public Controller ConnectbyGuid(string strGuid)
{
try
{
if (controller != null)
{
controller.Logoff();
controller.Dispose();
controller = null;
}
ControllerInfo myControllerInfo = null;
Guid myGuid = Guid.Empty;
if (Guid.TryParse(strGuid, out myGuid))
{
networkScanner.TryFind(myGuid, out myControllerInfo);
}
else
{
throw new Exception("Invalid guid string");
}
if (myControllerInfo == null || myControllerInfo.Availability != Availability.Available)
{
throw new Exception("Wrong guid string");
}
else
{
controller = Controller.Connect(myControllerInfo, ConnectionType.Standalone);
return(controller);
}
}
finally { }
}
/// <summary>
/// Get Controller from Controller property and axis values.
/// </summary>
/// <param name="component">Component that owns the changed property.</param>
/// <param name="sTasksList">Tasks list delimited by ";".</param>
/// <returns>Found Controller</returns>
protected Controller GetController(SmartComponent component)
{
Controller controller = null;
string guid = ((string)component.Properties["Controller"].Value).Split(' ')[0];
if (guid != "")
{
Guid systemId = new Guid(guid);
NetworkScanner scanner = new NetworkScanner();
if (scanner.TryFind(systemId, TimeSpan.FromSeconds(60), 1, out ControllerInfo controllerInfo))
{
controller = ControllerFactory.CreateFrom(controllerInfo); //new Controller(systemId);
if (controller.SystemId == systemId)
{
if (controller.Connected)
{
int iCtrlMechCount = controller.MotionSystem.MechanicalUnits.Count;
component.Properties["CtrlMechanism"].Attributes["MaxValue"] = iCtrlMechCount.ToString();
if (iCtrlMechCount == 1)
{
component.Properties["CtrlMechanism"].UIVisible = false;
component.Properties["CtrlMechanism"].Value = 1;
}
else
{
component.Properties["CtrlMechanism"].UIVisible = true;
}
try
{
UpdateAxis(component, controller);
}
catch (ABB.Robotics.GenericControllerException)
{ }
}
}
}
else
{
//Try to connect controller later with OnControlerAdded
}
}
else
{
component.Properties["Status"].Value = "Disconnected";
}
return(controller);
}
