public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onSDOIndex = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOIndexS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_index", 0, IntPtr.Zero, onSDOIndex);
onSDOSubIndex = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOSubIndexS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_subindex", 0, IntPtr.Zero, onSDOSubIndex);
onSDOError = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOErrorS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_error", 0, IntPtr.Zero, onSDOError);
onSDOBusy = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOBusyS.Text = str;
}
}));
if (slv == slaveNumber && str == "true")
{
UpdateData();
}
});
botnana.SetTagNameCB(@"sdo_busy", 0, IntPtr.Zero, onSDOBusy);
onSDOData = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
BeginInvoke(new Deg(() => { if (slv == slaveNumber)
{
textBoxSDOValueS.Text = str;
}
}));
});
botnana.SetTagNameCB(@"sdo_data", 0, IntPtr.Zero, onSDOData);
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
bot = new Botnana("192.168.7.2");
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onMessage = new HandleMessage(OnMessageCallback);
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onRTRealTorque = new HandleMessage(OnRTRealTorqueCallback);
bot.SetTagCB(@"rt_real_torque", 0, IntPtr.Zero, onRTRealTorque);
onSlavesResponding = new HandleMessage(OnSlavesRespondingCallback);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
onSlavesState = new HandleMessage(OnSlavesStateCallback);
bot.SetTagCB(@"al_states", 0, IntPtr.Zero, onSlavesState);
onWaitingSDOs = new HandleMessage(OnWaitingSDOsCallback);
bot.SetTagCB(@"waiting_sdos_len", 0, IntPtr.Zero, onWaitingSDOs);
onPDSState = new HandleTagNameMessage(OnPDSStateCallback);
bot.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
onDriveStatus = new HandleTagNameMessage(OnDriveStatusCallback);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationModeCallback);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleTagNameMessage(OnHomingMethodCallback);
bot.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed1 = new HandleTagNameMessage(OnHomingSpeed1Callback);
bot.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
onHomingSpeed2 = new HandleTagNameMessage(OnHomingSpeed2Callback);
bot.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
onHomingAcc = new HandleTagNameMessage(OnHomingAccCallback);
bot.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcc);
onProfileVelocity = new HandleTagNameMessage(OnProfileVelocityCallback);
bot.SetTagNameCB(@"profile_velocity", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcc = new HandleTagNameMessage(OnProfileAccCallback);
bot.SetTagNameCB(@"profile_acceleration", 0, IntPtr.Zero, onProfileAcc);
onRealPosition = new HandleTagNameMessage(OnRealPositionCallback);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
onRealTorque = new HandleTagNameMessage(OnRealTorqueCallback);
bot.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
onDigitalInputs = new HandleTagNameMessage(OnDigitalInputsCallback);
bot.SetTagNameCB("digital_inputs", 0, IntPtr.Zero, onDigitalInputs);
onTargetPosition = new HandleTagNameMessage(OnTargetPositionCallback);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onAxisPosition = new HandleTagNameMessage(OnAxisPositionCallback);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisPosition);
onFeedbackPosition = new HandleTagNameMessage(OnFeedbackPositionCallback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onFeedbackPosition);
onEncoderLengthUnit = new HandleTagNameMessage(OnEncoderLengthUnitCallback);
bot.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
onEncoderPPU = new HandleTagNameMessage(OnEncoderPPUCallback);
bot.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
onDriveAlias = new HandleTagNameMessage(OnDriveAliasCallback);
bot.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
onDriveSlavePosition = new HandleTagNameMessage(OnDriveSlavePositionCallback);
bot.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
onDriveChannel = new HandleTagNameMessage(OnDriveChannelCallback);
bot.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
onAxisVmax = new HandleTagNameMessage(OnAxisVmaxCallback);
bot.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
onAxisAmax = new HandleTagNameMessage(OnAxisAmaxCallback);
bot.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
onGroupType = new HandleTagNameMessage(OnGroupTypeCallback);
bot.SetTagNameCB(@"group_type", 0, IntPtr.Zero, onGroupType);
onGroupMapping = new HandleTagNameMessage(OnGroupMappingCallback);
bot.SetTagNameCB(@"group_mapping", 0, IntPtr.Zero, onGroupMapping);
onGroupVmax = new HandleTagNameMessage(OnGroupVmaxCallback);
bot.SetTagNameCB(@"group_vmax", 0, IntPtr.Zero, onGroupVmax);
onGroupAmax = new HandleTagNameMessage(OnGroupAmaxCallback);
bot.SetTagNameCB(@"group_amax", 0, IntPtr.Zero, onGroupAmax);
onGroupJmax = new HandleTagNameMessage(OnGroupJmaxCallback);
bot.SetTagNameCB(@"group_jmax", 0, IntPtr.Zero, onGroupJmax);
onTravelTime = new HandleMessage(OnTravelTimeCallback);
bot.SetTagCB(@"travel_time", 0, IntPtr.Zero, onTravelTime);
onDeviceInfos = new HandleMessage(OnDeviceInfos);
bot.SetTagCB(@"device_infos", 1, IntPtr.Zero, onDeviceInfos);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
chartTorque.ChartAreas[0].AxisX.Minimum = 0;
chartTorque.ChartAreas[0].AxisX.Maximum = QueueCapacity;
timer1.Interval = 10;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
torqueThread = new Thread(new ThreadStart(this.getTorqueInformation));
pauseEvent = new ManualResetEvent(false);
torqueThread.IsBackground = true;
torqueThread.Start();
}
private static extern void botnana_set_tagname_cb_dll(IntPtr desc, string tagName, int count, IntPtr dataPtr, HandleTagNameMessage hm);
// Set callback function of name of tag
public void SetTagNameCB(string tag, int count, IntPtr dataPtr, HandleTagNameMessage hm)
{
botnana_set_tagname_cb_dll(innerBotnana, tag, count, dataPtr, hm);
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onAxisSectionPositions = new HandleTagNameMessage(OnAxisSectionPositions);
bot.SetTagNameCB(@"axis_section_p", 0, IntPtr.Zero, onAxisSectionPositions);
onAxisSectionVecloities = new HandleTagNameMessage(OnAxisSectionVecloities);
bot.SetTagNameCB(@"axis_section_v", 0, IntPtr.Zero, onAxisSectionVecloities);
onAxisRunnings = new HandleTagNameMessage(OnAxisRunnings);
bot.SetTagNameCB(@"axis_running", 0, IntPtr.Zero, onAxisRunnings);
onAxisCmds = new HandleTagNameMessage(OnAxisCmds);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxisCmds);
onAxisDemands = new HandleTagNameMessage(OnAxisDemands);
bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisDemands);
onAxisFeedbacks = new HandleTagNameMessage(OnAxisFeedbacks);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxisFeedbacks);
onAxisReacheds = new HandleTagNameMessage(OnAxisReacheds);
bot.SetTagNameCB(@"axis_interpolator_reached", 0, IntPtr.Zero, onAxisReacheds);
onAxisInterpolatorEnables = new HandleTagNameMessage(OnAxisInterpolatorEnables);
bot.SetTagNameCB(@"axis_interpolator_enabled", 0, IntPtr.Zero, onAxisInterpolatorEnables);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 將區段位置與速度的參數元件放到一個陣列內
textAxisSectionPositions[1, 1] = textAxis1P1;
textAxisSectionPositions[1, 2] = textAxis1P2;
textAxisSectionPositions[1, 3] = textAxis1P3;
textAxisSectionPositions[1, 4] = textAxis1P4;
textAxisSectionPositions[1, 5] = textAxis1P5;
textAxisSectionVecloities[1, 1] = textAxis1V1;
textAxisSectionVecloities[1, 2] = textAxis1V2;
textAxisSectionVecloities[1, 3] = textAxis1V3;
textAxisSectionVecloities[1, 4] = textAxis1V4;
textAxisSectionVecloities[1, 5] = textAxis1V5;
textAxisSectionPositions[2, 1] = textAxis2P1;
textAxisSectionPositions[2, 2] = textAxis2P2;
textAxisSectionPositions[2, 3] = textAxis2P3;
textAxisSectionPositions[2, 4] = textAxis2P4;
textAxisSectionPositions[2, 5] = textAxis2P5;
textAxisSectionVecloities[2, 1] = textAxis2V1;
textAxisSectionVecloities[2, 2] = textAxis2V2;
textAxisSectionVecloities[2, 3] = textAxis2V3;
textAxisSectionVecloities[2, 4] = textAxis2V4;
textAxisSectionVecloities[2, 5] = textAxis2V5;
timerWSCheck.Interval = 1000;
timerWSCheck.Enabled = true;
timerLoop.Interval = 50;
timerLoop.Enabled = true;
}
public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onECAlias = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
UInt32 a = UInt32.Parse(str);
if (a != 0 && a == alias)
{
slaveNumber = slv;
BeginInvoke(new Deg(() => textBoxSlavePos.Text = slv.ToString()));
}
});
botnana.SetTagNameCB(@"ec_alias", 0, IntPtr.Zero, onECAlias);
onPDSState = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxPDSState.Text = str));
}
});
botnana.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
onSupportedMode = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber && !supportedOPModeUpdated)
{
Int32 supportedMode;
try { supportedMode = Convert.ToInt32(str, 16); } catch (Exception exc) { Console.WriteLine(exc); return; }
List <string> modes = new List <string>();
if ((supportedMode & 0x1) != 0)
{
modes.Add("PP");
}
if ((supportedMode & 0x4) != 0)
{
modes.Add("PV");
}
if ((supportedMode & 0x8) != 0)
{
modes.Add("PT");
}
if ((supportedMode & 0x20) != 0)
{
modes.Add("HM");
}
if ((supportedMode & 0x80) != 0)
{
modes.Add("CSP");
}
if ((supportedMode & 0x100) != 0)
{
modes.Add("CSV");
}
if ((supportedMode & 0x200) != 0)
{
modes.Add("CST");
}
BeginInvoke(new Deg(() => comboBoxOPMode.Items.AddRange(modes.Cast <object>().ToArray())));
supportedOPModeUpdated = true;
}
});
botnana.SetTagNameCB(@"supported_drive_mode", 0, IntPtr.Zero, onSupportedMode);
onRealPosition = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxRealPos.Text = str));
realPos = Int32.Parse(str);
}
});
botnana.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
onRealTorque = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxRealTorque.Text = str));
}
});
botnana.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
onDigitalInput = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxDigitalInput.Text = str));
}
});
botnana.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDigitalInput);
onControlWord = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxControlWord.Text = str));
}
});
botnana.SetTagNameCB(@"control_word", 0, IntPtr.Zero, onControlWord);
onStatusWord = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxStatusWord.Text = str));
}
});
botnana.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onStatusWord);
onOperationMode = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
string mode;
switch (UInt32.Parse(str))
{
case 1:
mode = @"PP";
break;
case 3:
mode = @"PV";
break;
case 4:
mode = @"PT";
break;
case 6:
mode = @"HM";
break;
case 8:
mode = @"CSP";
break;
case 9:
mode = @"CSV";
break;
case 10:
mode = @"CST";
break;
default:
return;
}
BeginInvoke(new Deg(() =>
{
// 不知為何 comboBoxOPMode 顯示的文字會有閃爍的問題，這裡設定兩次問題就消失了。
comboBoxOPMode.Text = mode;
comboBoxOPMode.Text = mode;
}));
}
});
botnana.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onHomingMethod = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMMethod.Text = str));
}
});
botnana.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
onHomingSpeed1 = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMSpeed1.Text = str));
}
});
botnana.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
onHomingSpeed2 = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMSpeed2.Text = str));
}
});
botnana.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
onHomingAcceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxHMAcceleration.Text = str));
}
});
botnana.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcceleration);
onTargetPosition = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetPosition.Text = str));
targetPos = Int32.Parse(str);
}
});
botnana.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onTargetVelocity = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetVelocity.Text = str));
}
});
botnana.SetTagNameCB(@"target_velocity", 0, IntPtr.Zero, onTargetVelocity);
onProfileVelocity = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileVelocity.Text = str));
}
});
botnana.SetTagNameCB(@"profile_velocity", 0, IntPtr.Zero, onProfileVelocity);
onProfileAcceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileAcceleration.Text = str));
}
});
botnana.SetTagNameCB(@"profile_acceleration", 0, IntPtr.Zero, onProfileAcceleration);
onProfileDeceleration = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxProfileDeceleration.Text = str));
}
});
botnana.SetTagNameCB(@"profile_deceleration", 0, IntPtr.Zero, onProfileDeceleration);
onTargetTorque = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTargetTorque.Text = str));
}
});
botnana.SetTagNameCB(@"target_torque", 0, IntPtr.Zero, onTargetTorque);
onTorqueSlope = new HandleTagNameMessage((IntPtr _, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == slaveNumber && ch == channelNumber)
{
BeginInvoke(new Deg(() => textBoxTorqueSlope.Text = str));
}
});
botnana.SetTagNameCB(@"torque_slope", 0, IntPtr.Zero, onTorqueSlope);
timer1.Interval = 100;
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
onCoordinatorEnabled = new HandleMessage(OnCoordinatorEnabled);
bot.SetTagCB(@"coordinator_enabled", 0, IntPtr.Zero, onCoordinatorEnabled);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onGroupNextV = new HandleMessage(OnGroupNextV);
bot.SetTagCB(@"group_next_v", 0, IntPtr.Zero, onGroupNextV);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onDeviceType = new HandleTagNameMessage(OnDeviceType);
bot.SetTagNameCB(@"device_type", 0, IntPtr.Zero, onDeviceType);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onAxesCmd = new HandleTagNameMessage(OnAxesCmd);
bot.SetTagNameCB(@"axis_command_position", 0, IntPtr.Zero, onAxesCmd);
onAxesFeedback = new HandleTagNameMessage(OnAxesFeedback);
bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxesFeedback);
onAxesFollowingErr = new HandleTagNameMessage(OnAxesFollowingErr);
bot.SetTagNameCB(@"following_error", 0, IntPtr.Zero, onAxesFollowingErr);
onMPGEncoder = new HandleMessage(OnMPGEncoder);
bot.SetTagCB("real_position.1.6", 0, IntPtr.Zero, onMPGEncoder);
onMPGDis = new HandleMessage(OnMPGDisCB);
bot.SetTagCB("din_wd.1.7", 0, IntPtr.Zero, onMPGDis);
chartPath.ChartAreas[0].AxisX.Minimum = -10.0;
chartPath.ChartAreas[0].AxisX.Maximum = 160.0;
chartVelocity.ChartAreas[0].AxisX.Minimum = 0;
chartVelocity.ChartAreas[0].AxisX.Maximum = 2000;
chartVelocity.ChartAreas[0].AxisY.Minimum = -500;
chartVelocity.ChartAreas[0].AxisY.Maximum = 2000;
chartVelocity.Series[0].BorderWidth = 3;
chartVelocity.ChartAreas[0].AxisX.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisX.MinorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MajorGrid.Enabled = false;
chartVelocity.ChartAreas[0].AxisY.MinorGrid.Enabled = false;
pathThread = new Thread(new ThreadStart(this.getPathInformation));
velocityThread = new Thread(new ThreadStart(this.getVelocityInformation));
pauseEvent = new ManualResetEvent(true);
pathThread.IsBackground = true;
pathThread.Start();
velocityThread.IsBackground = true;
velocityThread.Start();
InitPathChart();
InitVelocityChart();
}
public void InitializeBotnana(Botnana bot)
{
botnana = bot;
onAxisName = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAxisName.Text = str;
}
}));
});
botnana.SetTagNameCB(@"config_axis_name", 0, IntPtr.Zero, onAxisName);
onAxisHomeOffset = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxHomeOffset.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_home_offset", 0, IntPtr.Zero, onAxisHomeOffset);
onEncoderLengthUnit = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
comboBoxEncoderUnit.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
onEncoderPPU = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderPPU.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
onEncoderDirection = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderDirection.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_direction", 0, IntPtr.Zero, onEncoderDirection);
onCloseLoopFilter = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxCloseLoopFilter.Text = str;
}
}));
});
botnana.SetTagNameCB(@"closed_loop_filter", 0, IntPtr.Zero, onCloseLoopFilter);
onMaxPositionDeviation = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxMaxPosDeviation.Text = str;
}
}));
});
botnana.SetTagNameCB(@"max_position_deviation", 0, IntPtr.Zero, onMaxPositionDeviation);
onDriveAlias = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveAlias.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
onDriveSlavePosition = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveSlavePos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
onDriveChannel = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxDriveChannel.Text = str;
}
}));
});
botnana.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
onExtEncoderPPU = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderPPU.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_ppu", 0, IntPtr.Zero, onExtEncoderPPU);
onExtEncoderDirection = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderDirection.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_direction", 0, IntPtr.Zero, onExtEncoderDirection);
onExtEncoderAlias = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderAlias.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_alias", 0, IntPtr.Zero, onExtEncoderAlias);
onExtEncoderSlavePosition = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderSlavePos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_slave_position", 0, IntPtr.Zero, onExtEncoderSlavePosition);
onExtEncoderChannel = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxExtEncoderChannel.Text = str;
}
}));
});
botnana.SetTagNameCB(@"ext_encoder_channel", 0, IntPtr.Zero, onExtEncoderChannel);
onAxisAmax = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAmax.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
onAxisVmax = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVmax.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
onAxisIgnorableDistance = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxIgnorableDistance.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_ignorable_distance", 0, IntPtr.Zero, onAxisIgnorableDistance);
onAxisVff = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVff.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vff", 0, IntPtr.Zero, onAxisVff);
onAxisVfactor = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxVfactor.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_vfactor", 0, IntPtr.Zero, onAxisVfactor);
onAxisAff = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAff.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_aff", 0, IntPtr.Zero, onAxisAff);
onAxisAfactor = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxAfactor.Text = str;
}
}));
});
botnana.SetTagNameCB(@"axis_afactor", 0, IntPtr.Zero, onAxisAfactor);
onAxisDenamdPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
double ppu;
double pos;
if (!double.TryParse(textBoxEncoderPPU.Text, out ppu))
{
ppu = 0.0;
}
if (!double.TryParse(str, out pos))
{
pos = 0.0;
}
BeginInvoke(new Deg(() =>
{
if (ax == axisNumber)
{
textBoxDemandPos.Text = str;
textBoxOutputPulse.Text = (pos * ppu).ToString();
}
}));
});
botnana.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisDenamdPos);
onAxisEncoderPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxEncoderPos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"encoder_position", 0, IntPtr.Zero, onAxisEncoderPos);
onAxisFeedbackPos = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxFeedbackPos.Text = str;
}
}));
});
botnana.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onAxisFeedbackPos);
onAxisFollowingError = new HandleTagNameMessage((IntPtr _, UInt32 ax, UInt32 __, string str) =>
{
BeginInvoke(new Deg(() => { if (ax == axisNumber)
{
textBoxFollowingError.Text = str;
}
}));
});
botnana.SetTagNameCB(@"following_error", 0, IntPtr.Zero, onAxisFollowingError);
timer1.Interval = 100;
}
public FormTorque()
{
InitializeComponent();
TopLevel = false;
Visible = true;
FormBorderStyle = FormBorderStyle.None;
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
// On rt_real_torque tag callback.
onRTRealTorque = new HandleMessage(OnRTRealTorqueCallback);
FormApp.bot.SetTagCB(@"rt_real_torque", 0, IntPtr.Zero, onRTRealTorque);
// On devices info tag callback.
onTorqueInfo = new HandleMessage((IntPtr dataPtr, string str) =>
{
string[] values = str.Split('.');
torqueDriveSlave = int.Parse(values[0]);
torqueDriveChannel = int.Parse(values[1]);
torqueAxisNumber = int.Parse(values[2]);
torqueGroupNumber = int.Parse(values[3]);
string cmd = null;
if (torqueDriveSlave != 0)
{
// 1 .slave 回應的訊息範例如下:
// vendor.1|0x000001DD|product.1|0x10305070|description.1||ec_alias.1|0|slave_state.1|0x23
// |device_type.1|0x04020192|profile_deceleration.1.1|100000|profile_acceleration.1.1|100000
// |profile_velocity.1.1|50000|operation_mode.1.1|6|home_offset.1.1|0|homing_method.1.1|35
// |homing_speed_1.1.1|10000|homing_speed_2.1.1|1000|homing_acceleration.1.1|50000
// |supported_drive_mode.1.1|0x000003ED|target_velocity.1.1|0|drive_polarity.1.1|0x00
// |min_position_limit.1.1|-2147483648|max_position_limit.1.1|2147483647|target_torque.1.1|0
// |torque_slope.1.1|200|max_motor_speed.1.1|5000|drive_homed.1.1|0|drive_douts.1.1|0
// |drive_douts_mask.1.1|0|control_word.1.1|0x0000|target_position.1.1|0|status_word.1.1|0x0250
// |real_position.1.1|0|digital_inputs.1.1|0x00000004|real_torque.1.1|0|pds_state.1.1|Switch On Disabled
// |pds_goal.1.1|Switch On Disabled
cmd += torqueDriveSlave.ToString() + @" .slave ";
}
if (torqueAxisNumber != 0)
{
// "1 .axiscfg" 回應的訊息範例如下:
// axis_name.1|A2|axis_home_offset.1|0.0000000|encoder_length_unit.1|Meter
// |encoder_ppu.1|1000000.00000|encoder_direction.1|1|ext_encoder_ppu.1|60000.00000
// |ext_encoder_direction.1|-1|closed_loop_filter.1|15.0|max_position_deviation.1|0.001000
// |drive_alias.1 |0|drive_slave_position.1|1|drive_channel.1|1|ext_encoder_alias.1|0
// |ext_encoder_slave_position.1|0|ext_encoder_channel.1|0|axis_amax.1|5.00000
// |axis_vmax.1|0.10000|axis_vff.1|0.00|axis_vfactor.1|1.00000|axis_aff.1|0.00
// |axis_afactor.1|1.00000
// 其中 encoder_length_unit 是設定 Encoder 解析度的單位距離
// encoder_ppu 是設定 Encoder 單位距離有幾個脈波數
// axis_vmax 是運動軸的最大速度 [m/s]
// axis_amax 是運動軸的最大加速度 [m/s^2]
// drive_alias, drive_slave_position, drive_channel 用來指定對應的驅動器，
// 如果 drive_alias > 0 就採用 drive_alias 與 drive_channel，
// 如果 drive_alias == 0 就採用 drive_slave_position 與 drive_channel，
// 如果沒有對應的驅動器，該運動軸及為虛擬軸
cmd += torqueAxisNumber.ToString() + @" .axiscfg ";
}
if (torqueGroupNumber != 0)
{
// "1 .grpcfg" 回應的訊息範例如下:
// group_name.1|G1X|group_type.1|1D|group_mapping.1|1|group_vmax.1|0.05000
// |group_amax.1|2.00000|group_jmax.1|40.00000
// 其中 group_type 是設定軸組型態
// group_mapping 是設定軸組會使用哪幾個運動軸
// group_vmax 是運動軸的最加速度 [m/s]
// group_amax 是運動軸的最大加速度 [m/s^2]
// group_jmax 是運動軸的最大加加速度 [m/s^3]
cmd += torqueGroupNumber.ToString() + @" .grpcfg ";
}
FormApp.BotEvaluateScript(cmd);
});
FormApp.bot.SetTagCB(@"torque_slv_ch_ax_grp", 0, IntPtr.Zero, onTorqueInfo);
// On torque_ready tag callback.
onTorqueReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "-1")
{
BeginInvoke(new Torquedeg(() =>
{
buttonTorqueReady.Text = "Torque ready";
buttonTorqueReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Torquedeg(() =>
{
buttonTorqueReady.Text = "Torque not ready";
buttonTorqueReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
FormApp.bot.SetTagCB(@"torque_ready", 0, IntPtr.Zero, onTorqueReady);
// On real_position tag name callback.
onRealPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textRealPosition.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onRealPosition);
// On real_torque tag name callback.
onRealTorque = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textRealTorque.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"real_torque", 0, IntPtr.Zero, onRealTorque);
// On digital_inputs tag name callback.
onDigitalInputs = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
string din = string.Format("0x{0:X8}", Convert.ToInt32(str, 16));
BeginInvoke(new Torquedeg(() => { textDigitalInputs.Text = din; }));
}
});
FormApp.bot.SetTagNameCB("digital_inputs", 0, IntPtr.Zero, onDigitalInputs);
// On target_position tag name callback.
onTargetPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textTargetPosition.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
// On pds_state tag name callback.
onPDSState = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
switch (str)
{
case "Operation Enabled":
BeginInvoke(new Torquedeg(() =>
{
textPDSState.Text = str;
buttonDriveOn.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
buttonDriveOff.BackColor = SystemColors.Control;
buttonResetFault.BackColor = SystemColors.Control;
}));
break;
case "Fault":
BeginInvoke(new Torquedeg(() =>
{
textPDSState.Text = str;
buttonDriveOn.BackColor = SystemColors.Control;
buttonDriveOff.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonResetFault.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
break;
default:
BeginInvoke(new Torquedeg(() =>
{
textPDSState.Text = str;
buttonDriveOn.BackColor = SystemColors.Control;
buttonDriveOff.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonResetFault.BackColor = SystemColors.Control;
}));
buttonDriveOn.BackColor = SystemColors.Control;
buttonDriveOff.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonResetFault.BackColor = SystemColors.Control;
break;
}
}
});
FormApp.bot.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
//On status_word tag name callback.
onDriveStatus = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textDriveStatus.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
// On operation_mode tag name callback.
onOperationMode = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
switch (str)
{
case "1":
BeginInvoke(new Torquedeg(() => { textOperationMode.Text = "PP"; }));
break;
case "6":
BeginInvoke(new Torquedeg(() => { textOperationMode.Text = "HM"; }));
break;
case "8":
BeginInvoke(new Torquedeg(() => { textOperationMode.Text = "CSP"; }));
break;
default:
break;
}
}
});
FormApp.bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
// On homing_method tag name callback.
onHomingMethod = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textHomingMethod.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"homing_method", 0, IntPtr.Zero, onHomingMethod);
// On homing_speed_1 tag name callback.
onHomingSpeed1 = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textHomingSpeed1.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"homing_speed_1", 0, IntPtr.Zero, onHomingSpeed1);
// On homing_speed_2 tag name callback.
onHomingSpeed2 = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textHomingSpeed2.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"homing_speed_2", 0, IntPtr.Zero, onHomingSpeed2);
// On homing_acceleration tag name callback.
onHomingAcc = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == torqueDriveSlave && ch == torqueDriveChannel)
{
BeginInvoke(new Torquedeg(() => { textHomingAcc.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"homing_acceleration", 0, IntPtr.Zero, onHomingAcc);
// On axis_demand_position tag name callback.
onAxisPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
axisPosition = double.Parse(str) * 1000.0;
string axisPos = axisPosition.ToString("F3");
BeginInvoke(new Torquedeg(() => { textAxisPosition.Text = axisPos; }));
}
});
FormApp.bot.SetTagNameCB(@"axis_demand_position", 0, IntPtr.Zero, onAxisPosition);
// On feedback_position tag name callback.
onFeedbackPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
feedbackPosition = double.Parse(str) * 1000.0;
string feedbackPos = feedbackPosition.ToString("F3");
BeginInvoke(new Torquedeg(() => { textFeedbackPosition.Text = feedbackPos; }));
}
});
FormApp.bot.SetTagNameCB(@"feedback_position", 0, IntPtr.Zero, onFeedbackPosition);
// On encoder_length_unit tag name callback.
onEncoderLengthUnit = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { labelEncoderResolution.Text = "pulse/" + str.Substring(0, 1).ToLower(); }));
}
});
FormApp.bot.SetTagNameCB(@"encoder_length_unit", 0, IntPtr.Zero, onEncoderLengthUnit);
// On encoder_ppu tag name callback.
onEncoderPPU = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { textEncoderPPU.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"encoder_ppu", 0, IntPtr.Zero, onEncoderPPU);
// On drive_alias tag name callback.
onDriveAlias = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { textDriveAlias.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"drive_alias", 0, IntPtr.Zero, onDriveAlias);
// On drive_slave_position tag name callback.
onDriveSlavePosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { textDriveSlavePosition.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"drive_slave_position", 0, IntPtr.Zero, onDriveSlavePosition);
// On drive_channel tag name callback.
onDriveChannel = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { textDriveChannel.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"drive_channel", 0, IntPtr.Zero, onDriveChannel);
// On axis_vmax tag name callback.
onAxisVmax = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
string vmax = (double.Parse(str) * 1000.0 * 60.0).ToString("F1");
BeginInvoke(new Torquedeg(() => { textAxisVmax.Text = vmax; }));
}
});
FormApp.bot.SetTagNameCB(@"axis_vmax", 0, IntPtr.Zero, onAxisVmax);
// On axis_amax tag name callback.
onAxisAmax = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueAxisNumber)
{
BeginInvoke(new Torquedeg(() => { textAxisAmax.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"axis_amax", 0, IntPtr.Zero, onAxisAmax);
// On group_type tag name callback.
onGroupType = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueGroupNumber)
{
BeginInvoke(new Torquedeg(() => { textGroupType.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"group_type", 0, IntPtr.Zero, onGroupType);
// On group_mapping tag name callback.
onGroupMapping = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueGroupNumber)
{
BeginInvoke(new Torquedeg(() => { textGroupMapping.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"group_mapping", 0, IntPtr.Zero, onGroupMapping);
// On group_vmax tag name callback.
onGroupVmax = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueGroupNumber)
{
string vmax = (double.Parse(str) * 1000.0 * 60.0).ToString("F1");
BeginInvoke(new Torquedeg(() => { textGroupVmax.Text = vmax; }));
}
});
FormApp.bot.SetTagNameCB(@"group_vmax", 0, IntPtr.Zero, onGroupVmax);
// On group_amax tag name callback.
onGroupAmax = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueGroupNumber)
{
BeginInvoke(new Torquedeg(() => { textGroupAmax.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"group_amax", 0, IntPtr.Zero, onGroupAmax);
// On group_jmax tag name callback.
onGroupJmax = new HandleTagNameMessage((IntPtr dataPtr, UInt32 n, UInt32 _, string str) =>
{
if (n == torqueGroupNumber)
{
BeginInvoke(new Torquedeg(() => { textGroupJmax.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"group_jmax", 0, IntPtr.Zero, onGroupJmax);
// On travel_time tag callback.
onTravelTime = new HandleMessage((IntPtr dataPtr, string str) =>
{
new Thread(() => System.Windows.Forms.MessageBox.Show("TravelTime|" + str)).Start();
});
FormApp.bot.SetTagCB(@"travel_time", 0, IntPtr.Zero, onTravelTime);
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
// WS 連線錯誤就呼叫 OnWSErrorCallback
onWSError = new HandleMessage(OnWSErrorCallback);
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// WS 連線成功就呼叫 OnWSOpenCallback
onWSOpen = new HandleMessage(OnWSOpenCallback);
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
onUserParameter = new HandleMessage(OnUserParameterCallback);
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// 收到 tag = error 就呼叫 OnErrorMessageCallback
onErrorMessage = new HandleMessage(OnErrorMessageCallback);
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
onSlaves = new HandleMessage(OnSlaves);
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlaves);
onEcReady = new HandleMessage(OnEcReady);
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onEcReady);
onSystemReady = new HandleMessage(OnSystemReady);
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
onFeederReady = new HandleMessage(OnFeederReady);
bot.SetTagCB(@"feeder_ready", 0, IntPtr.Zero, onFeederReady);
onEncoderPosition = new HandleTagNameMessage(OnEncoderPosition);
bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onEncoderPosition);
onTargetPosition = new HandleTagNameMessage(OnTargetPosition);
bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
onDriveStatus = new HandleTagNameMessage(OnDriveStatus);
bot.SetTagNameCB(@"status_word", 0, IntPtr.Zero, onDriveStatus);
onOperationMode = new HandleTagNameMessage(OnOperationMode);
bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
onDriveDigitalInputs = new HandleTagNameMessage(OnDriveDigitalInputs);
bot.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDriveDigitalInputs);
onTouchProbe = new HandleTagNameMessage(OnTouchProbe);
bot.SetTagNameCB(@"touch_probe_function", 0, IntPtr.Zero, onTouchProbe);
onCylinder = new HandleTagNameMessage(OnCylinder);
bot.SetTagNameCB(@"dout", 0, IntPtr.Zero, onCylinder);
onTPLatchPosition1 = new HandleTagNameMessage(OnTPLatchPosition1);
bot.SetTagNameCB(@"tp_position_value_1", 0, IntPtr.Zero, onTPLatchPosition1);
onTPLatchPosition2 = new HandleTagNameMessage(OnTPLatchPosition2);
bot.SetTagNameCB(@"tp_position_value_2", 0, IntPtr.Zero, onTPLatchPosition2);
onCylinderOnMs = new HandleMessage(OnCylinderOnMs);
bot.SetTagCB(@"cylinder_on_duration", 0, IntPtr.Zero, onCylinderOnMs);
onCylinderOffMs = new HandleMessage(OnCylinderOffMs);
bot.SetTagCB(@"cylinder_off_duration", 0, IntPtr.Zero, onCylinderOffMs);
onRotationDistance = new HandleMessage(OnRotationDistance);
bot.SetTagCB(@"feeder_rotation_distance", 0, IntPtr.Zero, onRotationDistance);
onRotationSpeed = new HandleMessage(OnRotationSpeed);
bot.SetTagCB(@"feeder_rotation_speed", 0, IntPtr.Zero, onRotationSpeed);
onSettlingDuration = new HandleMessage(OnSettlingDuration);
bot.SetTagCB(@"feeder_settling_duration", 0, IntPtr.Zero, onSettlingDuration);
onRetryCountMax = new HandleMessage(OnRetryCountMax);
bot.SetTagCB(@"feeder_retry_count_max", 0, IntPtr.Zero, onRetryCountMax);
onDriveDeviceSlave = new HandleMessage(OnDriveDeviceSlave);
bot.SetTagCB(@"drive_device_slave", 1, IntPtr.Zero, onDriveDeviceSlave);
onDriveDeviceChannel = new HandleMessage(OnDriveDeviceChannel);
bot.SetTagCB(@"drive_device_channel", 1, IntPtr.Zero, onDriveDeviceChannel);
onCylinderDeviceSlave = new HandleMessage(OnCylinderDeviceSlave);
bot.SetTagCB(@"cylinder_device_slave", 1, IntPtr.Zero, onCylinderDeviceSlave);
onCylinderDeviceChannel = new HandleMessage(OnCylinderDeviceChannel);
bot.SetTagCB(@"cylinder_device_channel", 1, IntPtr.Zero, onCylinderDeviceChannel);
onFeederRunning = new HandleMessage(OnFeederRunning);
bot.SetTagCB(@"feeder_running", 0, IntPtr.Zero, onFeederRunning);
onFeederEMS = new HandleMessage(OnFeederEMS);
bot.SetTagCB(@"feeder_ems", 0, IntPtr.Zero, onFeederEMS);
onFeederOperationMs = new HandleMessage(OnFeederOperationMs);
bot.SetTagCB(@"feeder_operation_ms", 0, IntPtr.Zero, onFeederOperationMs);
onTPStatus = new HandleTagNameMessage(OnTPStatus);
bot.SetTagNameCB(@"sdo_0_24761", 0, IntPtr.Zero, onTPStatus);
onTPDetected1 = new HandleMessage(OnTPDetected1);
bot.SetTagCB(@"tp_detected_1", 0, IntPtr.Zero, onTPDetected1);
onTPDetected2 = new HandleMessage(OnTPDetected2);
bot.SetTagCB(@"tp_detected_2", 0, IntPtr.Zero, onTPDetected2);
onTPDetectedPosition1 = new HandleMessage(OnTPDetectedPosition1);
bot.SetTagCB(@"tp_detected_position_1", 0, IntPtr.Zero, onTPDetectedPosition1);
onTPDetectedPosition2 = new HandleMessage(OnTPDetectedPosition2);
bot.SetTagCB(@"tp_detected_position_2", 0, IntPtr.Zero, onTPDetectedPosition2);
timerSlow.Enabled = true;
timerPoll.Enabled = true;
timer1s.Enabled = true;
}
public FormFeeder()
{
InitializeComponent();
TopLevel = false;
Visible = true;
FormBorderStyle = FormBorderStyle.None;
// On feeder_infos tag callback.
onFeederInfo = new HandleMessage((IntPtr dataPtr, string str) =>
{
string[] values = str.Split('.');
driveDeviceSlave = int.Parse(values[0]);
driveDeviceChannel = int.Parse(values[1]);
cylinderDeviceSlave = int.Parse(values[2]);
cylinderDeviceChannel = int.Parse(values[3]);
string cmd = "";
if (driveDeviceSlave != 0)
{
cmd += driveDeviceSlave.ToString() + @" .slave ";
}
if (cylinderDeviceSlave != 0)
{
cmd += cylinderDeviceSlave.ToString() + @" .slave ";
}
FormApp.BotEvaluateScript(cmd);
});
FormApp.bot.SetTagCB(@"feeder_infos", 0, IntPtr.Zero, onFeederInfo);
// On feeder_ready tag callback.
onFeederReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
feederReady = (int.Parse(str) != 0);
if (feederReady)
{
BeginInvoke(new Feederdeg(() =>
{
buttonFeederReady.Text = "Feeder ready";
buttonFeederReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Feederdeg(() =>
{
buttonFeederReady.Text = "Feeder not ready";
buttonFeederReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
FormApp.bot.SetTagCB(@"feeder_ready", 0, IntPtr.Zero, onFeederReady);
// On real_position tag name callback.
onEncoderPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, String str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textEncoderPosition.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"real_position", 0, IntPtr.Zero, onEncoderPosition);
// On target_position tag name callback.
onTargetPosition = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textTargetPosition.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"target_position", 0, IntPtr.Zero, onTargetPosition);
// On pds_state tag name callback.
onPDSState = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textPDSState.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"pds_state", 0, IntPtr.Zero, onPDSState);
// On operation_mode tag name callback.
onOperationMode = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textOperationMode.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"operation_mode", 0, IntPtr.Zero, onOperationMode);
// On digital_inputs tag name callback.
onDriveDigitalInputs = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
int code = Convert.ToInt32(str, 16);
bool driveExt1 = (code & 0x10000) != 0;
bool driveExt2 = (code & 0x20000) != 0;
bool driveDin0 = (code & 0x1000000) != 0;
bool driveDin1 = (code & 0x2000000) != 0;
bool driveDin2 = (code & 0x4000000) != 0;
bool driveDin3 = (code & 0x8000000) != 0;
BeginInvoke(new Feederdeg(() =>
{
radioDriveDin0.Checked = driveDin0;
radioDriveDin1.Checked = driveDin1;
radioDriveDin2.Checked = driveDin2;
radioDriveDin3.Checked = driveDin3;
radioDriveExt1.Checked = driveExt1;
radioDriveExt2.Checked = driveExt2;
}));
}
});
FormApp.bot.SetTagNameCB(@"digital_inputs", 0, IntPtr.Zero, onDriveDigitalInputs);
// On dout tag name callback.
onCylinder = new HandleTagNameMessage((IntPtr dataPtr, UInt32 pos, UInt32 ch, string str) =>
{
if (pos == cylinderDeviceSlave && ch == cylinderDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { radioCylinder.Checked = int.Parse(str) != 0; }));
}
});
FormApp.bot.SetTagNameCB(@"dout", 0, IntPtr.Zero, onCylinder);
// On touch_probe_function tag name callback.
onTouchProbe = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
int tmp = int.Parse(str);
bool enableTP1 = (tmp & 1) != 0;
bool enableTP2 = (tmp & 0x100) != 0;
bool tp1TriggerAction = (tmp & 0x2) != 0;
bool tp2TriggerAction = (tmp & 0x200) != 0;
bool tp1TriggerSelection = (tmp & 0x4) != 0;
bool tp2TriggerSelection = (tmp & 0x400) != 0;
bool tp1UpEdgeAction = (tmp & 0x10) != 0;
bool tp2UpEdgeAction = (tmp & 0x1000) != 0;
bool tp1DownEdgeAction = (tmp & 0x20) != 0;
bool tp2DownEdgeAction = (tmp & 0x2000) != 0;
BeginInvoke(new Feederdeg(() =>
{
radioEnableTP1.Checked = enableTP1;
radioEnableTP2.Checked = enableTP2;
radioTP1TriggerAction.Checked = tp1TriggerAction;
radioTP2TriggerAction.Checked = tp2TriggerAction;
radioTP1TriggerSelection.Checked = tp1TriggerSelection;
radioTP2TriggerSelection.Checked = tp2TriggerSelection;
radioTP1UpEdgeAction.Checked = tp1UpEdgeAction;
radioTP2UpEdgeAction.Checked = tp2UpEdgeAction;
radioTP1DownEdgeAction.Checked = tp1DownEdgeAction;
radioTP2DownEdgeAction.Checked = tp2DownEdgeAction;
}));
}
});
FormApp.bot.SetTagNameCB(@"touch_probe_function", 0, IntPtr.Zero, onTouchProbe);
// On tp_position_value_1 tag name callback.
onTPLatchPosition1 = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textTPLatchPosition1.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"tp_position_value_1", 0, IntPtr.Zero, onTPLatchPosition1);
// On tp_position_value_2 tag name callback.
onTPLatchPosition2 = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave && ch == driveDeviceChannel)
{
BeginInvoke(new Feederdeg(() => { textTPLatchPosition2.Text = str; }));
}
});
FormApp.bot.SetTagNameCB(@"tp_position_value_2", 0, IntPtr.Zero, onTPLatchPosition2);
// On cylinder_on_duration tag name callback.
onCylinderOnMs = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textCylinderOnMs.Text = str; }));
});
FormApp.bot.SetTagCB(@"cylinder_on_duration", 0, IntPtr.Zero, onCylinderOnMs);
// On cylinder_off_duration tag name callback.
onCylinderOffMs = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textCylinderOffMs.Text = str; }));
});
FormApp.bot.SetTagCB(@"cylinder_off_duration", 0, IntPtr.Zero, onCylinderOffMs);
// On feeder_running tag name callback.
onFeederRunning = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { radioFeederRunning.Checked = int.Parse(str) != 0; }));
});
FormApp.bot.SetTagCB(@"feeder_running", 0, IntPtr.Zero, onFeederRunning);
// On feeder_ems tag name callback.
onFeederEMS = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { radioFeederEMS.Checked = int.Parse(str) != 0; }));
});
FormApp.bot.SetTagCB(@"feeder_ems", 0, IntPtr.Zero, onFeederEMS);
// On feeder_operation_ms tag name callback.
onFeederOperationMs = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textFeederOperationTime.Text = str; }));
});
FormApp.bot.SetTagCB(@"feeder_operation_ms", 0, IntPtr.Zero, onFeederOperationMs);
// On feeder_rotation_distance tag name callback.
onRotationDistance = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textRotationDistance.Text = str; }));
});
FormApp.bot.SetTagCB(@"feeder_rotation_distance", 0, IntPtr.Zero, onRotationDistance);
// On feeder_rotation_speed tag name callback.
onRotationSpeed = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textRotationSpeed.Text = str; }));
});
FormApp.bot.SetTagCB(@"feeder_rotation_speed", 0, IntPtr.Zero, onRotationSpeed);
// On feeder_settling_duration tag name callback.
onSettlingDuration = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textBoxSettlingDurationMs.Text = str; }));
});
FormApp.bot.SetTagCB(@"feeder_settling_duration", 0, IntPtr.Zero, onSettlingDuration);
// On feeder_retry_count_max tag name callback.
onRetryCountMax = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textBoxRetryCountMax.Text = str; }));
});
FormApp.bot.SetTagCB(@"feeder_retry_count_max", 0, IntPtr.Zero, onRetryCountMax);
// On sdo_0_24761 tag name callback.
onTPStatus = new HandleTagNameMessage((IntPtr dataPtr, UInt32 slv, UInt32 ch, string str) =>
{
if (slv == driveDeviceSlave)
{
int code;
if (Int32.TryParse(str, out code))
{
bool tp1Enabled = (code & 0x1) != 0;
bool tp2Enabled = (code & 0x100) != 0;
BeginInvoke(new Feederdeg(() =>
{
radioTP1Enabled.Checked = tp1Enabled;
radioTP2Enabled.Checked = tp2Enabled;
}));
}
}
});
FormApp.bot.SetTagNameCB(@"sdo_0_24761", 0, IntPtr.Zero, onTPStatus);
// On tp_detected_1 tag name callback.
onTPDetected1 = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { radioTPDetected1.Checked = int.Parse(str) != 0; }));
});
FormApp.bot.SetTagCB(@"tp_detected_1", 0, IntPtr.Zero, onTPDetected1);
// On tp_detected_2 tag name callback.
onTPDetected2 = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { radioTPDetected2.Checked = int.Parse(str) != 0; }));
});
FormApp.bot.SetTagCB(@"tp_detected_2", 0, IntPtr.Zero, onTPDetected2);
// On tp_detected_position_1 tag name callback.
onTPDetectedPosition1 = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textTPDetectedPosition1.Text = str; }));
});
FormApp.bot.SetTagCB(@"tp_detected_position_1", 0, IntPtr.Zero, onTPDetectedPosition1);
// On tp_detected_position_2 tag name callback.
onTPDetectedPosition2 = new HandleMessage((IntPtr dataPtr, string str) =>
{
BeginInvoke(new Feederdeg(() => { textTPDetectedPosition2.Text = str; }));
});
FormApp.bot.SetTagCB(@"tp_detected_position_2", 0, IntPtr.Zero, onTPDetectedPosition2);
}
