private void InitDataTables()
{
_DataTable = _Core.DataTable;
{
_CurPosUF = _DataTable.AddCurPosUF(FRIF_DATA_TYPE.CURPOS, 1, 15);
_NumReg = _DataTable.AddNumReg(FRIF_DATA_TYPE.NUMREG_INT, 1, 2);
_PosRegXyzwpr = _DataTable.AddPosRegXyzwpr(FRIF_DATA_TYPE.POSREG_XYZWPR, 1, 1, 1);
_Alarm = _DataTable.AddAlarm(FRRJIf.FRIF_DATA_TYPE.ALARM_LIST, ALARM_COUNT, 0);
}
}
private void ClearDataTables()
{
_DataTable = null;
{
_CurPosUF = null;
_NumReg = null;
_PosRegXyzwpr = null;
_Alarm = null;
}
}
//INITIALIZE, CONNECT, CONSTRUCT DATATABLES
public void subInit(string[] selectedReg)
{
//Set core
try
{
objCore = new FRRJIf.Core();
objSelectedReg = new FRRJIf.DataNumReg[selectedReg.Length];
//parse string[] to int[]
selectedRegArr = Array.ConvertAll(selectedReg, int.Parse);
//tasklist return object
taskArr = new string[10];
//init datatable return objects
dt_Selected = new System.Data.DataTable();
dt_Selected.Clear();
dt_Selected.Columns.Add("id", typeof(int));
dt_Selected.Columns.Add("Registry", typeof(int));
dt_Selected.Columns.Add("Value", typeof(double));
dt_Selected.Columns.Add("Selected", typeof(bool));
//welding params
voltage = 0;
amp = 0;
try
{
//Set FANUC datatable1
objDataTable1 = objCore.get_DataTable();
//robotinfo
numRegJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 2, 2);
numRegofJob = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 3, 3);
objRobotName = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, 5, 5);
//selected numregs
for (int i = 0; i < objSelectedReg.Length; i++)
{
objSelectedReg[i] = objDataTable1.AddNumReg(FRRJIf.FRIF_DATA_TYPE.NUMREG_INT, selectedRegArr[i], selectedRegArr[i]);
}
//10 data tasks
objTaskList = new FRRJIf.DataTask[10];
for (int i = 0; i < objTaskList.Length; i++)
{
objTaskList[i] = objDataTable1.AddTask(FRRJIf.FRIF_DATA_TYPE.TASK, i + 1);
}
isInit = true;
return;
}
catch (Exception ex)
{
//handle ex
Console.WriteLine(ex.ToString());
}
}
catch
{
Console.WriteLine("error..");
}
}
