public CRobotStatus GetCopyOfRobotStatus()
{
CRobotStatus cRobotStatus = new CRobotStatus();
cRobotStatus.SetAndCheckSWs(robotStatus.sw1, robotStatus.sw2);
return(cRobotStatus);
}
private void SendStatus(CRobotStatus status)
{
if (!isConnected || client == null)
{
return;
}
client.EmitAsync("fromRobot-status", status);
}
private void StatusChanged(object sender, EventArgs e)
{
if (xrc == null)
{
return;
}
WriteLine(" XRC Status: " + xrc.RobotStatusJson);
CRobotStatus status = xrc.GetCopyOfRobotStatus();
if (!status.isTeach && status.isServoOn)
{
btnUp.Enabled = true;
btnDown.Enabled = true;
btnHomePos.Enabled = true;
button2.Enabled = true;
button3.Enabled = true;
button4.Enabled = true;
button5.Enabled = true;
button6.Enabled = true;
button1.Enabled = true;
button8.Enabled = true;
}
else
{
btnUp.Enabled = false;
btnDown.Enabled = false;
btnHomePos.Enabled = false;
button2.Enabled = false;
button3.Enabled = false;
button4.Enabled = false;
button5.Enabled = false;
button6.Enabled = false;
button1.Enabled = false;
button8.Enabled = false;
}
}