private void StartApp() { try { xrc = new MotomanConnection((short)portNumber.Value); ioClient.SetXrc(xrc); xrc.StatusChanged += new EventHandler(StatusChanged); xrc.ConnectionStatus += new EventHandler(rc1_connectionStatus); xrc.EventStatus += new EventHandler(rc1_eventStatus); xrc.ConnectionError += new EventHandler(rc1_errorStatus); xrc.DispatchCurrentPosition += new EventHandler( (object sender, EventArgs e) => { UpdateUiCurrentPosition(); } ); xrc.MovingToPosition += new EventHandler( (object sender, EventArgs e) => { UpdateUiSetpointPosition(); } ); WriteLine("XRC Starting connection"); xrc.Connect(); UpdateUiSetpointPosition(); } catch (Exception ex) { MessageBox.Show("StartApp(): " + ex.Message); } }
private async void button7_Click(object sender, EventArgs e) { if (xrc == null) { return; } button7.Enabled = false; await xrc.Disconnect(); xrc = null; btnConnect.Enabled = true; }
private async void Form1_FormClosing(object sender, EventArgs e) { if (ioClient != null) { Console.WriteLine("Stopping Socket IO"); await ioClient.Disconnect(); } if (xrc != null) { await xrc.Disconnect(); xrc = null; Console.WriteLine("Stopping XRC connection"); } }
//public NodeTcpListener(string ip, int port) public NodeTcpListener(Form1 form, MotomanConnection xrc, int port) { this.form = form; this.xrc = xrc; mainTread = new Thread(delegate() { //IPAddress localAddr = IPAddress.Parse(ip); server = new TcpListener(IPAddress.Any, port); isListening = true; server.Start(); StartListener(); }); mainTread.Start(); if (form != null) { form.WriteLine(" TCP is listening"); } }
public void SetXrc(MotomanConnection xrc) { this.xrc = xrc; xrc.StatusChanged += new System.EventHandler( (object sender, EventArgs e) => { if (xrc != null) { SendStatus(xrc.GetCopyOfRobotStatus()); } } ); xrc.DispatchCurrentPosition += new System.EventHandler( (object sender, EventArgs e) => { if (xrc != null) { SendPosition(xrc.GetCurrentPositionCached()); } } ); xrc.ConnectionError += new System.EventHandler( (object sender, EventArgs e) => { if (xrc != null) { EmitWrapperError(xrc.CurrentError); } } ); //xrc.EventStatus += new System.EventHandler( // (object sender, EventArgs e) => { if (xrc != null) EmitWrapperStatus(xrc.CurrentEvent); } //); xrc.ConnectionStatus += new System.EventHandler( (object sender, EventArgs e) => { if (xrc != null) { EmitWrapperStatus(xrc.CurrentConnection); } } ); }
public void DisposeXrc() { this.xrc = null; }