private RTDE aRTDE; //RTDE instance, port: 30004
public Form1()
{
InitializeComponent();
// create instance of robot communication class
aDashBoard = new DashBoard(textBox1.Text);
aRTClient = new RTClient(textBox1.Text);
aRTDE = new RTDE(System.Windows.Forms.Application.StartupPath + "\\RTDEConfig.xml", textBox1.Text);
//aRTDE = new RTDE(@"D:\UR Work\020 VS Projects\DEMO_URSDK\DEMO_URSDK\bin\Debug\RTDEConfig.xml", textBox1.Text);
timer1.Interval = Convert.ToInt32(textBox10.Text);
}
// Start is called before the first frame update
void Start()
{
aRTClient = new RTClient(AdrIP);
aDashBoard = new DashBoard(AdrIP);
primaryInt = new PrimaryInterface(AdrIP, AdrPort);
demoInstance = new PrimaryInterface(AdrIP);
aRTDE = new RTDE("file:///F:/XC/Assets/UR10/URSDK/RTDEConfig.xml", AdrIP);
URConnect();
for (int i = 0; i < 6; i++)
{
pd.Add(0);
}
}
private void textBox1_TextChanged(object sender, EventArgs e) //IP address change event
{
aDashBoard = new DashBoard(textBox1.Text);
if (aRTClient.Status != RTClientStatus.Stopped)
{
aRTClient.stopRTClient();
}
aRTClient = new RTClient(textBox1.Text);
if (aRTDE.isSynchronizing)
{
aRTDE.stopSync();
}
aRTDE = new RTDE(System.Windows.Forms.Application.StartupPath + "\\RTDEConfig.xml", textBox1.Text);
}
private void initURRobot()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
//RTClient用来控制
aRTClient.startRTClient();
while (aRTClient.Status != RTClientStatus.Syncing)
{
Thread.Sleep(10);
}
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
private RTDE aRTDE; //RTDE instance, port: 30004
#endregion
#region initialize
private void initData()
{
aDashBoard = new DashBoard("192.168.100.11");
aRTClient = new RTClient("192.168.100.11");
aRTDE = new RTDE(System.Environment.CurrentDirectory + "\\RTDEConfig.xml", "192.168.100.11");
//RTDE用于采集数据
aRTDE.startSync();
if (!aRTDE.isSynchronizing)
{
Thread.Sleep(10);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "I" + i;
myData.varValue = 0;
RobotInputData.Add(myData);
}
for (int i = 0; i < 16; i++)
{
dataGridData myData = new dataGridData();
myData.varName = "O" + i;
myData.varValue = 0;
RobotOutputData.Add(myData);
}
dataGridData otherData = new dataGridData();
otherData.varName = "A1";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A2";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A3";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A4";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A5";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
otherData = new dataGridData();
otherData.varName = "A6";
otherData.varValue = 0;
RobotOtherData.Add(otherData);
Thread thread = new Thread(new ThreadStart(refreshRobotData));
thread.Start();
}
