Exemplo n.º 1
0
        /// <summary>
        /// Form load
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        void frmMain_Load(object sender, EventArgs e)
        {
            cts = new CancellationTokenSource();

            sendQueue = new ConcurrentQueue <List <char[]> >();

            robotManager.Open("cifX0", 0);
            Thread.Sleep(1000);

            UpdateLogList("리셋");
            robotManager.Reset();
            Thread.Sleep(1000);

            UpdateLogList("프로그램 넣기");
            robotManager.SetProgram();

            // 실행시 파일에 저장한 마지막 실행 스탭을 가져온다.
            lastStep  = GetLastStepFromFile();
            LoopCount = GetLoopCount();
            cboWorkCount.SelectedIndex = LoopCount;

            StartService();
            StartRobot();
            Restart();
        }
Exemplo n.º 2
0
        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            try
            {
                cts = new CancellationTokenSource();

                robotManager = new RobotManager();
                uint ret = robotManager.Open("cifX0", 0);

                assembly = new Assembly();
                settings = new Settings(this);

                RobotStatus(cts.Token);
                DisplayAssembly(cts.Token);
                GetStep(cts.Token);
            }
            catch (Exception ex)
            {
                AutoClosingMessageBox.Show("프로그램 실행 중 에러가 발생하였습니다.", "Error", 2000);
                logger.Error(ex);
            }
        }
Exemplo n.º 3
0
        static void Main(string[] args)
        {
            robotManager = new RobotManager();
            robotManager.Open("cifX0", 0);
            Thread.Sleep(1000);

            robotManager.Reset();
            Debug.WriteLine("All robot reset");

            //while (true)
            //{
            //    // 모든 로봇이 모터 온이 되었다면
            //    if (robotManager.IsMotorOn(Robots.R1)
            //        && robotManager.IsMotorOn(Robots.R2)
            //        && robotManager.IsMotorOn(Robots.R3))
            //    {
            //        Debug.WriteLine("All robot's motor is on");
            //        break;
            //    }

            //    if (!robotManager.IsMotorOn(Robots.R1))
            //    {
            //        robotManager.MotorOn(Robots.R1);
            //        Thread.Sleep(500);
            //        robotManager.Reset(Robots.R1);

            //        Debug.WriteLine("R1 motor on send");
            //    }

            //    if (!robotManager.IsMotorOn(Robots.R2))
            //    {
            //        robotManager.MotorOn(Robots.R2);
            //        Thread.Sleep(500);
            //        robotManager.Reset(Robots.R2);

            //        Debug.WriteLine("R2 motor on send");
            //    }

            //    if (!robotManager.IsMotorOn(Robots.R3))
            //    {
            //        robotManager.MotorOn(Robots.R3);
            //        Thread.Sleep(500);
            //        robotManager.Reset(Robots.R3);

            //        Debug.WriteLine("R3 motor on send");
            //    }

            //    Thread.Sleep(1000);
            //}

            //StepType stepType = StepType.Full;

            //// 프로그램 밀어넣기
            //if (robotManager.SetProgram())
            //{
            //    Thread.Sleep(500);

            //    // 오더 밀어넣기
            //    robotManager.SendOrder(Robots.R1, stepType);
            //    Thread.Sleep(500);
            //    robotManager.SendOrder(Robots.R2, stepType);
            //    Thread.Sleep(500);
            //    robotManager.SendOrder(Robots.R3, stepType);
            //}

            //Thread.Sleep(1000);

            //robotManager.RobotRun();

            //if (robotManager.RestartOn(Robots.R1)) robotManager.RobotRunReset(Robots.R1);
            //if (robotManager.RestartOn(Robots.R2)) robotManager.RobotRunReset(Robots.R2);
            //if (robotManager.RestartOn(Robots.R3)) robotManager.RobotRunReset(Robots.R3);

            cts = new CancellationTokenSource();
            CheckError(cts.Token);
            ReadTrigger(cts.Token);

            Console.ReadLine();
        }