public static void BotEvaluateScript(string str)
{
if (webSocketState == 2 && !rebooting)
{
bot.EvaluateScript(str);
}
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
onMessageCallback = new HandleMessage(HandleMessageCB);
bot.SetOnMessageCB(IntPtr.Zero, onMessageCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 0, IntPtr.Zero, slavesRespondingCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
targetPositionCallback = new HandleMessage(TargetPositionCB);
bot.SetTagCB("target_position.1.1", 0, IntPtr.Zero, targetPositionCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
profileVelocityCallback = new HandleMessage(ProfileVelocityCB);
bot.SetTagCB("profile_velocity.1.1", 0, IntPtr.Zero, profileVelocityCallback);
profileAccelerationCallback = new HandleMessage(ProfileAccelerationCB);
bot.SetTagCB("profile_acceleration.1.1", 0, IntPtr.Zero, profileAccelerationCallback);
deployedCallback = new HandleMessage(DeployedCB);
bot.SetTagCB("deployed", 0, IntPtr.Zero, deployedCallback);
endOfProgramCallback = new HandleMessage(EndOfProgramCB);
bot.SetTagCB("end-of-program", 0, IntPtr.Zero, endOfProgramCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links");
bot.EvaluateScript("1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void textBoxScript_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.ShiftKey)
{
preventEvaluate = false;
}
else if (e.KeyCode == Keys.Enter && !preventEvaluate)
{
botnana.EvaluateScript((sender as TextBox).Text);
(sender as TextBox).Text = "";
}
}
private void Form1_Load(object sender, EventArgs e)
{
bot = new Botnana("192.168.7.2");
onWsErrorCallback = new HandleMessage(OnWsErrorCB);
bot.SetOnErrorCB(IntPtr.Zero, onWsErrorCallback);
sdoIndexCallback = new HandleMessage(SdoIndexCB);
bot.SetTagCB("sdo_index.1", 0, IntPtr.Zero, sdoIndexCallback);
sdoSubindexCallback = new HandleMessage(SdoSubindexCB);
bot.SetTagCB("sdo_subindex.1", 0, IntPtr.Zero, sdoSubindexCallback);
sdoErrorCallback = new HandleMessage(SdoErrorCB);
bot.SetTagCB("sdo_error.1", 0, IntPtr.Zero, sdoErrorCallback);
sdoBusyCallback = new HandleMessage(SdoBusyCB);
bot.SetTagCB("sdo_busy.1", 0, IntPtr.Zero, sdoBusyCallback);
sdoDataCallback = new HandleMessage(SdoDataCB);
bot.SetTagCB("sdo_data.1", 0, IntPtr.Zero, sdoDataCallback);
realPositionCallback = new HandleMessage(RealPositionCB);
bot.SetTagCB("real_position.1.1", 0, IntPtr.Zero, realPositionCallback);
digitalInputsCallback = new HandleMessage(DigitalInputsCB);
bot.SetTagCB("digital_inputs.1.1", 0, IntPtr.Zero, digitalInputsCallback);
opModeCallback = new HandleMessage(OpModeCB);
bot.SetTagCB("operation_mode.1.1", 0, IntPtr.Zero, opModeCallback);
statusWordCallback = new HandleMessage(StatusWordCB);
bot.SetTagCB("status_word.1.1", 0, IntPtr.Zero, statusWordCallback);
errorCallback = new HandleMessage(ErrorCB);
bot.SetTagCB("error", 0, IntPtr.Zero, errorCallback);
homingCallback = new HandleMessage(HomingCB);
bot.SetTagCB("homing", 0, IntPtr.Zero, homingCallback);
slavesRespondingCallback = new HandleMessage(SlavesRespondingCB);
bot.SetTagCB("slaves_responding", 1, IntPtr.Zero, slavesRespondingCallback);
bot.Connect();
Thread.Sleep(1000);
bot.EvaluateScript(".ec-links 0 $60B8 1 sdo-upload-i16 1 .slave");
timer1.Interval = 50;
timer1.Enabled = true;
}
private void timer1_Tick(object sender, EventArgs e)
{
if (slaveLen > 0)
{
bot.EvaluateScript("1 .sdo 1 .slave-diff");
textSDOAddress.Text = sdoIndex.ToString("X4") + ":" + sdoSubindex.ToString("X2");
textSDOError.Text = sdoErrorStr;
textSDOBusy.Text = sdoBusyStr;
textSDOData.Text = sdoData.ToString();
textRealPosition.Text = realPositionStr;
textDigitalInputs.Text = digitalInputsStr;
textOPMode.Text = opModeStr;
textStatusWord.Text = statusWordStr;
// 如果SDO 已經設定完成
if (sdoBusyStr == "false")
{
if (hasNewSetting)
{
// 如果有新的設定值,就設定 0x60B8 暫存器
bot.EvaluateScript(newSetting.ToString() + " 0 $60B8 1 sdo-download-i16");
hasNewSetting = false;
}
else if (sdoIndex == 0x60B8)
{
// 依 60B8 的讀值設定畫面上的 radio 元件
if (!isInited)
{
newSetting = sdoData;
radioTp1Enable.Checked = (sdoData & 0x1) != 0;
radioTp1Cont.Checked = (sdoData & 0x2) != 0;
radioTp1Rising.Checked = (sdoData & 0x10) != 0;
radioTp1Falling.Checked = (sdoData & 0x20) != 0;
radioTp2Enable.Checked = (sdoData & 0x100) != 0;
radioTp2Cont.Checked = (sdoData & 0x200) != 0;
radioTp2Rising.Checked = (sdoData & 0x1000) != 0;
radioTp2Falling.Checked = (sdoData & 0x2000) != 0;
isInited = true;
}
// 使用 SDO 取回 0x60B9 (Touch porbe status) 暫存器內容
bot.EvaluateScript("0 $60B9 1 sdo-upload-i16");
}
else if (sdoIndex == 0x60B9)
{
// 依 60B9 的讀值設定畫面上的 radio 元件
radioTp1Enabled.Checked = (sdoData & 0x1) != 0;
radioTp1HasRising.Checked = (sdoData & 0x2) != 0;
radioTp1HasFalling.Checked = (sdoData & 0x4) != 0;
radioTp2Enabled.Checked = (sdoData & 0x100) != 0;
radioTp2HasRising.Checked = (sdoData & 0x200) != 0;
radioTp2HasFalling.Checked = (sdoData & 0x400) != 0;
// 使用 SDO 取回 0x60BA (Touch probe pos1 pos value) 暫存器內容
bot.EvaluateScript("0 $60BA 1 sdo-upload-i32");
}
else if (sdoIndex == 0x60BA)
{
// 更新 Touch probe pos1 pos value 的 text 元件
textTp1Pos1.Text = sdoData.ToString();
// 使用 SDO 取回 0x60BB (Touch probe pos1 neg value) 暫存器內容
bot.EvaluateScript("0 $60BB 1 sdo-upload-i32");
}
else if (sdoIndex == 0x60BB)
{
// 更新 Touch probe pos1 neg value 的 text 元件
textTp1Pos2.Text = sdoData.ToString();
// 使用 SDO 取回 0x60BC (Touch probe pos2 pos value) 暫存器內容
bot.EvaluateScript("0 $60BC 1 sdo-upload-i32");
}
else if (sdoIndex == 0x60BC)
{
// 更新 Touch probe pos2 pos value 的 text 元件
textTp2Pos1.Text = sdoData.ToString();
// 使用 SDO 取回 0x60BD (Touch probe pos2 neg value) 暫存器內容
bot.EvaluateScript("0 $60BD 1 sdo-upload-i32");
}
else if (sdoIndex == 0x60BD)
{
// 更新 Touch probe pos2 neg value 的 text 元件
textTp2Pos2.Text = sdoData.ToString();
// 使用 SDO 取回 0x60B9 (Touch porbe status) 暫存器內容
bot.EvaluateScript("0 $60B9 1 sdo-upload-i16");
}
}
}
}
public FormApp()
{
InitializeComponent();
bot = new Botnana("192.168.7.2");
// 啟動終端機，可幫助除錯，若不使用可不啟動。
RunConsole();
// On WebSocket open callback.
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
rebooting = false;
BeginInvoke(new Appdeg(() =>
{
buttonWSState.Text = "WebSocket ready";
buttonWSState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .device-infos 取得周邊裝置的資訊
// .user-para 回應的訊息範例如下:
// user_parameter|0
bot.EvaluateScript(@"user-para@ 32 min user-para! .user-para");
Console.WriteLine("WebSocket connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// On WebSocket error callback.
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
slavesCount = 0;
hasSFC = false;
BeginInvoke(new Appdeg(() => {
buttonWSState.Text = "WebSocket not ready";
buttonWSState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
formTorque.Reset();
formFeeder.Reset();
formRCON.Reset();
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// On Message callback.
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// On Error tag callback
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (errorsLen < 3)
{
errorsLen += 1;
new Thread(() =>
{
System.Windows.Forms.MessageBox.Show("Error|" + str);
errorsLen -= 1;
}).Start();
}
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// On user_parameter tag callback.
onUserParameter = new HandleMessage((IntPtr dataPtr, string str) =>
{
switch (Int32.Parse(str))
{
case 0:
Console.WriteLine("OnUserParameterCallback 0");
if (webSocketState == 2 && !rebooting)
{
// 設定 user parameter 為 16，如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
bot.EvaluateScript(@"ignore-overrun 0sfc -work marker -work");
bot.LoadSFC(@"config.fs");
bot.LoadSFC(@"sdo.fs");
bot.LoadSFC(@"torque.fs");
bot.LoadSFC(@"feeder.fs");
bot.LoadSFC(@"rcon.fs");
bot.LoadSFC(@"manager.fs");
bot.EvaluateScript(@"marker -app .user-para");
}
break;
case 16:
Console.WriteLine("OnUserParameterCallback 16");
// 載入後執行 `reset-overrun`
BotEvaluateScript(@"reset-overrun 32 user-para! .user-para");
break;
case 32:
Console.WriteLine("OnUserParameterCallback 32");
formTorque.Initialize();
formFeeder.Initialize();
formRCON.Initialize();
BotEvaluateScript(@"+coordinator 64 user-para! .user-para");
break;
case 64:
Console.WriteLine("OnUserParameterCallback 64");
hasSFC = true;
break;
default:
break;
}
});
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// On ec_ready tag callback.
onECReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "1")
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onECReady);
// On slaves_responding tag callback.
onSlavesResponding = new HandleMessage((IntPtr dataPtr, string str) =>
{
slavesCount = int.Parse(str);
});
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// On system_ready tag callback.
onSystemReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "-1")
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System ready";
buttonSystemReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
formTorque = new FormTorque();
formFeeder = new FormFeeder();
formRCON = new FormRCON();
}
private void Form1_Load(object sender, EventArgs e)
{
Process thisProc = Process.GetCurrentProcess();
thisProc.PriorityClass = ProcessPriorityClass.RealTime;
mcsPositions = new double[3];
pcsPositions = new double[3];
pva = new double[3];
axisHomed = new int[3];
axisRealPositions = new double[3];
axisHomingV1 = new UInt32[3];
axisHomingV2 = new UInt32[3];
axisHomingMethod = new UInt32[3];
// 首先要連線到 Botnana Control, 當收到 WS 連線錯誤, 就呼叫 on_error_callback
bot = new Botnana("192.168.7.2");
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// 當收到 Botnana Control 的訊息, 就呼叫 on_message_callback
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// 定義收到信息中指定的 Tag 時，所要呼叫的 callback 信息
bot.SetTagCB("MCS.1", 0, IntPtr.Zero, onMcs);
bot.SetTagCB("PCS.1", 0, IntPtr.Zero, onPcs);
bot.SetTagCB("pva.1", 0, IntPtr.Zero, onPva);
bot.SetTagCB("move_length.1", 0, IntPtr.Zero, onMoveLength);
bot.SetTagCB("path_id.1", 0, IntPtr.Zero, onPathId);
bot.SetTagCB("servo_on", 0, IntPtr.Zero, onServoOn);
bot.SetTagCB("motion_state", 0, IntPtr.Zero, onMotionState);
bot.SetTagCB("axis_corrected_position.1", 0, IntPtr.Zero, onAxisRealPositionX);
bot.SetTagCB("axis_corrected_position.2", 0, IntPtr.Zero, onAxisRealPositionY);
bot.SetTagCB("axis_corrected_position.3", 0, IntPtr.Zero, onAxisRealPositionZ);
bot.SetTagCB("axis_homed.1", 0, IntPtr.Zero, onAxisHomedX);
bot.SetTagCB("axis_homed.2", 0, IntPtr.Zero, onAxisHomedY);
bot.SetTagCB("axis_homed.3", 0, IntPtr.Zero, onAxisHomedZ);
bot.SetTagCB("nc_owner", 0, IntPtr.Zero, onNcOwner);
bot.SetTagCB("nc_suspended", 0, IntPtr.Zero, onNcSuspended);
bot.SetTagCB("devices_ok", 0, IntPtr.Zero, onDevicesOk);
bot.SetTagCB("monitor_failed", 0, IntPtr.Zero, onMonitorFailed);
bot.SetTagCB("rapid_travels_rate", 0, IntPtr.Zero, onRapidTravelsRate);
bot.SetTagCB("machining_rate", 0, IntPtr.Zero, onMachiningRate);
bot.SetTagCB("axis_homing_v1.1", 0, IntPtr.Zero, onAxisHomingV1X);
bot.SetTagCB("axis_homing_v1.2", 0, IntPtr.Zero, onAxisHomingV1Y);
bot.SetTagCB("axis_homing_v1.3", 0, IntPtr.Zero, onAxisHomingV1Z);
bot.SetTagCB("axis_homing_v2.1", 0, IntPtr.Zero, onAxisHomingV2X);
bot.SetTagCB("axis_homing_v2.2", 0, IntPtr.Zero, onAxisHomingV2Y);
bot.SetTagCB("axis_homing_v2.3", 0, IntPtr.Zero, onAxisHomingV2Z);
bot.SetTagCB("axis_homing_method.1", 0, IntPtr.Zero, onAxisHomingMethodX);
bot.SetTagCB("axis_homing_method.2", 0, IntPtr.Zero, onAxisHomingMethodY);
bot.SetTagCB("axis_homing_method.3", 0, IntPtr.Zero, onAxisHomingMethodZ);
bot.SetTagCB("error", 0, IntPtr.Zero, onError);
bot.SetTagCB("log", 0, IntPtr.Zero, onLog);
bot.SetTagCB("user_parameter", 0, IntPtr.Zero, onUserParameter);
bot.SetTagCB("deployed", 0, IntPtr.Zero, onDeployed);
bot.Connect();
Thread.Sleep(1000);
// 要求 Botnana Control 送出 user parameter 訊息
bot.EvaluateScript(".user-para");
// 初始化 NC program 內容
DataGridViewRowCollection rows = ncProgram.Rows;
rows.Add(new Object[] { "1", "92", "0.0", "0.0", "0.0", "900.0" });
rows.Add(new Object[] { "2", "01", "10", null, null, "500" });
rows.Add(new Object[] { "3", "01", "20", null, null, "500" });
rows.Add(new Object[] { "4", "01", "30", null, null, "500" });
rows.Add(new Object[] { "5", "01", "40", null, null, "500" });
rows.Add(new Object[] { "6", "01", "50", null, null, "600" });
rows.Add(new Object[] { "7", "01", "60", null, null, "700" });
rows.Add(new Object[] { "8", "01", "70", null, null, "800" });
rows.Add(new Object[] { "9", "01", "80", null, null, "900" });
rows.Add(new Object[] { "10", "01", "90", null, null, "1000" });
// 設置 timer
timer1.Interval = 50;
timer1.Enabled = true;
timer2.Interval = 500;
timer2.Enabled = true;
}
private void OnWSOpenCB(IntPtr ptr, string data)
{
bot.EvaluateScript(".user-para");
wsReady = true;
}
private void OnWsOpenCB(IntPtr dataPtr, string str)
{
wsState = 2;
botnana.EvaluateScript(".user-para");
}
private void UpdateData()
{
botnana.EvaluateScript(slaveNumber.ToString() + @" .sdo");
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
//EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.EvaluateScript("-work marker -work");
bot.LoadSFC(@"SDOUploadList.sfc");
// 等待 SFC 設置完成
Thread.Sleep(100);
// 設定 SDOUploadList.sfc 中的 AIN 與 AOUT 模組的站號
bot.EvaluateScript(DeltaAinSlavePosStr + " ain-slave-pos! " + DeltaAoutSlavePosStr + " aout-slave-pos! ");
// send-param-request 是要求 AIN, AOUT 模組送回目前模式設定
// 回傳的資料範例如下:
// aout1_mode|3
// aout2_mode|1
// aout3_mode|0
// aout4_mode|0
// ain_mode|1
bot.EvaluateScript("reset-overrun send-param-request");
break;
default:
break;
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (slavesCount > 0)
{
if (hasSlaveInfo)
{
bot.EvaluateScript("2 .slave-diff 3 .slave-diff");
}
else
{
bot.EvaluateScript("2 .slave 3 .slave");
hasSlaveInfo = true;
}
}
labMessageCount.Text = messageCount.ToString("X2");
textSlavesCount.Text = slavesCount.ToString();
textSlavesState.Text = slavesState.ToString();
checkDo1.Checked = (doWord & 0x1) != 0;
checkDo2.Checked = (doWord & 0x2) != 0;
checkDo3.Checked = (doWord & 0x4) != 0;
checkDo4.Checked = (doWord & 0x8) != 0;
checkDo5.Checked = (doWord & 0x10) != 0;
checkDo6.Checked = (doWord & 0x20) != 0;
checkDo7.Checked = (doWord & 0x40) != 0;
checkDo8.Checked = (doWord & 0x80) != 0;
checkDo9.Checked = (doWord & 0x100) != 0;
checkDo10.Checked = (doWord & 0x200) != 0;
checkDo11.Checked = (doWord & 0x400) != 0;
checkDo12.Checked = (doWord & 0x800) != 0;
checkDo13.Checked = (doWord & 0x1000) != 0;
checkDo14.Checked = (doWord & 0x2000) != 0;
checkDo15.Checked = (doWord & 0x4000) != 0;
checkDo16.Checked = (doWord & 0x8000) != 0;
checkDi1.Checked = (diWord & 0x1) != 0;
checkDi2.Checked = (diWord & 0x2) != 0;
checkDi3.Checked = (diWord & 0x4) != 0;
checkDi4.Checked = (diWord & 0x8) != 0;
checkDi5.Checked = (diWord & 0x10) != 0;
checkDi6.Checked = (diWord & 0x20) != 0;
checkDi7.Checked = (diWord & 0x40) != 0;
checkDi8.Checked = (diWord & 0x80) != 0;
checkDi9.Checked = (diWord & 0x100) != 0;
checkDi10.Checked = (diWord & 0x200) != 0;
checkDi11.Checked = (diWord & 0x400) != 0;
checkDi12.Checked = (diWord & 0x800) != 0;
checkDi13.Checked = (diWord & 0x1000) != 0;
checkDi14.Checked = (diWord & 0x2000) != 0;
checkDi15.Checked = (diWord & 0x4000) != 0;
checkDi16.Checked = (diWord & 0x8000) != 0;
}
public void OnWSOpenCallback(IntPtr dataPtr, string data)
{
wsState = 2;
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .devices-info 取得周邊裝置的資訊
bot.EvaluateScript("user-para@ 32 min user-para! .user-para");
}
private void buttonDisableCoordinator_Click(object sender, EventArgs e)
{
bot.EvaluateScript("-coordinator");
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
//EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.EvaluateScript("-work marker -work");
bot.LoadSFC(@"..\..\positionComparsion.sfc");
// 等待 SFC 設置完成
has_updated = true;
Thread.Sleep(10);
bot.EvaluateScript("reset-overrun");
break;
default:
break;
}
}
public void OnWSOpenCallback(IntPtr dataPtr, string data)
{
wsState = 2;
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
bot.EvaluateScript(".user-para");
}
private void StrSetParamByParserUInt(string value, string cmd, Action <uint, int> configset, ParseCheck.ParseFunc <string, UInt32> parser)
{
UInt32 val;
if (parser(value, out val))
{
botnana.EvaluateScript(value + @" " + axisNumber.ToString() + @" " + cmd);
configset(axisNumber, (Int32)val);
}
botnana.EvaluateScript(axisNumber.ToString() + @" .axiscfg");
botnana.ConfigAxisGet(axisNumber);
}
private void timer1_Tick(object sender, EventArgs e)
{
textSlaveCount.Text = slaveCount.ToString();
if (slaveCount > 0)
{
bot.EvaluateScript("1 .slave-diff");
textSlaveCount.Text = slaveCount.ToString();
if (profileVelocityChanging == false)
{
textProfileVelocity.Text = profileVelocityStr;
}
if (profileAccelerationChanging == false)
{
textProfileAcceleration.Text = profileAccelerationStr;
}
textRealPosition.Text = realPositionStr;
textTargetPosition.Text = targetPositionStr;
textOPMode.Text = opModeStr;
radioFault.Checked = driveFault;
radioTargetReached.Checked = targetReached;
radioServoOn.Checked = !quickStopRequest & servoOn;
radioServoStop.Checked = quickStopRequest & servoOn;
radioOrg.Checked = driveOrg;
radioPosLimit.Checked = drivePl;
radioNegLimit.Checked = driveNl;
labCount.Text = messageIndex.ToString("X2");
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (slaveNumber != 0 && channelNumber != 0)
{
botnana.EvaluateScript(slaveNumber.ToString() + @" .slave-diff");
}
}
private void OnWSOpenCallback(IntPtr dataPtr, string data)
{
wsState = 2;
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .device-infos 取得周邊裝置的資訊
// .user-para 回應的訊息範例如下:
// user_parameter|0
bot.EvaluateScript(@"user-para@ 32 min user-para! .user-para");
}
private static void OnUserParameterCB(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
bot.EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.LoadSFC(@"..\..\config.sfc");
bot.LoadSFC(@"..\..\servo_on_off.sfc");
bot.LoadSFC(@"..\..\homing.sfc");
bot.LoadSFC(@"..\..\motion_state.sfc");
bot.LoadSFC(@"..\..\manager.sfc");
// 等待 SFC 設置完成
Thread.Sleep(500);
bot.EvaluateScript("reset-overrun");
break;
default:
break;
}
hasSFC = true;
}