private void PoseDifference_Load(object sender, EventArgs e) { FilesINI ConfigController = new FilesINI(); CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath); Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);; URRegisterHandle.RemoteIP = CurrentIP; URRegisterHandle.RemotePort = 502; URRegisterHandle.SocketTimeOut = 1000; RefPos1 = ConfigController.INIRead("UR运动参数", "BasePos1", DefaultINIPath); RefPos2 = ConfigController.INIRead("UR运动参数", "BasePos2", DefaultINIPath); RefPos3 = ConfigController.INIRead("UR运动参数", "BasePos3", DefaultINIPath); txtPose1.Text = RefPos1; txtPose2.Text = RefPos2; txtPose3.Text = RefPos3; HomeVector = RefPos1; //尝试连接,如果不能连接,则某些按钮不可用 try { URController.Creat_client(CurrentIP, Convert.ToInt32(Control_Port)); ifConnected = true; } catch { ifConnected = false; MessageBox.Show("未连接UR,某些功能不可用"); } }
private void Teach_Load(object sender, EventArgs e) { FilesINI ConfigController = new FilesINI(); string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath); string Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);; URController.Creat_client(Target_IP, Convert.ToInt32(Control_Port)); //MessageBox.Show(Target_IP + "|" + Control_Port); }
private void Register_Load(object sender, EventArgs e) { //读取配置文件的IP FilesINI ConfigController = new FilesINI(); string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath); URRegisterHandle.RemoteIP = CurrentIP; URRegisterHandle.RemotePort = 502; URRegisterHandle.SocketTimeOut = 1000; URRegisterHandle.connectServer(); }
private void Register_Load(object sender, EventArgs e) { //读取配置文件的IP FilesINI ConfigController = new FilesINI(); string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath); URRegisterHandle.RemoteIP = CurrentIP; URRegisterHandle.RemotePort = 502; URRegisterHandle.SocketTimeOut = 1000; //同样只是初始化的时候执行一次,由于是传统的读写寄存器,不需要保持连接,也就不需要实时的initialServer //URRegisterHandle.initialServer(); }
private void Dashboard_Load(object sender, EventArgs e) { FilesINI ConfigController = new FilesINI(); string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath); int Control_Port = 29999; //创建Dashboard客户端 URController.Creat_client(Target_IP, Control_Port); //一开始连接到UR之后UR会主动发过来一条信息 string Feedback = URController.No_command_WaitFeedback(); txtFeedback.Items.Add(Feedback); //设置这个Combobox UserRoleBox.Items.Add("程序员"); UserRoleBox.Items.Add("操作员"); UserRoleBox.Items.Add("完全锁定"); }