//internal bool Monitor()
//{
// if (TryConnectMonitor())
// {
// // Establish a MotionCursor on `Control`
// this._parentDriver.parentControl.InitializeMotionCursor();
// this._motionCursor = this._parentDriver.parentControl.MotionCursor;
// return true;
// }
// return false;
//}
private bool TryConnectMonitor()
{
try
{
_monitorClientSocket = new TcpClient();
_monitorClientSocket.Connect(this._monitorIP, this._monitorPort);
_monitorStatus = TCPConnectionStatus.Connected;
_monitorClientSocket.ReceiveBufferSize = 1024;
_monitorClientSocket.SendBufferSize = 1024;
_monitoringThread = new Thread(MonitoringMethod);
_monitoringThread.IsBackground = true;
_monitoringThread.Start();
_isMonitored = true;
return(_monitorClientSocket.Connected);
}
catch (Exception ex)
{
logger.Info("Real-time monitoring not available on this device");
DisconnectMonitor();
}
return(false);
}
public override bool ConnectToDevice(int deviceId)
{
logger.Info("Cannot connect to a device in Offline mode");
return(false);
}
/// <summary>
/// Performs all necessary steps to successfuly connect to the device using the RobotStudio API.
/// </summary>
/// <param name="deviceId"></param>
/// <returns></returns>
public bool Connect(int deviceId)
{
_deviceId = deviceId;
// In general, the Disconnect() + return false pattern instead of throwing errors
// avoids the controller getting hung with an undisposed mastership or log from the client,
// making failures a little more robust (and less annoying...)
// Connect to the ABB real/virtual controller
if (!LoadController(deviceId))
{
logger.Warning("Could not connect to controller, found no device on the network");
Disconnect();
return(false);
}
// Load the controller's IP
if (!LoadIP())
{
logger.Warning("Could not connect to controller, failed to find the controller's IP");
Disconnect();
return(false);
}
// Log on to the controller
if (!LogOn())
{
logger.Warning("Could not connect to controller, failed to log on to the controller");
Disconnect();
return(false);
}
if (!LoadRobotWareOptions())
{
logger.Warning("Could not connect to controller, failed to retrieve RobotWare options from the controller");
Disconnect();
return(false);
}
// Is controller in Automatic mode with motors on?
if (!IsControllerInAutoMode())
{
logger.Warning("Could not connect to controller, please set up controller to AUTOMATIC MODE and try again.");
Disconnect();
return(false);
}
if (!IsControllerMotorsOn())
{
logger.Warning("Could not connect to controller, please set up Motors On mode in controller");
Disconnect();
return(false);
}
// Test if Rapid Mastership is available
if (!TestMastershipRapid())
{
logger.Warning("Could not connect to controller, mastership not available");
Disconnect();
return(false);
}
// Load main task from the controller
if (!LoadMainTask())
{
logger.Warning("Could not connect to controller, failed to load main task");
Disconnect();
return(false);
}
if (this._hasMultiTasking)
{
if (!LoadMonitorTask())
{
logger.Info("Your device has the capacity to be monitored in real time, but could not be set up automatically; please refer to the documentation on how to set Machina monitoring on ABB robots.");
}
}
if (!SetRunMode(CycleType.Once))
{
logger.Warning("Could not connect to controller, failed to set runmode to once");
Disconnect();
return(false);
}
// Subscribe to relevant events to keep track of robot execution
if (!SubscribeToEvents())
{
logger.Warning("Could not connect to controller, failed to subscribe to robot controller events");
Disconnect();
return(false);
}
_isConnected = true;
return(_isConnected);
}