private void button1_Click(object sender, EventArgs e) //连接ABB机器人socket
{
if (ConnectABBflag == true)
{
ShowABBflagOK = true;
ShowABBflagNO = true;
if (ABBClientConnectInforStr != NetConnected)
{
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] Connect to robot ABB ..." + "\r\n"));
IPEndPoint remoteEP = new IPEndPoint(System.Net.IPAddress.Parse(ABBRemoteIPAddress), int.Parse(ABBRemotePort));
ABBClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
ABBClientSocket.ReceiveBufferSize = 2000;
ABBClientSocket.SendBufferSize = 2000;
ABBClientSocket.SendTimeout = 4;
ABBClientSocket.BeginConnect(remoteEP, new AsyncCallback(ABBClientConnectCallback), ABBClientSocket);
CommunicationMsg.AppendText("aaaaa1\n"); //字符戳，是有执行到这一步的
if (ABBClientConnectInforStr != NetConnected)
{
IPEndPoint clientipe = (IPEndPoint)ABBClientSocket.LocalEndPoint;
CommunicationMsg.AppendText("aaaaa");
}
}
}
else
{
if (ABBClientSocket != null)
{
ABBClientSocket.Close();
ABBClientSocket.Dispose();
ConnectABB.ForeColor = Color.Red;
CommunicationMsg.AppendText(System.Convert.ToString("Disconnect to robot ABB" + "\r\n"));
}
ABBClientConnectInforStr = NetDisConnected;
}
}
private void TimerNetMonitor_Tick(object sender, EventArgs e)
{
TextBox1.Text = System.Convert.ToString(PlateCheck) + System.Convert.ToString(finishMoveFlag);
if (CommunicationMsg.Lines.Length > 50)
{
textLast1 = CommunicationMsg.Text[49];
textLast2 = CommunicationMsg.Text[50];
textLast3 = CommunicationMsg.Text[51];
CommunicationMsg.Text = "";
CommunicationMsg.AppendText(textLast1 + "\r\n");
CommunicationMsg.AppendText(textLast2 + "\r\n");
CommunicationMsg.AppendText(textLast3 + "\r\n");
}
if (ConnectABBflag == true)
{
lock (ABBClientSyncObject)
{
if (ABBClientConnectInforStr != NetConnected)
{
if (ABBClientSocket != null)
{
ABBClientSocket.Close();
ABBClientSocket.Dispose();
}
IPEndPoint remoteEP = new IPEndPoint(System.Net.IPAddress.Parse(ABBRemoteIPAddress), int.Parse(ABBRemotePort));
ABBClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
ABBClientSocket.ReceiveBufferSize = 2000;
ABBClientSocket.SendBufferSize = 2000;
ABBClientSocket.SendTimeout = 4;
ABBClientSocket.BeginConnect(remoteEP, new AsyncCallback(ABBClientConnectCallback), ABBClientSocket);
}
else
{
byte[] byteData = Encoding.ASCII.GetBytes("OK" + "\r\n");
try
{
//Begin sending the data to the remote device.StockIsOK
ABBClientSocket.BeginSend(byteData, 0, byteData.Length, (System.Net.Sockets.SocketFlags) 0, new AsyncCallback(ABBClientSendCallback), ABBClientSocket);
}
catch (Exception)
{
ABBClientConnectInforStr = NetError;
}
}
}
if (PlateCheck == true && finishMoveFlag == true)
{
byte[] byteData = Encoding.ASCII.GetBytes("PlateIsOK" + "\r\n");
try
{
//Begin sending the data to the remote device.StockIsOK
TextBoxInfo.Text = TextBoxInfo.Text + "SendToABBOnce" + "\r\n";
ABBClientSocket.BeginSend(byteData, 0, byteData.Length, (System.Net.Sockets.SocketFlags) 0, new AsyncCallback(ABBClientSendCallback), ABBClientSocket);
}
catch (Exception)
{
ABBClientConnectInforStr = NetError;
}
PlateCheck = false;
// finishMoveFlag = False
}
if (ABBClientConnectInforStr == NetConnected)
{
ConnectABB.ForeColor = Color.Green;
if (ShowABBflagOK == true)
{
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] Connect to robot ABB successly" + "\r\n"));
ShowABBflagOK = false;
ShowABBflagNO = true;
}
}
else
{
ConnectABB.ForeColor = Color.Red;
if (ShowABBflagNO == true)
{
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] Wait for robot ABB connection" + "\r\n"));
ShowABBflagNO = false;
ShowABBflagOK = true;
}
}
}
}
private void ABBShowInfoSub(string Info)
{
CogToolBlock myToolBlock;
CogToolBlock myRunToolblock3; //= myToolBlock.Tools("MyToolBlock3")
// static string SaveInfo = ""; //VBConversions Note: Static variable moved to class level and renamed ABBShowInfoSub_SaveInfo. Local static variables are not supported in C#.
if (ABBShowInfoSub_SaveInfo != Info)
{
TextBoxInfo.Text = Info + "\r\n" + TextBoxInfo.Text;
}
ABBShowInfoSub_SaveInfo = Info;
if (Info == "WorkpieceArrived")
{
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] From robot ABB : " + "\r\n"));
CommunicationMsg.AppendText(System.Convert.ToString("Workpiece arrived target position" + "\r\n"));
}
else if (Info == "StartPlateMove")
{
finishMoveFlag = false;
startMoveFlag = true;
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] From robot ABB : " + "\r\n"));
CommunicationMsg.AppendText(System.Convert.ToString("Start move platform ..." + "\r\n"));
} //下面开始的代码就会闪退
else if (Info == "TriggerCam")
{
TriggerCamNum++; //本身定义为0，+1代表可以执行拍照了
CommunicationMsg.AppendText(System.Convert.ToString("[" + Strings.Format(DateTime.Now, "hh:mm:ss") + "] From robot ABB : " + "\r\n"));
CommunicationMsg.AppendText(System.Convert.ToString("Robot ABB camera trigger " + Conversion.Str(TriggerCamNum) + "\r\n"));
CogToolGroup myTG = (CogToolGroup)myJob.VisionTool;
myToolBlock = (CogToolBlock)myTG.Tools["AcquireImageAndProcessLeft"];
myRunToolblock3 = (CogToolBlock)myToolBlock.Tools["MyToolBlock3"];
if (TriggerCamNum == 1)
{
myRunToolblock3.Inputs["TriggerCamNum"].Value = 0;
}
else
{
myRunToolblock3.Inputs["TriggerCamNum"].Value = 1;
TriggerCamNum = 0;
}
}
// try
// {
// ModuleCard.d1000_out_bit((short)10, (short)0);
// System.Threading.Thread.Sleep(50);
// int num = 0;
// myRunToolblock3.Inputs["Input2dImage"].Value = AcqFifoTool4.Operator.Acquire(out num); //应该是获取图像
// myRunToolblock3.Run(); //这个myruntoolblock3是一个模块，和外部的拍照组件链接（确信）
// }
// catch (Exception)
// {
// MessageBox.Show("error");
// }
//}
//判断定位是否正确
//ABB_Result = System.Convert.ToString(myRunToolblock3.Outputs["ABB_Result"].Value); //这里是怎么判断的呢？？？？？
//if (ABB_Result == "OK")
//{
// if (ABBClientConnectInforStr == NetConnected)
// {
// byte[] byteData = Encoding.ASCII.GetBytes("WorkpieceLocationOK" + "\r\n");
// try
// {
// //Begin sending the data to the remote device.StockIsOK
// ABBClientSocket.BeginSend(byteData, 0, byteData.Length, (System.Net.Sockets.SocketFlags)0, new AsyncCallback(ABBClientSendCallback), ABBClientSocket);
// }
// catch (Exception)
// {
// ABBClientConnectInforStr = NetError;
// }
// }
//}
//else
//{
// if (ABBClientConnectInforStr == NetConnected)
// {
// byte[] byteData = Encoding.ASCII.GetBytes("WorkpieceLocationNO" + "\r\n");
// try
// {
// //Begin sending the data to the remote device.StockIsOK
// ABBClientSocket.BeginSend(byteData, 0, byteData.Length, (System.Net.Sockets.SocketFlags)0, new AsyncCallback(ABBClientSendCallback), ABBClientSocket);
// }
// catch (Exception)
// {
// ABBClientConnectInforStr = NetError;
// }
// }
//}
//}
//else if (Info == "IsPlateOK")
//{
// PlateCheck = true;
//}
//else
//{
// //CommunicationMsg.AppendText(Info + vbCrLf)
//}
}