public void InitDataStream()
{
Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
rd_repeat = tRob1.GetRapidData("Module1", "repeat");
if (rd_repeat.Value is Bool)
{
repeatBool = (Bool)rd_repeat.Value;
}
rd_start = tRob1.GetRapidData("Module1", "flag");
if (rd_start.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_targetsNum = tRob1.GetRapidData("Module1", "targetsNum");
if (rd_targetsNum.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_speedLevel = tRob1.GetRapidData("Module1", "speedLevel");
if (rd_speedLevel.Value is Num)
{
speedLevel = (Num)rd_speedLevel.Value;
}
rd_targets = tRob1.GetRapidData("Module1", "tgPos");
if (rd_targets.IsArray)
{
targets = (ArrayData)rd_targets.Value;
int aRank = targets.Rank;
maxLength = targets.GetLength(aRank - 1);
ArrayModes am = targets.Mode;
Debug.WriteLine("ARRAY MODE! ::: " + am.ToString());
targets.Mode = ArrayModes.Dynamic;
}
else
{
MessageBox.Show("'targets' data is not array!");
}
if (rd_targets == null)
{
MessageBox.Show("'targets' data does not exist!");
}
}
}