//private RobotModel _myRobotModel;
public MainWindow()
{
InitializeComponent();
//_robotConnector = new RobotConnector("192.168.1.148", false);
//_robotConnector = new RobotConnector("172.16.74.129", false);
//_robotConnector = new RobotConnector("192.168.0.3", false);
//_myRobotModel = _robotConnector.RobotModel;
_hfi = new HFI("192.168.1.50");
_hfi.SetDigitalOut(0, true);
_hfi.SetDigitalOut(1, true);
_hfi.SetDigitalOut(2, true);
_hfi.SetDigitalOut(3, true);
//_robotConnector.RealTimeClient.Send("set_tcp(p[0.023, 0.053, 0.15, 0.000, 0.000, 0.000])");
//_robotConnector.DashboardClient.PowerOff();
//_robotConnector.DashboardClient.PowerOn();
//DistanceSensor distanceSensor = new DistanceSensor("StandardAnalogInput0");
//distanceSensor.TCP_Offset = new Vector6D(-0.012, 0.053, 0.051, 0, -0.018, 0.0);
//distanceSensor.MaximumCurrent = 20;
//distanceSensor.MinimumCurrent = 4;
//distanceSensor.MaximumDistance = 0.5;
//distanceSensor.MinimumDistance = 0.1;
//Type[] types = new Type[] { typeof(Vector6D)};
//XmlTextWriter textWriter = new XmlTextWriter("test.xml", Encoding.UTF8);
//XmlSerializer xmlSerializer = new XmlSerializer(typeof(DistanceSensor), types);
//xmlSerializer.Serialize(textWriter, distanceSensor);
//Thread.Sleep(2000);
}
/// <summary>
/// Read table info
/// </summary>
/// <param name="TableName"></param>
/// <param name="DatabaseFilePath"></param>
/// <returns></returns>
internal static HFI Read(string TableName, string DatabaseFilePath)
{
const string FuncErrCode=ClassErrCode+".0001";
try
{
HFI hfi = new HFI();
FileStream fs = FileStream2.NewFileStream(System.IO.Path.GetDirectoryName(DatabaseFilePath)+"\\"+TableName+".hfi",FileMode.Open,FileAccess.Read,FileShare.None);
BinaryReader br = new BinaryReader(fs);
if(br.ReadInt64()!=magic)
throw new Exception("HyperNetDatabase error: Magic failed.");
hfi.fatid = br.ReadInt64();
hfi.IndexingDirty = br.ReadBoolean();
hfi.rowseq = br.ReadInt64();
hfi.fieldseq = br.ReadInt64();
hfi.encrypted = br.ReadBoolean();
br.Close();
return hfi;
}
catch(Exception ex)
{
throw new Exception(ex.Message+"\n"+FuncErrCode+": Inner exception.");
}
}
