private void Poll() { double nidbuff = double.MaxValue; DateTime dt = DateTime.Now; while (!bExit) { if (ReadCount - ChartCount < 99 && !Pause) { byte[] data = sc.GetAppdata(); double nid = (DateTime.Now - dt).TotalSeconds; if (!GetDataByTime) { nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data)); } double nSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", StaubliXML.Byte2xd(data)); if (nid != nidbuff && nid > 0) { nidbuff = nid; speeddata[ReadCount % 100, 0] = nid; speeddata[ReadCount % 100, 1] = nSpeed; ReadCount++; } } System.Threading.Thread.Sleep(polltime); } }
private void Poll() { double nidbuff = double.MaxValue; DateTime dt = DateTime.Now; while (!bExit) { if (ReadCount - ChartCount < 99 && !Pause) { byte[] data = sc.GetAppdata(); double nid = (DateTime.Now - dt).TotalSeconds; if (!GetDataByTime) { nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data)); } double[] nJointForce = StaubliXML.GetXMLDoubleArray("nJointForce", StaubliXML.Byte2xd(data)); if (nid != nidbuff && nid > 0) { nidbuff = nid; speeddata[ReadCount % 100, 0] = nid; if (nJointForce == null) { nJointForce = new double[6]; } for (int i = 0; i < nJointForce.Length; i++) { speeddata[ReadCount % 100, 1 + i] = nJointForce[i]; } ReadCount++; } } System.Threading.Thread.Sleep(polltime); } }