private void btnStartPns0102_Click(object sender, EventArgs e)
{
if (this.task != null)
{
return;
}
this.task = MvaTask.RunLoop(() =>
{
//大迴圈, 來回一次
try
{
robotHandler.SgsVerifyStartPns0102(ri =>
{
this.Invoke(new Action(() =>
{
tbPoseX.Text = ri.x + "";
tbPoseY.Text = ri.y + "";
tbPoseZ.Text = ri.z + "";
tbPoseW.Text = ri.w + "";
tbPoseP.Text = ri.p + "";
tbPoseR.Text = ri.r + "";
}));
});
return(true);
}
catch (Exception ex)
{
this.LogWrite(ex.Message);
return(false);
}
}, 1000);
}
protected virtual void WriteAsyn(MvaLoggerEventArgs ea)
{
this.queue.Enqueue(ea);
if (!Monitor.TryEnter(this, 1000))
{
return;
}
try
{
//若還沒結束執行, 先return
if (this.task != null && !this.task.IsEnd())
{
return;
}
this.CloseTask();
this.task = MvaTask.RunLoop(() =>
{
MvaLoggerEventArgs myea;
lock (this)
{
if (!this.queue.TryDequeue(out myea))
{
return(true); //取不出來就下次再取
}
}
this.WriteSyn(myea);
//若Count等於零, 這個task會結束, IsEnd() = true
return(this.queue.Count > 0);
});
}
finally { Monitor.Exit(this); }
}
public int StartAsyn()
{
this.m_keepConnection = MvaTask.RunLoop(() =>
{
this.Write(EnumMacHalPlcVariable.PC_TO_PLC_CheckClock, false);
if (!SpinWait.SpinUntil(() => !this.Read <bool>(EnumMacHalPlcVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
return(false);
}
this.LockAssign(ref this.m_isConnected, true);
this.Write(EnumMacHalPlcVariable.PC_TO_PLC_CheckClock, true);
if (!SpinWait.SpinUntil(() => this.Read <bool>(EnumMacHalPlcVariable.PC_TO_PLC_CheckClock_Reply), 2500))
{
this.LockAssign(ref this.m_isConnected, false);
//throw new MvException("PLC connection T1 timeout");
return(false);
}
else
{
this.LockAssign(ref this.m_isConnected, true);
}
return(true);
}, 1000);
return(0);
}
private void Button4_Click(object sender, EventArgs e)
{
if (this.task != null)
{
return;
}
if (this.task != null && !this.task.IsEnd())
{
return;
}
this.task = MvaTask.RunLoop(() =>
{
//大迴圈, 來回一次
try
{
robotHandler.SgsVerifyStartPns0102(ri =>
{
this.Invoke(new Action(() =>
{
X_VALUE.Text = ri.x + "";
Y_VALUE.Text = ri.y + "";
Z_VALUE.Text = ri.z + "";
W_VALUE.Text = ri.w + "";
P_VALUE.Text = ri.p + "";
R_VALUE.Text = ri.r + "";
E1_VALUE.Text = ri.e1 + "";
}));
});
return(true);
}
catch (Exception ex)
{
this.LogWrite(ex.Message);
return(false);
}
}, 1000);
}