private void labelExecStatus_Click(object sender, EventArgs e)
{
try
{
if (ctl.OperatingMode == ControllerOperatingMode.Auto && ctl.State == ControllerState.MotorsOn)
{
Mastership mc = Mastership.Request(this.ctl.Rapid);
if (labelExecStatus.Text == ExecutionStatus.Running.ToString())
{
//Perform operation
tasks[0].Stop();
}
else
{
StartResult a;
tasks[0].ResetProgramPointer();
a = tasks[0].Start();
}
mc.Dispose();
}
else
{
MessageBox.Show("Please turn to Auto mode and motor on");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
/// <summary>
/// 判断有没有获得权限
/// </summary>
public void JudgeMaster()
{
if (m != null)
{
if (m.IsMaster)
{
m.Dispose();
}
}
}
private void listViewData_DoubleClick(object sender, EventArgs e)
{
RapidData rdt = null;
string temp = "0";
try
{
MessageBox.Show("Zero clearing? accept in the flexpandent after click OK");
rdt = this.ctl.Rapid.GetTask(taskName).GetModule(moduleName).GetRapidData(listViewData.SelectedItems[0].Text.ToString());
Mastership mas = Mastership.Request(this.ctl.Rapid);
//Change: controller is repaced by aController
rdt.Value = ABB.Robotics.Controllers.RapidDomain.Num.Parse(temp);
mas.Dispose();
MessageBox.Show("zero clearing");
}
catch (Exception ex)
{
MessageBox.Show("Type isn't Num. error: " + ex.ToString());
}
//Release mastership as soon as possible
}
public RobotStatus Stop_Click()
{
tasks = this._controller.Rapid.GetTasks();
if (this._controller.OperatingMode == ControllerOperatingMode.Auto)
{
Mastership m = Mastership.Request(this._controller.Rapid);
tasks[0].Stop(StopMode.Immediate);
//tasks[0].ExecutionStatus = TaskExecutionStatus.
m.Dispose();
return(RobotStatus.finish);
}
else
{
return(RobotStatus.nonAuto);
//MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
//try
//{
// tasks = this._controller.Rapid.GetTasks();
// if (this._controller.OperatingMode == ControllerOperatingMode.Auto)
// {
// Mastership m = Mastership.Request(this._controller.Rapid);
// tasks[0].Stop(StopMode.Immediate);
// m.Dispose();
// }
// else
// {
// MessageBox.Show("Automatic mode is required to start execution from a remote client.");
// }
//}
//catch (System.InvalidOperationException ex)
//{
// MessageBox.Show("Mastership is held by another client. " + ex.Message);
//}
//catch (System.Exception ex)
//{
// MessageBox.Show("Unexpected error occurred: " + ex.Message);
//}
}