1

ABBRobotTest/ABBRobotManager.cs

@@ -14,6 +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";
+
         private static NetworkScanner scanner = null;
         // private Controller controller = null;
         private static Task[] tasks = null;
@@ -24,6 +29,8 @@ namespace ABBRobotTest
         internal delegate void ControllerAddDelegate(ControllerInfo controller);
         internal static  event ControllerAddDelegate ControllerAddEvent;
 
+
+
         internal static   void LoadController()
         {
             controllerMap = new Dictionary<string, Controller>();
@@ -45,12 +52,31 @@ namespace ABBRobotTest
         }
         private static void AddControllerInfo(ControllerInfo controllerInfo)
         {
-            Controller con = ControllerFactory.CreateFrom(controllerInfo);
-            con.Logon(UserInfo.DefaultUser);
-            ControllerState state = con.State;
-            controllerMap.Add(con.IPAddress.ToString(), con);
-            // controller = con;
-            controllerInfoMap.Add(controllerInfo.IPAddress.ToString(), controllerInfo);
+            try
+            {
+                Controller con = ControllerFactory.CreateFrom(controllerInfo);
+                con.Logon(UserInfo.DefaultUser);
+                ControllerState state = con.State;
+                string ip = con.IPAddress.ToString();
+                RemoveController(ip);
+                controllerMap.Add(ip, con);
+                // controller = con;
+                controllerInfoMap.Add(ip, controllerInfo);
+            }catch(Exception ex)
+            {
+                LogUtil.error("添加机器人【" + controllerInfo.IPAddress.ToString() + "】失败：" + ex.ToString());
+            }
+        }
+        private static void RemoveController(string ip)
+        {
+            if (controllerInfoMap.ContainsKey(ip))
+            {
+                controllerInfoMap.Remove(ip);
+            }
+            if (controllerMap.ContainsKey(ip))
+            {
+                controllerMap.Remove(ip);
+            }
         }
         private static void HandleLostEvent(object sender, NetworkWatcherEventArgs e)
         { 
@@ -58,14 +84,14 @@ namespace ABBRobotTest
 
         private static void HandleFoundEvent(object sender, NetworkWatcherEventArgs e)
         {
-            Invoke(new
-            EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
-            new Object[] {  null, e });
+            //Invoke(new
+            //EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
+            //new Object[] {  null, e });
+            AddControllerToListView(null, e);
         }
 
         private static void Invoke(EventHandler<NetworkWatcherEventArgs> eventHandler, object[] v)
-        {
-            throw new NotImplementedException();
+        { 
         }
 
         private static void AddControllerToListView(object sender, NetworkWatcherEventArgs e)
@@ -217,7 +243,33 @@ namespace ABBRobotTest
                 LogUtil.error("ABBRobot[" + ip + "]  ResetRobotSignal  [" + name + "] Error:" + ex.ToString());
             }
         }
+        internal static int GetSingalState(string ip, string name = "do_ES")
+        {
+            try
+            {
+                Controller controller = GetControllerByIP(ip);
+                if (controller != null)
+                {
+                    //string name = comboBox1.Text;
+                    Signal singalValue = controller.IOSystem.GetSignal(name);
+                    if (singalValue == null)
+                    {
+                        LogUtil.error("ABBRobot[" + ip + "] GetSingal  [" + name + "]= null");
+                    }
+                    else
+                    {
+                        DigitalSignal digitalSig = (DigitalSignal)singalValue;
+                        return (int)digitalSig.Value;
+                    }
+                }
 
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("ABBRobot[" + ip + "]  GetSingalState  [" + name + "] Error:" + ex.ToString());
+            }
+            return 0;
+        }
         internal  static string GetRobotState(string ip) 
         {
             try

ABBRobotTest/FrmRobotMain.cs

@@ -84,7 +84,7 @@ namespace ABBRobotTest
             AddHealder("SystemName", 100);
             AddHealder("Version", 100);
             AddHealder("ControllerName", 180);
-            AddHealder("Statue", 100);
+            AddHealder("Statue", 180);
         }
 
 
@@ -115,6 +115,23 @@ namespace ABBRobotTest
             {
                 groupMove.Enabled = false;
             }
+            int esValue = ABBRobotManager.GetSingalState(SelConIp);
+            if (esValue.Equals(1))
+            {
+                lblState.Text = "机器人["+SelConIp+"]急停中";
+                lblState.ForeColor = Color.Red;
+            }
+            else
+            {
+                lblState.Text = "";
+
+                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;
+                }
+            }
         }
 
         private void btnStart_Click(object sender, EventArgs e)
@@ -140,7 +157,7 @@ namespace ABBRobotTest
             if (listView1.SelectedItems != null && listView1.SelectedItems.Count > 0)
             {
                 int index = listView1.SelectedItems[0].Index;
-                string ip = listView1.Items[index].SubItems[0].ToString();
+                string ip = listView1.Items[index].SubItems[0].Text.ToString();
                 if (!String.IsNullOrEmpty(ip))
                 {
                     SelConIp = ip;
@@ -188,5 +205,11 @@ namespace ABBRobotTest
         {
             LogUtil.info("机器人运动完成：" + msg);
         }
+
+        private void btnClearLog_Click(object sender, EventArgs e)
+        {
+            this.richTextBox1.Clear();
+            LogUtil.ClearLog();
+        }
     }
 }