public Logic() { m = new ModBus(ip); AnalyzeURData.OnActualURPose += new AnalyzeURData.ActualURPoseEventHandler(GetCurrentURPose); //GeoMagicTouch.OnGeoPose += new GeoMagicTouch.GeoMagicPoseEventHandler(setGeoPose); URSocketListener socketListener = new URSocketListener(); socketThread = new Thread(() => socketListener.RunSocketListener(ip, new AutoResetEvent(false))); socketThread.IsBackground = true; socketThread.SetApartmentState(ApartmentState.STA); socketThread.Start(); ConfigurationData c = new ConfigurationData(); c.Speed = 0d; c.Acceleration = 0d; m.SendConfigurations(c); var config = m.GetConfigurations(); /*gmt = new GeoMagicTouch(); * * geoThread = new Thread(() => gmt.GeoListener()); * geoThread.IsBackground = true; * geoThread.SetApartmentState(ApartmentState.STA); * geoThread.Start();*/ }
public Logic() { m = new ModBus("10.0.0.1"); Misc.OnActualPose += new Misc.ActualURPoseEventHandler(setURPose); //Misc.OnActualJoint += new Misc.ActualURJointEventHandler(setURPose); GeoMagicTouch.OnGeoPose += new GeoMagicTouch.GeoMagicPoseEventHandler(setGeoPose); socketThread = new Thread(new ThreadStart(DATA.SocketListener.RunSocketListener)); socketThread.IsBackground = true; socketThread.SetApartmentState(ApartmentState.STA); socketThread.Start(); gmt = new GeoMagicTouch(); geoThread = new Thread(() => gmt.GeoListener()); geoThread.IsBackground = true; geoThread.SetApartmentState(ApartmentState.STA); geoThread.Start(); }