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Commit 065d6590 由 LN
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增加位置验证

1 个父辈 5f3160f1
内嵌 并排
正在显示 6 个修改的文件 包含 147 行增加 和 102 行删除
ABBRobotTest/ABBRobotManager.cs
......@@ -14,10 +14,11 @@ namespace ABBRobotTest
internal class ABBRobotManager
{
internal static string DI_Start = "di_start";
internal static string DI_Stop = "di_stop";
internal static string DO_ES = "do_ES";
internal static string DO_IsRun= "do_IsRun";
internal static string DI_Start = "di_start";//启动程序
internal static string DI_Stop = "di_stop";//停止程序
internal static string DO_ES = "do_ES";//急停状态
internal static string DO_IsRun= "do_IsRun";//机器人程序运行状态
internal static string Do_AutoOn = "do_AutoOn";//是否自动状态
private static NetworkScanner scanner = null;
// private Controller controller = null;
......
ABBRobotTest/ABBRobotServer.cs
......@@ -22,6 +22,7 @@ namespace ABBRobotTest
internal static string Cmd_movep = "movep";
internal static string Cmd_moveget = "moveget";
internal static string Cmd_moveput = "moveput";
internal static string Cmd_validateP = "validateP";
public static Dictionary<string, Client> ClientMap = new Dictionary<string, Client>();
......@@ -29,7 +30,7 @@ namespace ABBRobotTest
public static string LastSendPoint = "";
public delegate void OpEnd(string result);
private static event OpEnd OnMoveEnd;
private static event OpEnd OnCmdEnd;
private static object LockObj = new object();
......@@ -125,43 +126,50 @@ namespace ABBRobotTest
}
else if(msg.Contains(Cmd_movep)&& msg.Contains("OK"))
{
OnMoveEnd?.Invoke(msg);
OnCmdEnd?.Invoke(msg);
}
else if (msg.Contains(Cmd_moveput) && msg.Contains("OK"))
{
OnMoveEnd?.Invoke(msg);
OnCmdEnd?.Invoke(msg);
} else if (msg.Contains(Cmd_moveget) && msg.Contains("ok"))
{
OnMoveEnd?.Invoke(msg);
OnCmdEnd?.Invoke(msg);
}
return false;
}
public static void MoveToP(string robotIp, string PointName, string moveType="L" , double targetSpeed = 100, OpEnd AfterMove = null)
public static void MoveToP(string robotIp, string PointName, string moveType="L" , double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
ABBRobotServer.OnCmdEnd = AfterCmd;
SendMovePoint(robotIp, Cmd_movep, PointName,moveType,targetSpeed.ToString());
}
public static void MoveToPut(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
public static void MoveToPut(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
ABBRobotServer.OnCmdEnd = AfterCmd;
SendMovePoint(robotIp, Cmd_moveput, PointName, moveType, targetSpeed.ToString());
}
public static void MoveToGet(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
public static void MoveToGet(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
ABBRobotServer.OnCmdEnd = AfterCmd;
SendMovePoint(robotIp, Cmd_moveget, PointName, moveType, targetSpeed.ToString());
}
public static void Move(string robotIp, string moveCmd,string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
public static void SendCmd(string robotIp, string moveCmd,string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
if (moveCmd.Equals(Cmd_moveget) || moveCmd.Equals(Cmd_movep) || moveCmd.Equals(Cmd_moveput))
ABBRobotServer.OnCmdEnd = AfterCmd;
if (moveCmd.Equals(Cmd_moveget) || moveCmd.Equals(Cmd_movep) || moveCmd.Equals(Cmd_moveput)||moveCmd.Equals(Cmd_validateP))
{
SendMovePoint(robotIp, moveCmd, PointName, moveType, targetSpeed.ToString());
}
}
private static void SendMovePoint(string robotIp, string param1,string param2,string param3,string param4)
public static void ValidateP(string robotIp, string pointName, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
SendMovePoint(robotIp, Cmd_validateP, pointName);
}
private static void SendMovePoint(string robotIp, string param1,string param2,string param3="L",string param4="10")
{
lock (LockObj)
{
......
ABBRobotTest/FrmRobotMain.Designer.cs
......@@ -209,6 +209,7 @@
//
// comMoveP
//
this.comMoveP.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.comMoveP.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveP.FormattingEnabled = true;
this.comMoveP.Location = new System.Drawing.Point(136, 130);
......@@ -227,6 +228,7 @@
//
// comMoveCmd
//
this.comMoveCmd.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.comMoveCmd.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveCmd.FormattingEnabled = true;
this.comMoveCmd.Location = new System.Drawing.Point(136, 75);
......
ABBRobotTest/FrmRobotMain.cs
......@@ -36,14 +36,15 @@ namespace ABBRobotTest
comMoveCmd.Items.Add(ABBRobotServer.Cmd_movep);
comMoveCmd.Items.Add(ABBRobotServer.Cmd_moveget);
comMoveCmd.Items.Add(ABBRobotServer.Cmd_moveput);
comMoveCmd.Items.Add(ABBRobotServer.Cmd_validateP);
comMoveP.Items.Clear();
for(int i = 0; i < 30; i++)
for(int i = 1; i <= 30; i++)
{
comMoveP.Items.Add("p" + i);
}
comMoveP.SelectedIndex = 0;
comMoveCmd.SelectedIndex = 1;
comMoveCmd.SelectedIndex = 0;
radioButton1.Checked = true;
......@@ -76,13 +77,13 @@ namespace ABBRobotTest
private void LoadListView()
{
this.listView1.Columns.Clear();
AddHealder("IPAddress", 100);
AddHealder("ID", 80);
AddHealder("IPAddress", 150);
AddHealder("ID", 180);
// AddHealder("设备状态", 100);
AddHealder("Availability", 100);
AddHealder("IsVirtual", 100);
AddHealder("SystemName", 100);
AddHealder("Version", 100);
AddHealder("Availability", 150);
AddHealder("IsVirtual", 150);
AddHealder("SystemName", 150);
AddHealder("Version", 150);
AddHealder("ControllerName", 180);
AddHealder("Statue", 180);
}
......@@ -118,8 +119,7 @@ namespace ABBRobotTest
int esValue = ABBRobotManager.GetSingalState(SelConIp);
if (esValue.Equals(1))
{
lblState.Text = "机器人["+SelConIp+"]急停中";
lblState.ForeColor = Color.Red;
SetMsg("机器人[" + SelConIp + "]急停中", Color.Red);
}
else
{
......@@ -128,11 +128,19 @@ namespace ABBRobotTest
int isRun = ABBRobotManager.GetSingalState(SelConIp, ABBRobotManager.DO_IsRun);
if (isRun.Equals(1))
{
lblState.Text = "机器人程序正常运行中";
lblState.ForeColor = Color.Green;
SetMsg("机器人程序正常运行中", Color.Green);
}
else
{
SetMsg("机器人[" + SelConIp + "]程序未运行", Color.Red);
}
}
}
private void SetMsg(string msg,Color foreColor)
{
lblState.Text = msg;
lblState.ForeColor = foreColor;
}
private void btnStart_Click(object sender, EventArgs e)
{
......@@ -199,7 +207,7 @@ namespace ABBRobotTest
{
speed = 100;
}
ABBRobotServer.Move(SelConIp, moveCmd, PPoint, MType, speed, MoveEnd);
ABBRobotServer.SendCmd(SelConIp, moveCmd, PPoint, MType, speed, MoveEnd);
}
private void MoveEnd(string msg)
{
......
doc/ABB机器人程序.txt
MODULE aaa
PERS tooldata MyTool:=[TRUE,[[31.792631019,0,229.638935148],[0.945518576,0,0.325568154,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
CONST robtarget p1:=[[-58.97,-251.82,388.62],[0.718543,-0.63799,0.152339,0.23121],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p2:=[[133.92,-253.65,388.62],[0.718545,-0.637985,0.152332,0.231221],[-1,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p3:=[[825.4576,0.000001046,609.3],[0.03072784,-0.000000013,-0.9995278,-0.00000001],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p4:=[[825.4576,-0.000000111,675.4476],[0.03072794,0.000000001,-0.9995278,0.000000001],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p5:=[[825.4576,0.000000831,745.9818],[0.03072797,-0.000000011,-0.9995278,-0.000000008],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p6:=[[825.4576,0.000000659,815.8895],[0.03072799,-0.000000008,-0.9995278,-0.000000006],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p7:=[[825.4576,-0.000000347,875.2359],[0.03072807,0.000000004,-0.9995278,0.000000003],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p8:=[[825.4576,0.000001138,914.6687],[0.03072812,-0.000000014,-0.9995278,-0.000000011],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p9:=[[825.4576,0.000000481,954.2989],[0.03072822,-0.000000006,-0.9995278,-0.000000004],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[825.4576,-0.00000035,996.6124],[0.03072831,0.000000004,-0.9995278,0.000000003],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p1:=[[-16.11,-347.15,474.83],[0.294464,-0.883154,0.297088,0.212292],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p2:=[[-1.74,-351.15,465.56],[0.300708,-0.919333,0.248148,0.0531494],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p3:=[[6.19,-346.97,472.32],[0.376015,-0.914531,0.114921,-0.0950728],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p4:=[[-7.80,-337.93,495.03],[0.505132,-0.860161,0.065858,-0.0250314],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p5:=[[-8.57,-332.96,417.21],[0.448707,-0.890922,0.0589738,-0.0379704],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p6:=[[2.57,-332.92,410.45],[0.443783,-0.892313,0.0696654,-0.0445195],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p7:=[[1.82,-327.19,440.61],[0.463316,-0.882346,0.071927,-0.0403786],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p8:=[[8.10,-375.52,278.06],[0.352443,-0.931844,0.0590098,-0.0629934],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p9:=[[173.02,-380.60,301.74],[0.34939,-0.892928,0.250084,-0.134405],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[-107.17,-393.26,299.48],[0.370443,-0.925911,-0.0735457,-0.00716374],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p11:=[[753.764,243.6931,840.0185],[0.2205171,0.3584949,-0.9055654,0.05296053],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p12:=[[753.764,243.6931,775.1548],[0.2205171,0.3584949,-0.9055655,0.05296054],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
......@@ -33,17 +33,19 @@ MODULE aaa
CONST robtarget p29:=[[969.95,296.57,468.46],[0.192573,0.382378,-0.901556,0.0624448],[0,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget p30:=[[969.94,296.56,505.18],[0.17191,0.382088,-0.905649,0.0652315],[0,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS speeddata speed1:=[50,50,400,100];
PERS speeddata speed1:=[10,50,100,100];
VAR socketdev socket_server;
VAR socketdev socket_client;
PERS string str_address:="127.0.0.1";
PERS string str_address:="192.168.201.88";
!PERS string str_address:="192.168.201.88";
PERS num n_port:=21;
VAR string strReceive:="p1,L,100";
VAR string strSend:="OK";
VAR string resultStr_OK:=",OK;";
VAR string resultStr_NG:=",NG;";
VAR socketstatus status;
VAR num starBit1:=0;
VAR num endBit1:=0;
......@@ -57,18 +59,18 @@ MODULE aaa
VAR num endBit4:=0;
VAR num LengBit4:=0;
VAR num starBit4:=0;
PERS string s1_1:="movep";
PERS string s1_2:="p2";
PERS string s1_3:="L";
PERS string s1_4:="50";
PERS string revice_Str1_Cmd:="validateP";
PERS string revice_Str2_pName:="p2";
PERS string revice_Str3_moveType:="L";
PERS string revice_Str4_speed:="10";
VAR bool flag1:=false;
PERS num value_1:=700;
PERS num value_2:=50;
PERS num value_3:=50;
!PERS num value_1:=700;
!PERS num value_2:=50;
VAR robtarget pTarget:=[[700,50,700],[0.0258621,-0.000364211,-0.999665,0.000003063],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget pTemp:=[[700,50,700],[0.0258621,-0.000364211,-0.999665,3.06266E-6],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS bool bLinear:=TRUE;
PERS bool booLineMove:=TRUE;
PERS bool dataOk:=TRUE;
VAR num len:=0;
......@@ -77,6 +79,9 @@ MODULE aaa
PERS zonedata zone1:=[FALSE,5,8,8,0.8,8,0.8];
PERS loaddata load1:=[4,[0,0,0],[1,0,0,0],0,0,0];
PERS robtarget pCheckTest:=[[-1.73959,-351.15,465.559],[0.300709,-0.919332,0.248149,0.0531482],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS bool pCheckResult:=TRUE;
PROC modifyPoint()
MoveL p1,speed1,z50,tool1\WObj:=wobj1;
......@@ -121,17 +126,6 @@ MODULE aaa
error
IF ERRNO=ERR_SOCK_TIMEOUT THEN
! socketclose socket_client;
! socketcreate socket_client;
! SocketConnect socket_client,str_address,n_port\Time:=5;
! ResetRetrycount;
! RETRY;
! ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
! socketclose socket_client;
! socketcreate socket_client;
! SocketConnect socket_client,str_address,n_port\Time:=5;
! ResetRetrycount;
! RETRY;
ELSE
SocketPro;
RETURN ;
......@@ -184,42 +178,55 @@ MODULE aaa
strParse strReceive;
IF dataOk THEN
! GOTO label1;
IF s1_1="movep" THEN
IF bLinear THEN
IF revice_Str1_Cmd="movep" THEN
IF booLineMove THEN
MoveL pTarget,speed1,fine,tool1\WObj:=wobj1;
ELSE
MoveJ pTarget,speed1,fine,tool1\WObj:=wobj1;
ENDIF
SocketSend socket_client\Str:=strReceive+strSend;
SocketSend socket_client\Str:=s1_1+","+s1_2+","+strSend;
ELSEIF s1_1="moveget" THEN
IF bLinear THEN
SocketSend socket_client\Str:=strReceive+resultStr_OK;
!SocketSend socket_client\Str:=revice_Str1_Cmd+","+revice_Str2_pName+","+resultStr_OK+";";
ELSEIF revice_Str1_Cmd="moveget" THEN
IF booLineMove THEN
! MoveL Offs(pTarget,0,0,10), speed1, zone1, tool1\WObj:=wobj1;
MoveL pTarget,speed1,fine,tool1\WObj:=wobj1;
GripLoad load0;
! GripLoad load0;
MoveL Offs(pTarget,0,0,-50),speed1,zone1,tool1\WObj:=wobj1;
MoveL Offs(pTarget,0,-60,0),speed1,zone1,tool1\WObj:=wobj1;
ELSE
MoveJ pTarget,speed1,fine,tool1\WObj:=wobj1;
ENDIF
SocketSend socket_client\Str:=strReceive+strSend;
SocketSend socket_client\Str:=s1_1+","+s1_2+","+strSend;
ELSEIF s1_1="moveput" THEN
IF bLinear THEN
SocketSend socket_client\Str:=strReceive+resultStr_OK ;
! SocketSend socket_client\Str:=revice_Str1_Cmd+","+revice_Str2_pName+","+resultStr_OK+";";
ELSEIF revice_Str1_Cmd="moveput" THEN
IF booLineMove THEN
MoveL pTarget,speed1,fine,tool1\WObj:=wobj1;
GripLoad load1;
! GripLoad load1;
MoveL Offs(pTarget,0,0,50),speed1,zone1,tool1\WObj:=wobj1;
MoveL Offs(pTarget,0,-60,0),speed1,zone1,tool1\WObj:=wobj1;
ELSE
MoveJ pTarget,speed1,fine,tool1\WObj:=wobj1;
ENDIF
SocketSend socket_client\Str:=strReceive+strSend;
SocketSend socket_client\Str:=s1_1+","+s1_2+","+strSend;
ENDIF
ELSE
SocketSend socket_client\Str:=strReceive+" DATA ERROR ";
SocketSend socket_client\Str:=strReceive+resultStr_OK ;
! SocketSend socket_client\Str:=revice_Str1_Cmd+","+revice_Str2_pName+","+resultStr_OK+";";
ELSEIF revice_Str1_Cmd="validateP" THEN
!WaitRob\ZeroSpeed;
!wait robot stop;
pCheckTest:=CRobT(\Tool:=tool1\WObj:=wobj1);
!get current position
pCheckResult:=false;
pCheckResult:=validateP(pTarget,pCheckTest,0.1);
IF pCheckResult THEN
SocketSend socket_client\Str:=strReceive+resultStr_OK ;
ELSE
SocketSend socket_client\Str:=strReceive+resultStr_NG ;
ENDIF
ELSE
SocketSend socket_client\Str:=strReceive+" DATA ERROR ;";
ENDIF
ENDIF
ENDWHILE
ERROR
......@@ -233,14 +240,33 @@ MODULE aaa
ENDIF
ENDPROC
FUNC bool validateP(robtarget ptest,robtarget pCompare,num threshold)
VAR jointtarget joinTest:=[[-12.1057,1.3138,-1.32846,-3.7545E-7,90.0147,-12.1057],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
VAR jointtarget joinCompare:=[[-12.143,1.32099,-1.33096,-0.000317427,90.0147,-12.1215],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
VAR num counter;
joinTest:=CalcJointT(pTest,tool1\WObj:=wobj1);
joinCompare:=CalcJointT(pCompare,tool1\WObj:=wobj1);
IF abs(joinTest.robax.rax_1-joinCompare.robax.rax_1)<threshold incr counter;
IF abs(joinTest.robax.rax_2-joinCompare.robax.rax_2)<threshold incr counter;
IF abs(joinTest.robax.rax_3-joinCompare.robax.rax_3)<threshold incr counter;
IF abs(joinTest.robax.rax_4-joinCompare.robax.rax_4)<threshold incr counter;
IF abs(joinTest.robax.rax_5-joinCompare.robax.rax_5)<threshold incr counter;
IF abs(joinTest.robax.rax_6-joinCompare.robax.rax_6)<threshold incr counter;
IF counter=6 THEN
RETURN TRUE;
ELSE
RETURN FALSE;
ENDIF
PROC strParse(string string1)
ENDFUNC
PROC strParse(string reviceStr)
VAR num revice_speed:=10;
lable2:
len:=StrLen(string1);
len:=StrLen(reviceStr);
starBit1:=1;
endBit1:=StrFind(string1,starBit1,",");
endBit1:=StrFind(reviceStr,starBit1,",");
LengBit1:=endBit1-starBit1;
starBit2:=endBit1+1;
......@@ -248,7 +274,7 @@ MODULE aaa
RETURN ;
ENDIF
endBit2:=StrFind(string1,starBit2,",");
endBit2:=StrFind(reviceStr,starBit2,",");
LengBit2:=endBit2-starBit2;
starBit3:=endBit2+1;
......@@ -256,7 +282,7 @@ MODULE aaa
IF starBit3>len THEN
RETURN ;
ENDIF
endBit3:=StrFind(string1,starBit3,",");
endBit3:=StrFind(reviceStr,starBit3,",");
LengBit3:=endBit3-starBit3;
starBit4:=endBit3+1;
......@@ -264,32 +290,32 @@ MODULE aaa
IF starBit4>len THEN
RETURN ;
ENDIF
endBit4:=StrFind(string1,starBit4,",");
endBit4:=StrFind(reviceStr,starBit4,",");
LengBit4:=endBit4-starBit4;
s1_1:=StrPart(string1,starBit1,LengBit1);
s1_2:=StrPart(string1,starBit2,LengBit2);
s1_3:=StrPart(string1,starBit3,LengBit3);
s1_4:=StrPart(string1,starBit4,LengBit4);
revice_Str1_Cmd:=StrPart(reviceStr,starBit1,LengBit1);
revice_Str2_pName:=StrPart(reviceStr,starBit2,LengBit2);
revice_Str3_moveType:=StrPart(reviceStr,starBit3,LengBit3);
revice_Str4_speed:=StrPart(reviceStr,starBit4,LengBit4);
!capture target
GetDataVal s1_2,ptemp;
GetDataVal revice_Str2_pName,ptemp;
pTarget:=ptemp;
!determine L or J
IF s1_3="L" THEN
bLinear:=TRUE;
ELSEIF s1_3="J" THEN
bLinear:=FALSE;
IF revice_Str3_moveType="L" THEN
booLineMove:=TRUE;
ELSEIF revice_Str3_moveType="J" THEN
booLineMove:=FALSE;
ENDIF
! get speed
flag1:=StrToVal(s1_4,value_3);
flag1:=StrToVal(revice_Str4_speed,revice_speed);
IF value_3>100 THEN
value_3:=100;
IF revice_speed>100 THEN
revice_speed:=100;
ENDIF
speed1.v_tcp:=value_3;
speed1.v_tcp:=revice_speed;
dataOk:=TRUE;
ERROR
IF errno=ERR_SOCK_CLOSED THEN
......
source/Common/util/TcpServer.cs
......@@ -121,7 +121,7 @@ namespace OnlineStore.Common
}
private StringBuilder sb = new StringBuilder(); //这个是用来保存：接收到了的，但是还没有结束的消息
private int receiveBufferSize = 1024;
private string terminateString = "\r";
private string terminateString = ";";
public void ReceiveMessages(Client client) //这个函数会被以线程方式运行
{
try
......
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