public void Init()
{
if (IsInitialized)
{
return;
}
Kill();
// Create CaoEngine object
caoEngine = new CaoEngine();
caoWorkspace = caoEngine.Workspaces.Item(0);
//caoController = caoWorkspace.AddController("RC7", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.0.1");
caoController = caoWorkspace.AddController("RC8", "CaoProv.DENSO.RC8", null,
"Server=192.168.0.1,@IfNotMember=True");
caoRobot = caoController.AddRobot("Arm", "");
Robot = new DensoRobot(caoRobot);
Robot.LogEvent += OnLogEvent;
Controller = new DensoController(caoController);
Controller.LogEvent += OnLogEvent;
Controller.ClearError();
if ((int)Controller.ControllerCaoVars["@MODE"].Value <= 2)
{
MessageBox.Show("Controller not in Auto Mode! Retry!");
Close();
Kill();
IsInitialized = false;
return;
}
//Controller.PutAutoMode();
Controller.Initialize();
//RobslaveTask = new DensoTask(caoController.AddTask("robslave", null));
//RobslaveTask.LogEvent += OnLogEvent;
//RobslaveTask.Stop();
//RobslaveTask.Start();
IsInitialized = true;
}
public void Close()
{
// Release caoRobot object
if (caoRobot != null)
{
caoRobot.Variables.Clear();
Marshal.ReleaseComObject(caoRobot);
caoRobot = null;
}
// Release controller object
if (caoController != null)
{
caoController.Variables.Clear();
caoController.Robots.Clear();
Marshal.ReleaseComObject(caoController);
caoController = null;
}
if (caoWorkspace != null)
{
caoWorkspace.Controllers.Clear();
Marshal.ReleaseComObject(caoWorkspace);
caoWorkspace = null;
}
if (caoEngine != null)
{
caoEngine.Workspaces.Clear();
Marshal.ReleaseComObject(caoEngine);
caoEngine = null;
}
IsInitialized = false;
}
