private void Poll() { double nidbuff = double.MaxValue; DateTime dt = DateTime.Now; while (!bExit) { if (ReadCount - ChartCount < 99 && !Pause) { byte[] data = sc.GetAppdata(); double nid = (DateTime.Now - dt).TotalSeconds; if (!GetDataByTime) { nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data)); } double nSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", StaubliXML.Byte2xd(data)); if (nid != nidbuff && nid > 0) { nidbuff = nid; speeddata[ReadCount % 100, 0] = nid; speeddata[ReadCount % 100, 1] = nSpeed; ReadCount++; } } System.Threading.Thread.Sleep(polltime); } }
private void BT_Login_Click(object sender, EventArgs e) { if (CB_IP.Text == "") { MessageBox.Show("请输入CS8C IP 地址"); return; } if (CB_App.Text == "") { MessageBox.Show("请输入下位机加载的应用程序名"); return; } sc = new SoapClient(CB_IP.Text.Trim()); if (!sc.PingNet()) { MessageBox.Show("网络不通,请检查IP地址是否正确或者网络链接"); return; } if (!sc.Login()) { MessageBox.Show("Soap登录失败"); return; } sc.SoapGetAppname = @"Disk://" + CB_App.Text + "/" + CB_App.Text + ".pjx"; byte[] data = sc.GetAppdata(); if (!RobotKit.StaubliXML.IsGlobelData("nRobotSpeed", data)) { MessageBox.Show("应用程序中 nRobotSpeed变量不存在"); return; } GetDataByTime = RD_Time.Checked; if (!GetDataByTime) { if (!RobotKit.StaubliXML.IsGlobelData("nID", data)) { MessageBox.Show("应用程序中nID变量不存在"); return; } } MessageBox.Show("登录成功"); BT_Start.Enabled = true; GB_Setting.Enabled = false; }
private void Poll() { double nidbuff = double.MaxValue; DateTime dt = DateTime.Now; while (!bExit) { if (ReadCount - ChartCount < 99 && !Pause) { byte[] data = sc.GetAppdata(); double nid = (DateTime.Now - dt).TotalSeconds; if (!GetDataByTime) { nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data)); } double[] nJointForce = StaubliXML.GetXMLDoubleArray("nJointForce", StaubliXML.Byte2xd(data)); if (nid != nidbuff && nid > 0) { nidbuff = nid; speeddata[ReadCount % 100, 0] = nid; if (nJointForce == null) { nJointForce = new double[6]; } for (int i = 0; i < nJointForce.Length; i++) { speeddata[ReadCount % 100, 1 + i] = nJointForce[i]; } ReadCount++; } } System.Threading.Thread.Sleep(polltime); } }
private void BT_Login_Click(object sender, EventArgs e) { if (CB_IP.Text == "") { MessageBox.Show("请输入CS8C IP 地址"); return; } if (CB_App.Text == "") { MessageBox.Show("请输入下位机加载的应用程序名"); return; } sc = new SoapClient(CB_IP.Text.Trim()); if (!sc.PingNet()) { MessageBox.Show("网络不通,请检查IP地址是否正确或者网络链接"); return; } if (!sc.Login()) { MessageBox.Show("Soap登录失败"); return; } sc.SoapGetAppname = @"Disk://" + CB_App.Text + "/" + CB_App.Text + ".pjx"; byte[] data = sc.GetAppdata(); if (!RobotKit.StaubliXML.IsGlobelData("nJointForce", data)) { MessageBox.Show("应用程序中nJointForce变量不存在"); return; } GetDataByTime = RD_Time.Checked; if (!GetDataByTime) { if (!RobotKit.StaubliXML.IsGlobelData("nID", data)) { MessageBox.Show("应用程序中nID变量不存在"); return; } } JointIndex = CB_JointIndex.SelectedIndex; pm.Title = "Staubli机器人关节" + (JointIndex + 1).ToString() + "受力"; MessageBox.Show("登录成功"); BT_Start.Enabled = true; GB_Setting.Enabled = false; }