/// <summary>
/// 定义公有方法提供一个全局访问点,同时你也可以定义公有属性来提供全局访问点
/// </summary>
/// <returns></returns>
public static RobotDevice GetInstance()
{
if (m_UniqueRobot == null)
{
lock (m_Locker)
{
if (m_UniqueRobot == null)
{
m_UniqueRobot = new RobotDevice();
}
}
}
return(m_UniqueRobot);
}
public void InitWorkstatiionAndStart()
{
//检查共享文件夹是否存在，存在则直接存储文件，不存在则创建共享文件夹
if (!Directory.Exists(NsfTrayModule.m_FileFolder))
{
//Directory.CreateDirectory(NsfTrayModule.m_FileFolder);
//m_NetShare.CallShareBatFile(m_CreateShare);
Global.MessageBoxShow(Global.StrCreateShareFolder);
}
//Robot
m_Robot = RobotDevice.GetInstance();
bool Re = m_Robot.InitRobot();
if (!Re)
{
DataStruct.SysStat.RobotOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.Robot, true);
Global.MessageBoxShow(Global.StrRobotInitError);
}
else
{
DataStruct.SysStat.RobotOk = true;
m_Robot.ServoOn();
//m_Robot.RunSelectedProgram(1);
m_Robot.m_PointList = m_Robot.GetGlobalPointData();
}
//RFID
m_RFID = RFID.GetInstance();
Re = m_RFID.Connect(Profile.m_Config.RfidIp);
if (!Re)
{
DataStruct.SysStat.RfidOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.RFID, true);
}
else
{
m_RFID.m_CurCh = Profile.m_Config.RfidCh;
m_RFID.Init(m_RFID.m_CurCh);
m_RFID.Enable(m_RFID.m_CurCh);
DataStruct.SysStat.RfidOk = true;
m_SysAlarm.SetAlarm(SysAlarm.Type.RFID, false);
}
//二维码
m_QRCode = QRCode.GetInstance();
string Port = Profile.m_Config.QRCodePort;
string BandRate = Profile.m_Config.QRCodeBandRate;
m_QRCode.QRCodeCommunParamInit(Port, BandRate);
Re = m_QRCode.QRCodeInit();
if (!Re)
{
DataStruct.SysStat.QRCodeOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.QRCode, true);
}
else
{
DataStruct.SysStat.QRCodeOk = true;
m_SysAlarm.SetAlarm(SysAlarm.Type.QRCode, false);
}
}