/// <summary>
/// Метод изменения значения сигнала
/// </summary>
/// <param name="robot">экземпляр подключения к роботу</param>
/// <param name="ioTypeConstant">константа типа сигнала</param>
/// <param name="index">индекс сигнала, значение которое нужно изменить</param>
/// <param name="value">новое значение сигнала</param>
private async void SetSignalsIO(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long index, bool value)
{
try
{
if (robot.IsConnected)
{
switch (ioTypeConstant)
{
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
dioSignal.Value = value;
dioSignal.Update();
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uop = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
uop.Value = value;
uop.Update();
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sop = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
sop.Value = value;
sop.Update();
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal flagSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[index];
flagSignal.Value = value;
flagSignal.Update();
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
FRCRobotIOSignal rd = (FRCRobotIOSignal)((FRCRobotIOType)robot.IOTypes[ioTypeConstant]).Signals[index];
rd.Value = value;
rd.Update();
break;
}
}
}
catch (Exception e)
{
MessageBox.Show(e.Message, "Ошибка", MessageBoxButton.OK, MessageBoxImage.Error);
Signals.Clear();
await GetSignalsIO(robot, ioTypeConstant);
}
}
/// <summary>
/// Gets the FRCIOSignal of FREIOTypeConstants at ioIndex. It is recommended that you typecast the returned FRCIOSignal to the correct IO signal type.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public FRCIOSignal GetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frFlagType:
((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
return(((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frMarkerType:
((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frMaxIOType:
return(new FRCIOSignal()); // There is no FRCMaxIOType.
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
return(new FRCIOSignal()); // There is no FRCRDIOType.
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return(((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex]);
default:
return(new FRCIOSignal());
break;
}
}
return(new FRCIOSignal());
}
catch (Exception e)
{
return(new FRCIOSignal());
}
}
public void RobotIO_Change(FRCIOSignal ioSender, FREIOTypeConstants ioTypeConstant)
{
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
break;
case FREIOTypeConstants.frFlagType:
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
break;
case FREIOTypeConstants.frMarkerType:
break;
case FREIOTypeConstants.frMaxIOType:
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
break;
default:
return;
break;
}
}
/// <summary>
/// Sets the FRCIOSignal of FREIOTypeConstants at ioIndex.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public void SetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex, FRCIOSignal ioSignal)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
FRCAnalogIOSignal aioSignal = (FRCAnalogIOSignal)((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
aioSignal.Comment = ((FRCAnalogIOSignal)ioSignal).Comment;
aioSignal.Value = ((FRCAnalogIOSignal)ioSignal).Value;
aioSignal.Update();
return;
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
dioSignal.Comment = ((FRCDigitalIOSignal)ioSignal).Comment;
dioSignal.Value = ((FRCDigitalIOSignal)ioSignal).Value;
dioSignal.Update();
return;
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal fioSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
fioSignal.Comment = ((FRCFlagSignal)ioSignal).Comment;
fioSignal.Value = ((FRCFlagSignal)ioSignal).Value;
fioSignal.Update();
return;
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
FRCGroupIOSignal gioSignal = (FRCGroupIOSignal)((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
gioSignal.Comment = ((FRCGroupIOSignal)ioSignal).Comment;
gioSignal.Value = ((FRCGroupIOSignal)ioSignal).Value;
gioSignal.Update();
return;
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
FRCLaserAnalogIOSignal laioSignal = (FRCLaserAnalogIOSignal)((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
laioSignal.Comment = ((FRCLaserAnalogIOSignal)ioSignal).Comment;
laioSignal.Value = ((FRCLaserAnalogIOSignal)ioSignal).Value;
laioSignal.Update();
return;
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
FRCLaserDigitalIOSignal ldioSignal = (FRCLaserDigitalIOSignal)((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
ldioSignal.Comment = ((FRCLaserDigitalIOSignal)ioSignal).Comment;
ldioSignal.Value = ((FRCLaserDigitalIOSignal)ioSignal).Value;
ldioSignal.Update();
return;
break;
case FREIOTypeConstants.frMarkerType:
FRCMarkerSignal mrkioSignal = (FRCMarkerSignal)((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
mrkioSignal.Comment = ((FRCMarkerSignal)ioSignal).Comment;
mrkioSignal.Value = ((FRCMarkerSignal)ioSignal).Value;
mrkioSignal.Update();
return;
break;
case FREIOTypeConstants.frMaxIOType:
// There is no FRCMaxIOType.
return;
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
FRCPLCIOSignal plcioSignal = (FRCPLCIOSignal)((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
plcioSignal.Comment = ((FRCPLCIOSignal)ioSignal).Comment;
plcioSignal.Value = ((FRCPLCIOSignal)ioSignal).Value;
plcioSignal.Update();
return;
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
// There is no FRCRDIOType.
return;
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sopioSignal = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
sopioSignal.Comment = ((FRCSOPIOSignal)ioSignal).Comment;
sopioSignal.Value = ((FRCSOPIOSignal)ioSignal).Value;
sopioSignal.Update();
return;
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
FRCTPIOSignal tpioSignal = (FRCTPIOSignal)((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
tpioSignal.Comment = ((FRCTPIOSignal)ioSignal).Comment;
tpioSignal.Value = ((FRCTPIOSignal)ioSignal).Value;
tpioSignal.Update();
return;
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uopioSignal = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
uopioSignal.Comment = ((FRCUOPIOSignal)ioSignal).Comment;
uopioSignal.Value = ((FRCUOPIOSignal)ioSignal).Value;
return;
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
FRCWeldDigitalIOSignal wdioSignal = (FRCWeldDigitalIOSignal)((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wdioSignal.Comment = ((FRCWeldDigitalIOSignal)ioSignal).Comment;
wdioSignal.Value = ((FRCWeldDigitalIOSignal)ioSignal).Value;
wdioSignal.Update();
return;
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
FRCWeldStickIOSignal wsioSignal = (FRCWeldStickIOSignal)((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wsioSignal.Comment = ((FRCWeldStickIOSignal)ioSignal).Comment;
wsioSignal.Value = ((FRCWeldStickIOSignal)ioSignal).Value;
wsioSignal.Update();
return;
break;
default:
return;
break;
}
}
return;
}
catch (Exception e)
{
return;
}
}
/// <summary>
/// Gets the FRCIOSignal of FREIOTypeConstants at ioIndex. It is recommended that you typecast the returned FRCIOSignal to the correct IO signal type.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public FRCIOSignal GetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frFlagType:
((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
return ((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frMarkerType:
((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frMaxIOType:
return new FRCIOSignal(); // There is no FRCMaxIOType.
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
return new FRCIOSignal(); // There is no FRCRDIOType.
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex].Refresh();
return ((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
default:
return new FRCIOSignal();
break;
}
}
return new FRCIOSignal();
}
catch (Exception e)
{
return new FRCIOSignal();
}
}
/// <summary>
/// Sets the FRCIOSignal of FREIOTypeConstants at ioIndex.
/// </summary>
/// <param name="robot">FRCRobot object that is connected to the robot.</param>
/// <param name="ioTypeConstant">The intended IO type constant from FREIOTypeConstants.</param>
/// <param name="dioIndex">The index of the digital out signal to get.</param>
/// <returns></returns>
public void SetRobotIOSignal(FRCRobot robot, FREIOTypeConstants ioTypeConstant, long ioIndex, FRCIOSignal ioSignal)
{
try
{
if (robot.IsConnected)
{
// Stacked case statements create the logical OR condition.
// http://stackoverflow.com/questions/848472/how-add-or-in-switch-statements
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
FRCAnalogIOSignal aioSignal = (FRCAnalogIOSignal)((FRCAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
aioSignal.Comment = ((FRCAnalogIOSignal)ioSignal).Comment;
aioSignal.Value = ((FRCAnalogIOSignal)ioSignal).Value;
aioSignal.Update();
return;
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
FRCDigitalIOSignal dioSignal = (FRCDigitalIOSignal)((FRCDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
dioSignal.Comment = ((FRCDigitalIOSignal)ioSignal).Comment;
dioSignal.Value = ((FRCDigitalIOSignal)ioSignal).Value;
dioSignal.Update();
return;
break;
case FREIOTypeConstants.frFlagType:
FRCFlagSignal fioSignal = (FRCFlagSignal)((FRCFlagType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
fioSignal.Comment = ((FRCFlagSignal)ioSignal).Comment;
fioSignal.Value = ((FRCFlagSignal)ioSignal).Value;
fioSignal.Update();
return;
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
FRCGroupIOSignal gioSignal = (FRCGroupIOSignal)((FRCGroupIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
gioSignal.Comment = ((FRCGroupIOSignal)ioSignal).Comment;
gioSignal.Value = ((FRCGroupIOSignal)ioSignal).Value;
gioSignal.Update();
return;
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
FRCLaserAnalogIOSignal laioSignal = (FRCLaserAnalogIOSignal)((FRCLaserAnalogIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
laioSignal.Comment = ((FRCLaserAnalogIOSignal)ioSignal).Comment;
laioSignal.Value = ((FRCLaserAnalogIOSignal)ioSignal).Value;
laioSignal.Update();
return;
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
FRCLaserDigitalIOSignal ldioSignal = (FRCLaserDigitalIOSignal)((FRCLaserDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
ldioSignal.Comment = ((FRCLaserDigitalIOSignal)ioSignal).Comment;
ldioSignal.Value = ((FRCLaserDigitalIOSignal)ioSignal).Value;
ldioSignal.Update();
return;
break;
case FREIOTypeConstants.frMarkerType:
FRCMarkerSignal mrkioSignal = (FRCMarkerSignal)((FRCMarkerType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
mrkioSignal.Comment = ((FRCMarkerSignal)ioSignal).Comment;
mrkioSignal.Value = ((FRCMarkerSignal)ioSignal).Value;
mrkioSignal.Update();
return;
break;
case FREIOTypeConstants.frMaxIOType:
// There is no FRCMaxIOType.
return;
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
FRCPLCIOSignal plcioSignal = (FRCPLCIOSignal)((FRCPLCIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
plcioSignal.Comment = ((FRCPLCIOSignal)ioSignal).Comment;
plcioSignal.Value = ((FRCPLCIOSignal)ioSignal).Value;
plcioSignal.Update();
return;
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
// There is no FRCRDIOType.
return;
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOSignal sopioSignal = (FRCSOPIOSignal)((FRCSOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
sopioSignal.Comment = ((FRCSOPIOSignal)ioSignal).Comment;
sopioSignal.Value = ((FRCSOPIOSignal)ioSignal).Value;
sopioSignal.Update();
return;
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
FRCTPIOSignal tpioSignal = (FRCTPIOSignal)((FRCTPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
tpioSignal.Comment = ((FRCTPIOSignal)ioSignal).Comment;
tpioSignal.Value = ((FRCTPIOSignal)ioSignal).Value;
tpioSignal.Update();
return;
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOSignal uopioSignal = (FRCUOPIOSignal)((FRCUOPIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
uopioSignal.Comment = ((FRCUOPIOSignal)ioSignal).Comment;
uopioSignal.Value = ((FRCUOPIOSignal)ioSignal).Value;
return;
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
FRCWeldDigitalIOSignal wdioSignal = (FRCWeldDigitalIOSignal)((FRCWeldDigitalIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wdioSignal.Comment = ((FRCWeldDigitalIOSignal)ioSignal).Comment;
wdioSignal.Value = ((FRCWeldDigitalIOSignal)ioSignal).Value;
wdioSignal.Update();
return;
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
FRCWeldStickIOSignal wsioSignal = (FRCWeldStickIOSignal)((FRCWeldStickIOType)robot.IOTypes[ioTypeConstant]).Signals[ioIndex];
wsioSignal.Comment = ((FRCWeldStickIOSignal)ioSignal).Comment;
wsioSignal.Value = ((FRCWeldStickIOSignal)ioSignal).Value;
wsioSignal.Update();
return;
break;
default:
return;
break;
}
}
return;
}
catch (Exception e)
{
return;
}
}
public void RobotIO_Change(FRCIOSignal ioSender, FREIOTypeConstants ioTypeConstant)
{
switch (ioTypeConstant)
{
case FREIOTypeConstants.frAInType:
case FREIOTypeConstants.frAOutType:
break;
case FREIOTypeConstants.frDInType:
case FREIOTypeConstants.frDOutType:
break;
case FREIOTypeConstants.frFlagType:
break;
case FREIOTypeConstants.frGPInType:
case FREIOTypeConstants.frGPOutType:
break;
case FREIOTypeConstants.frLAInType:
case FREIOTypeConstants.frLAOutType:
break;
case FREIOTypeConstants.frLDInType:
case FREIOTypeConstants.frLDOutType:
break;
case FREIOTypeConstants.frMarkerType:
break;
case FREIOTypeConstants.frMaxIOType:
break;
case FREIOTypeConstants.frPLCInType:
case FREIOTypeConstants.frPLCOutType:
break;
case FREIOTypeConstants.frRDInType:
case FREIOTypeConstants.frRDOutType:
break;
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
break;
case FREIOTypeConstants.frTPInType:
case FREIOTypeConstants.frTPOutType:
break;
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
break;
case FREIOTypeConstants.frWDInType:
case FREIOTypeConstants.frWDOutType:
break;
case FREIOTypeConstants.frWSTKInType:
case FREIOTypeConstants.frWSTKOutType:
break;
default:
return;
break;
}
}
/// <summary>
/// Получение списка сигналов и передача в список Signals
/// </summary>
/// <param name="robot">экземпляр подключения к роботу</param>
/// <param name="ioTypeConstant">константа типа сигналов</param>
/// <returns>возвращаемое значение-текущая задача</returns>
private async Task GetSignalsIO(FRCRobot robot, FREIOTypeConstants ioTypeConstant)
{
Task task = new Task(() =>
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
try
{
if (robot.IsConnected)
{
Signals.Clear();
switch (ioTypeConstant)
{
//DIN DOUT
case FREIOTypeConstants.frDOutType:
case FREIOTypeConstants.frDInType:
FRCDigitalIOType dioTypeIn = (FRCDigitalIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCDigitalIOSignal item in dioTypeIn.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//UI UO
case FREIOTypeConstants.frUOPInType:
case FREIOTypeConstants.frUOPOutType:
FRCUOPIOType TypeUO = (FRCUOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCUOPIOSignal item in TypeUO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value,
Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//SI SO
case FREIOTypeConstants.frSOPInType:
case FREIOTypeConstants.frSOPOutType:
FRCSOPIOType TypeSO = (FRCSOPIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCSOPIOSignal item in TypeSO.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//FLAG
case FREIOTypeConstants.frFlagType:
FRCFlagType TypeFlag = (FRCFlagType)robot.IOTypes[ioTypeConstant];
foreach (FRCFlagSignal item in TypeFlag.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
//RO RI
case FREIOTypeConstants.frRDOutType:
case FREIOTypeConstants.frRDInType:
FRCRobotIOType TypeRI = (FRCRobotIOType)robot.IOTypes[ioTypeConstant];
foreach (FRCRobotIOSignal item in TypeRI.Signals)
{
Signals.Add(new IOSignals {
NumberIO = item.LogicalNum, Status = item.Value, Comment = item.Comment, TypeConstants = ioTypeConstant
});
}
break;
}
}
}
catch (Exception e)
{
MessageBox.Show(e.Message, "Ошибка", MessageBoxButton.OK, MessageBoxImage.Error);
}
}));
}, TaskCreationOptions.LongRunning);
task.Start();
await task;
}
