private void Poll()
{
double nidbuff = double.MaxValue;
DateTime dt = DateTime.Now;
while (!bExit)
{
if (ReadCount - ChartCount < 99 && !Pause)
{
byte[] data = sc.GetAppdata();
double nid = (DateTime.Now - dt).TotalSeconds;
if (!GetDataByTime)
{
nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data));
}
double nSpeed = StaubliXML.GetXMLDouble("nRobotSpeed", StaubliXML.Byte2xd(data));
if (nid != nidbuff && nid > 0)
{
nidbuff = nid;
speeddata[ReadCount % 100, 0] = nid;
speeddata[ReadCount % 100, 1] = nSpeed;
ReadCount++;
}
}
System.Threading.Thread.Sleep(polltime);
}
}
private void Poll()
{
double nidbuff = double.MaxValue;
DateTime dt = DateTime.Now;
while (!bExit)
{
if (ReadCount - ChartCount < 99 && !Pause)
{
byte[] data = sc.GetAppdata();
double nid = (DateTime.Now - dt).TotalSeconds;
if (!GetDataByTime)
{
nid = StaubliXML.GetXMLDouble("nID", StaubliXML.Byte2xd(data));
}
double[] nJointForce = StaubliXML.GetXMLDoubleArray("nJointForce", StaubliXML.Byte2xd(data));
if (nid != nidbuff && nid > 0)
{
nidbuff = nid;
speeddata[ReadCount % 100, 0] = nid;
if (nJointForce == null)
{
nJointForce = new double[6];
}
for (int i = 0; i < nJointForce.Length; i++)
{
speeddata[ReadCount % 100, 1 + i] = nJointForce[i];
}
ReadCount++;
}
}
System.Threading.Thread.Sleep(polltime);
}
}