private void Connect_Click(object sender, RoutedEventArgs e)
{
// Connet UR Secondary Port
urSec = IURSecondaryConnection.Create(IPAddress.Text);
var resp = urSec.Receive();
// Connet UR RTDE port
rtde = IURRTDEConnection.Create(IPAddress.Text);
var np = new NegotiateProtocolVersion(rtde);
Logging.Text += $"NegotiateProtocolVersion Accepted: { np.Accepted }";
ControllerVersion cv = new ControllerVersion(rtde);
Logging.Text += $"Controller Version: major { cv.Major }" +
$" minor { cv.Minor } bugfix { cv.Bugfix } build { cv.Build }";
string vars = "timestamp,actual_TCP_pose,actual_q,runtime_state";
SetupOutput setupOut = new SetupOutput(rtde, 125, vars);
Logging.Text += $"Setup Output: output recipe id { setupOut.OutputRecipeId }" +
$" variable types { setupOut.VariableTypes }";
var ss = new StartSending(rtde);
rd = new ReceiveData(rtde, setupOut.VariableTypes);
var task = new Task(() => ReceiveRTDE());
task.Start();
}
public static string CMD_GET_VERSION()
{
var cmdBuffer = new byte[64];
cmdBuffer[0] = 6;
var response = UsbDriver.CMD(cmdBuffer);
var version = new ControllerVersion(response);
return(version.ToString());
}
private void Connect_Click(object sender, RoutedEventArgs e)
{
dashboard = IURDashboardConnection.Create(IPAddress.Text);
secondary = IURSecondaryConnection.Create(IPAddress.Text);
// Connet UR RTDE port
rtde = IURRTDEConnection.Create(IPAddress.Text);
var np = new NegotiateProtocolVersion(rtde);
ControllerVersion cv = new ControllerVersion(rtde);
string vars = "timestamp,actual_TCP_pose,runtime_state";
SetupOutput setupOut = new SetupOutput(rtde, 125, vars);
var ss = new StartSending(rtde);
rd = new ReceiveData(rtde, setupOut.VariableTypes);
var taskRTDEReceiving = new Task(() => RTDEReceiving());
taskRTDEReceiving.Start();
}
/// <summary>
/// 检查类型是否正确
/// FT8000 FT8003 都是老版本7位
/// NT8001 存在老板本7位 与 新版本7位 与 新版本8位
/// NT8007 NT8021 NT8036 NT8053 都是新版本8位
/// </summary>
/// <returns></returns>
private static bool CheckIsValidType(NTP ntp)
{
bool result = false;
switch (CurrentContrllerType)
{
case ControllerType.FT8000:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x00)
{
result = true;
}
}
break;
case ControllerType.FT8003:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x03)
{
result = true;
}
}
break;
case ControllerType.NT8001:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && (ntp.Content[1] == 0x06 || ntp.Content[1] == 0x01))
{
if (ntp.Content[1] == 0x06)
{
CurrentControllerVersion = ControllerVersion.NewVersion8;
}
else if (ntp.Content[1] == 0x01 && ntp.Content.Length > 2)
{
CurrentControllerVersion = ControllerVersion.NewVersion7;
}
else
{
CurrentControllerVersion = ControllerVersion.OldVersion7; //老版本中不存在 最后的版本号
}
result = true;
}
}
break;
case ControllerType.NT8007:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x07)
{
result = true;
}
}
break;
case ControllerType.NT8021:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x21)
{
result = true;
}
}
break;
case ControllerType.NT8036:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x36)
{
result = true;
}
}
break;
case ControllerType.NT8053:
if (ntp.Content != null && ntp.Content.Length >= 2)
{
if (ntp.Content[0] == 0x80 && ntp.Content[1] == 0x53)
{
result = true;
}
}
break;
}
return(result);
}