RobID", "0", cfgPath);
Guid a = Guid.Parse(id);
foreach (ControllerInfo info in controllers)
{
if (info.SystemId == a)
{
controller = Controller.Connect(info.SystemId, ConnectionType.Standalone);
controller.Logon(UserInfo.DefaultUser);
Text = "当前已自动连接 ID:" + id + " IP:" + info.IPAddress.ToString() + " Port:" + info.WebServicesPort.ToString();
label2_INFO.Text = "已连接。";
setInfoColor();
ShowNewMessage("ヽ(✿ﾟ▽ﾟ)ノ 成功连接到示教器啦：" + id);
button_connect.Text = " 断开";
}
}
if (controller == null)
{
MessageBox.Show("(ノへ￣、) 未扫描到控制器或控制器ID不存在，请检查配置文件！", "自动连接错误");
}
}
//RapidData a, b;
private void Form1_Load(object sender, EventArgs e)
{
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
ListViewItem item = null;
foreach (ControllerInfo controllerInfo in controllers)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
this.listView1.Items.Add(item);
item.Tag = controllerInfo;
}
//Controller aController = new Controller();
//item = new ListViewItem(aController.IPAddress.ToString());
//item.SubItems.Add(aController.SystemId.ToString());
//item.SubItems.Add(aController.Connected.ToString());
//item.SubItems.Add(aController.IsVirtual.ToString());
//item.SubItems.Add(aController.SystemName);
//item.SubItems.Add(aController.RobotWareVersion.ToString());
////item.SubItems.Add(controllerInfo.ControllerName);
//this.listView1.Items.Add(item);
//item.Tag = aController;
this.networkwatcher = new NetworkWatcher(scanner.Controllers);
this.networkwatcher.Found += new EventHandler <NetworkWatcherEventArgs>(HandleFoundEvent);
this.networkwatcher.Lost += new EventHandler <NetworkWatcherEventArgs>(HandleLostEvent);
this.networkwatcher.EnableRaisingEvents = true;
}
private void Page_Loaded(object sender, RoutedEventArgs e)
{
Main.OnClientRequested += Main_OnClientRequested;
ShowFileList(false);
if (Main.FilePaths != null)
{
FilePaths = Main.FilePaths.ToList();
ShowFileList(true);
list_Files.ItemsSource = FilePaths;
}
else
{
FilePaths = new List <string>();
ShowFileList(false);
}
NetworkScanner.GetDeviceAddress(out DeviceIP, out DeviceHostName);
Main.FileSaveURL = Parameters.SavingPath;
Debug.WriteLine("Save file path: " + Main.FileSaveURL);
Dispatcher.Invoke(() =>
{
txt_DeviceIP.Content = DeviceIP;
txt_DeviceName.Text = Parameters.DeviceName;
});
}
public LogEditor()
{
NetworkScanner netScan = new NetworkScanner();
netScan.Scan();
ctrlInfo = netScan.GetControllers();
foreach (var i in ctrlInfo)
{
if (i.SystemName.ToString() == "2600-109425") // ABB IRC5 Controller number 26-00268, 4600-800484
{
aController = new Controller(i);
}
}
// can be used like this, if you know which controller inside of ctrlInfo[] array.
//aController = new Controller(ctrlInfo[0]);
// using ControllerInfoCollection cntInfoColl -
//cntInfoColl = netScan.Controllers;
log = aController.EventLog;
Console.WriteLine($"Application is running.");
aController.EventLog.MessageWritten += _errorEventHappened;
Console.ReadLine();
}
// 声明一个私有变量 动态创建扫描接口 创建与控制器的连接
public void DynamicCreation()
{
// 建立一个扫描接口的 引用变量 networkScanner
NetworkScanner networkScanner = new NetworkScanner();
// 扫描接口 虚拟接口还是实际接口 条件运算符
ControllerInfo[] controllers = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
// 发现控制器后
if (controllers.Length > 0)
{
// 确认controller 包含哪些信息
Console.WriteLine(controllers);
// 提取controller中的第默认序列第一的信息
ABBControllerinfo = controllers[0];
Console.WriteLine(ABBControllerinfo);
// 根据控制器的信息创建一个实例 并且可以输出 其基本信息
ABBController = ControllerFactory.CreateFrom(ABBControllerinfo);
Console.WriteLine($"Found one ABB.System Name is:{SystemName} System ID is:{SystemID} System IP is:{SystemIP}");
// $ 起到一个占位符的作用内容包含在 {} 中，可以用于获取{}中对应内容的信息
}
else
{
MessageBox.Show("No ABB Robot Found.");
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
//Event search, and if found connect to Kinect module and then search, and if found add to listView robot controllers
kinectSensor = KinectSensor.GetDefault();
if (kinectSensor != null)
{
kinectSensor.Open();
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += ReaderFrameArrived;
}
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
//for each found controller method add item in listView(create new RobotController object and assign them found controller values)
foreach (ControllerInfo controllerInfo in controllers)
{
listViewRobotControlers.Items.Add(new RobotController
{
IPAddress = controllerInfo.IPAddress.ToString(),
Availability = controllerInfo.Availability.ToString(),
Virtual = controllerInfo.IsVirtual.ToString(),
SystemName = controllerInfo.SystemName,
RobotWareVersion = controllerInfo.Version.ToString(),
ControllerName = controllerInfo.ControllerName,
Tag = controllerInfo
});
}
}
public void Initialise()
{
var networkScanner = new NetworkScanner();
for(int i = 0; i < 20; i++)
{
Thread.Sleep(100);
networkScanner.Scan();
foreach (ControllerInfo controller in networkScanner.Controllers)
{
if (controller.IPAddress.Equals(this.RobotIPAddress))
{
this.Controller = ControllerFactory.CreateFrom(controller);
this.Controller.Rapid.ExecutionStatusChanged += new EventHandler<ExecutionStatusChangedEventArgs>(RapidExecutionStatusChanged);
this.SetSpeed(100);
_status = HardwareStatus.Operational;
return;
}
}
}
_status = HardwareStatus.Offline;
throw new Exception(string.Format("Robot at {0} could not be found.", this.RobotIPAddress));
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
AddVersionNumber();
CheckForUpdates();
LoadOptions();
NetworkScanner.PublishDevice();
NetworkScanner.ScanAvailableDevices();
NetworkScanner.OnScanCompleted += NetworkScanner_OnScanCompleted;
NetworkScanner.OnClientConnected += NetworkScanner_OnClientConnected;
Dispatcher.Invoke(() =>
{
chc_AutoShare.IsChecked = Parameters.IsAutoShareEnabled;
chc_EnableControls.IsChecked = Parameters.IsControlsEnabled;
IsControlsEnabled = Parameters.IsControlsEnabled;
});
if (Parameters.IsAutoShareEnabled)
{
//if (ServiceBot)
//{
Task.Run(() =>
{
try
{
bool noIP = true;
while (noIP)
{
var localIP = NetworkScanner.MyIP;
if (localIP != null)
{
char[] splitter = { '.' };
var ipBlocks = localIP.ToString().Split(splitter);
if (string.Equals(ipBlocks[0], "192") && string.Equals(ipBlocks[1], "168"))
{
noIP = false;
}
}
Thread.Sleep(500);
}
btn_Share_Click(null, null);
}
catch (Exception exc)
{
Debug.WriteLine("Exception in loading: " + exc.ToString());
}
});
//}
//else
//{
// btn_Share_Click(null, null);
//}
}
}
catch
{
Debug.WriteLine("Failed when initializing ");
}
}
/// <summary>
/// Searches the network for a robot controller and establishes a connection with the specified one by position.
/// Performs no LogOn actions or similar.
/// </summary>
/// <returns></returns>
private bool LoadController(int controllerID)
{
// Scan the network and hookup to the specified controller
bool success = false;
// This is specific to ABB, should become abstracted at some point...
logger.Verbose("Scanning the network for controllers...");
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers();
if (controllers.Length > 0)
{
int cId = controllerID > controllers.Length ? controllers.Length - 1 :
controllerID < 0 ? 0 : controllerID;
controller = ControllerFactory.CreateFrom(controllers[cId]);
if (controller != null)
{
//isConnected = true;
logger.Verbose($"Found controller {controller.SystemName} on {controller.Name}");
success = true;
logger.Debug(controller);
//Console.WriteLine(controller.RobotWare);
//Console.WriteLine(controller.RobotWareVersion);
//try
//{
// this.robotWare = this.controller.RobotWare;
// this.robotWareOptions = this.robotWare.Options;
// this._hasMultiTasking = HasMultiTaskOption(this.robotWareOptions);
// this._hasEGM = HasEGMOption(this.robotWareOptions);
//}
//catch
//{
// Console.WriteLine("Could not access ROBOTWARE options");
//}
}
else
{
logger.Debug("Could not connect to controller...");
}
}
else
{
logger.Debug("No controllers found on the network");
}
//if (!success)
//{
// Disconnect();
// //throw new Exception("ERROR: could not LoadController()");
//}
return(success);
}
public void ConnectAndDisplayData()
{
Console.Out.WriteLine("Scanning for controllers...");
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
if (controllers.Count == 0)
{
status = Status.NotFound;
}
Console.Out.WriteLine("Number of controllers found: {0}", controllers.Count);
//connecting to first controller found. usually only one is present.
if (status != Status.NotFound)
{
selectedController = controllers.First();
Console.Out.WriteLine(selectedController.Name + " " + selectedController.HostName + " " + selectedController.IPAddress + " " + selectedController.Availability);
Name = selectedController.Name + "\n" + selectedController.IPAddress;
if (selectedController.Availability == Availability.Available)
{
try
{
status = Status.Connecting;
controller = ControllerFactory.CreateFrom(selectedController);
controller.Logon(UserInfo.DefaultUser);
status = Status.Connected;
}
catch (Exception e)
{
Console.WriteLine("Could not establish a connection to the controller" + Environment.NewLine + e.StackTrace);
status = Status.Disconnected;
}
finally { Console.Out.WriteLine("Connected to " + controller.IPAddress); }
}
else
{
Console.WriteLine("The controller is not available for connections");
status = Status.NotAvailable;
status = Status.Disconnected;
}
controller.OperatingModeChanged += Controller_ModeChangedHandler;
Console.Out.WriteLine(controller.OperatingMode);
tasks = controller.Rapid.GetTasks();
foreach (var task in tasks)
{
Console.Out.WriteLine("Current task on the controller: {0} ", task.Name);
}
PrintRapidData(Tasks.LEFT, Modules.LEFT, "codeL");
PrintRapidData(Tasks.RIGHT, Modules.RIGHT, "codeR");
}
}
public void createcontroler()
{
this.objNetworkWatcher = new NetworkScanner();
objNetworkWatcher.Scan();
ControllerInfoCollection objControllerInfoCollection = objNetworkWatcher.Controllers;
objController = new Controller(objControllerInfoCollection[0]);
objController.Logon(UserInfo.DefaultUser);
}
public override List <ListViewItem> scanRobot()
{
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = this.scanner.Controllers;
List <ListViewItem> target = this.getConnectedRobot();
return(target);
}
private void Scan(object sender, object e)
{
//Reset Controllers
if (controllers != null)
{
foreach (var controller in controllers)
{
controller.LogOff();
}
controllers = new List <Controller>();
}
// Find ABB robots on the network
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
if (ipAddresses != null)
{
// Scan the network for controllers and add them to our controller array.
foreach (string ip in ipAddresses)
{
NetworkScanner.AddRemoteController(ip);
}
}
ControllerInfo[] controllersID = scanner.GetControllers();
foreach (ControllerInfo id in controllersID)
{
controllers.Add(new AbbIRC5Contoller(id));
}
// Possibility to scan for other robots
// Allow value list to be updated
updateVL = true;
if (controllers != null)
{
if (controllers.Count > 0)
{
log.Add("Controllers found:");
// List the controller names that were found on the network.
for (int i = 0; i < controllers.Count; i++)
{
log.Add(controllers[i].Name);
}
}
else
{
log.Add("Scan timed out. No controllers were found.");
}
}
ExpireSolution(true);
}
public void TEST_GET_NETWORKSHARES()
{
DateTime start = DateTime.Now;
foreach (string share in NetworkScanner.GetAllAvailableNetworkShares())
{
Console.WriteLine(share);
}
Console.WriteLine("Took: " + (DateTime.Now - start).TotalMilliseconds + " milliseconds");
}
/// <summary>
/// 搜索控制器返回控制器列表
/// </summary>
/// <returns></returns>
public List <ControllerInfo> ScanList()
{
ns = new NetworkScanner();
ns.Scan();
foreach (ControllerInfo item in ns.Controllers)
{
ConList.Add(item);
}
JudgeLogStatus = true;
return(ConList);
}
static ControllerPresenter()
{
logger = NLog.Web.NLogBuilder.ConfigureNLog("NLog.config").GetCurrentClassLogger();
Scanner = new NetworkScanner();
Scanner.Scan();
if (Scanner.Controllers.Count != 0)
{
CntPresent = true;
}
}
private void Form1_Load(object sender, EventArgs e)
{
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo info in controllers)
{
comboBox1.Items.Add(info.ControllerName + " / " + info.IPAddress.ToString());
}
}
private void button_systemGuid_Click(object sender, RoutedEventArgs e)
{
Match m = Regex.Match(this.textBox_systemGuid.Text, @"^[0-9a-f]{8}(-[0-9a-f]{4}){3}-[0-9a-f]{12}$", RegexOptions.IgnoreCase);
if (m.Success)
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo controllerinfo in controllers)
{
if (controllerinfo.SystemId.ToString().ToUpper() == this.textBox_systemGuid.Text.ToUpper())
{
try
{
if (this.myController != null)
{
this.myController.Logoff();
this.myController.Dispose();
this.myController = null;
}
this.myController = Controller.Connect(new Guid(this.textBox_systemGuid.Text), ConnectionType.Standalone);
if (string.IsNullOrEmpty(this.textBox_userName.Text))
{
this.myController.Logon(UserInfo.DefaultUser);
}
else
{
UserInfo userInfo_login = new UserInfo(this.textBox_userName.Text);
userInfo_login.Password = this.passwordBox_password.Password;
this.myController.Logon(userInfo_login);
}
systemGuid = this.textBox_systemGuid.Text;
userName = this.textBox_userName.Text;
password = Class_Encrypt.EncryptDES(this.passwordBox_password.Password);
this.DialogResult = true;
return;
}catch (Exception exception)
{
MessageBox.Show(exception.Message);
return;
}
}
}
MessageBox.Show("This system guid is not valid or the controller is not connected, please check it angin.");
}
else
{
MessageBox.Show("This system guid's format is not valid, please check it angin.");
}
}
static Controller CreateController()
{
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers(NetworkScannerSearchCriterias.Virtual);
if (controllers.Length > 0)
{
Controller dynamic = ControllerFactory.CreateFrom(controllers[0]);
return(dynamic);
}
return(null);
}
void OnScanPortsClick(object sender, EventArgs e)
{
view.Log += "Scanning for open port on " + view.EndpointIP + ". This may take a few minutes..." + Environment.NewLine;
Thread scannerThread = new Thread(new ThreadStart(() =>
{
NetworkScanner scanner = new NetworkScanner();
IList<int> openPorts = scanner.GetOpenPorts(view.EndpointIP, 2999, 3001);
view.Log += "Found " + openPorts.Count + " open ports:" + Environment.NewLine;
foreach (int openPort in openPorts)
{
view.Log += openPort + Environment.NewLine;
}
}));
scannerThread.IsBackground = true;
scannerThread.Start();
}
public static Dictionary<string, List<string[]>> findControllers(bool run)
{
List<string[]> roboCtrl = new List<string[]> { };
List<string[]> virtCtrl = new List<string[]> { };
if (run == true)
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo controller in controllers)
{
if (controller.IsVirtual == false)
{
string[] eachController1 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
roboCtrl.Add(eachController1);
}
else
{
string[] eachController2 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
virtCtrl.Add(eachController2);
}
}
}
return new Dictionary<string, List<string[]>>
{
{"robotController", roboCtrl},
{"virtualController", virtCtrl}
};
}
void OnScanForReceiverClick(object sender, EventArgs e)
{
view.Log += "Scanning for receivers..." + Environment.NewLine;
Thread scannerThread = new Thread(new ThreadStart(() =>
{
NetworkScanner scanner = new NetworkScanner();
scanner.OnOpenPortFound += new EventHandler<OpenPortFoundArgs>(scanner_OnOpenPortFound);
IList<string> endpoints = scanner.GetNetworkedDevices();
view.Log += endpoints.Count + " devices found:" + Environment.NewLine;
foreach (string endpoint in endpoints)
{
view.Log += endpoint.ToString() + Environment.NewLine;
}
}));
scannerThread.IsBackground = true;
scannerThread.Start();
}
private void btnScan_Click(object sender, EventArgs e)
{
listView1.Items.Clear();
listView_left_robots.Items.Clear();
listView_left_robots.Visible=true;
listView_right_robots.Items.Clear();
listView_right_robots.Visible=true;
this.label_left.Text = "Choose Left Controller";
this.label_right.Text = "Choose Right Controller";
if (this.controller_100 != null )
{
try
{
this.controller_100.Logoff();
this.controller_100 = null;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
if (this.controller_101 != null)
{
try
{
this.controller_101.Logoff();
this.controller_101 = null;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
listView_left_robots.Enabled=true;
listView_right_robots.Enabled=true;
this.scanner = new NetworkScanner();
this.scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
ListViewItem item = null;
foreach (ControllerInfo controllerInfo in controllers)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
this.listView1.Items.Add(item);
item.Tag = controllerInfo;
Console.WriteLine("IP: " + controllerInfo.IPAddress.ToString() + " Sys: " + controllerInfo.SystemName);
//left controllers
if ((controllerInfo.IsVirtual) && (controllerInfo.SystemName == "J-L-IRB_120_3kg_0.58m") &&
(controllerInfo.IPAddress.ToString() == "127.0.0.1")
||
(!(controllerInfo.IsVirtual) && (controllerInfo.IPAddress.ToString() == "10.234.3.100")))
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
this.listView_left_robots.Items.Add(item);
item.Tag = controllerInfo;
}
//right controllers
if ((controllerInfo.IsVirtual) && (controllerInfo.SystemName == "J-R-IRB_120_3kg_0.58m") &&
(controllerInfo.IPAddress.ToString() == "127.0.0.1")
||
(!(controllerInfo.IsVirtual) && (controllerInfo.IPAddress.ToString() == "10.234.3.101")))
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
this.listView_right_robots .Items.Add(item);
item.Tag = controllerInfo;
}
}
}
/// <summary>
/// Send robot target to controller.
/// </summary>
/// <param name="moduleName">Name of module</param>
/// <param name="targetName">Name of target</param>
/// <param name="targetValue">New value for target</param>
public static void sendRobTargetToController(string moduleName, string targetName, string targetValue)
{
try
{
var scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
using (var controller = ControllerFactory.CreateFrom(controllers[0]))
{
controller.Logon(UserInfo.DefaultUser);
using (Mastership.Request(controller.Rapid))
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (var task = controller.Rapid.GetTask("T_ROB1"))
{
var target = new RobTarget();
using (var rapidData = task.GetRapidData(moduleName, targetName))
{
if (rapidData.Value is RobTarget)
{
target.FillFromString2(targetValue);
rapidData.Value = target;
}
}
var result = task.Start(true);
Debug.WriteLine(result.ToString());
task.ResetProgramPointer();
}
}
else
{
Debug.WriteLine("Automatic mode is required to start execution from a remote client.");
}
}
controller.Logoff();
}
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
Debug.WriteLine(ex.StackTrace);
}
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
/// <summary>
/// Send RAPID to controller.
/// </summary>
/// <param name="filePath">File path</param>
/// <returns></returns>
public static bool sendRapidToController(string filePath)
{
if (!File.Exists(filePath))
{
throw new Exception("File could not be found.");
}
var scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
using (var controller = ControllerFactory.CreateFrom(controllers[0]))
{
controller.Logon(UserInfo.DefaultUser);
using (Mastership.Request(controller.Rapid))
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
var fileName = Path.GetFileName(filePath);
try
{
var remoteDir = controller.FileSystem.RemoteDirectory.Replace('/', '\\');
var localDir = Path.GetDirectoryName(filePath);
controller.FileSystem.LocalDirectory = localDir;
//write the mod file
controller.FileSystem.PutFile(fileName, true);
//write the prf file
controller.FileSystem.PutFile("Dynamo.prg", true);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
return false;
}
using (var task = controller.Rapid.GetTask("T_ROB1")) // note the task name needs to be set up like this in Robot Studio
{
// read data from file
task.LoadProgramFromFile("Dynamo.prg", RapidLoadMode.Replace);
task.LoadModuleFromFile(fileName, RapidLoadMode.Add);
try
{
task.ResetProgramPointer();//seems to get hung up here.
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message.ToString());
throw;
}
var result = task.Start(true);
Debug.WriteLine(result.ToString());
}
}
else
{
Debug.WriteLine("Automatic mode is required to start execution from a remote client.");
}
}
controller.Logoff();
}
return true;
}
