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张东亮 / SO1049-CarriageClient

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Commit f48d80e7 由 张东亮
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1

1 个父辈 959e9b94
内嵌 并排
正在显示 4 个修改的文件 包含 51 行增加 和 50 行删除
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs
......@@ -57,10 +57,10 @@ namespace OnlineStore.DeviceLibrary
Task.Factory.StartNew(delegate
{
JAKAServer.Start();
PowerOn(true);
System.Threading.Thread.Sleep(2000);
EnableRobot(true);
System.Threading.Thread.Sleep(2000);
// PowerOn(true);
// System.Threading.Thread.Sleep(2000);
//EnableRobot(true);
// System.Threading.Thread.Sleep(2000);
});
}
......@@ -68,12 +68,13 @@ namespace OnlineStore.DeviceLibrary
{
try
{
JAKAServer.Stop();
Task.Factory.StartNew(delegate
{
EnableRobot(false);
System.Threading.Thread.Sleep(2000);
PowerOn(false);
JAKAServer.Stop();
// EnableRobot(false);
// System.Threading.Thread.Sleep(2000);
// PowerOn(false);
// JAKAServer.Stop();
});
}
catch (Exception e)
......
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs
......@@ -134,7 +134,7 @@ namespace OnlineStore.DeviceLibrary
string[] recv = bean.RobotData.RecvMsg.Split(',');
if (GetCurCmd().Equals(cmd) && recv != null && recv.Length == 2
&& recv[0].Equals(cmd) && recv[1].Equals(rtn_done)
&& (bean.RobotData.RobotStatus.inpos == 1))
)// && (bean.RobotData.RobotStatus.inpos == 1)
return true;
}
catch (Exception ex)
......@@ -282,16 +282,16 @@ namespace OnlineStore.DeviceLibrary
{
if (GetRobotInfo(out JAKA.JAKABean bean))
{
if (on)
{
if (bean.RobotData.RobotStatus.powered_on == 0)
bean.PowerOn();
}
else
{
if (bean.RobotData.RobotStatus.powered_on == 1)
bean.PowerOff();
}
//if (on)
//{
// if (bean.RobotData.RobotStatus.powered_on == 0)
// bean.PowerOn();
//}
//else
//{
// if (bean.RobotData.RobotStatus.powered_on == 1)
// bean.PowerOff();
//}
}
}
/// <summary>
......@@ -300,20 +300,20 @@ namespace OnlineStore.DeviceLibrary
/// <param name="enable">true:开启</param>
public void EnableRobot(bool enable)
{
if (GetRobotInfo(out JAKA.JAKABean bean))
{
if (enable)
{
if (bean.RobotData.RobotStatus.enabled == 0)
bean.EnableRobot();
}
else
{
if (bean.RobotData.RobotStatus.enabled == 1)
bean.DisableRobot();
}
//if (GetRobotInfo(out JAKA.JAKABean bean))
//{
// if (enable)
// {
// if (bean.RobotData.RobotStatus.enabled == 0)
// bean.EnableRobot();
// }
// else
// {
// if (bean.RobotData.RobotStatus.enabled == 1)
// bean.DisableRobot();
// }
}
//}
}
/// <summary>
......
source/JAKA/JAKABean.cs
......@@ -23,7 +23,7 @@ namespace JAKA
IP = robotIp;
log = LogManager.GetLogger(logname);
RobotData = new RobotData();
initok = CreateHandler(robotIp);
//initok = CreateHandler(robotIp);
}
public void Start()
{
......@@ -36,7 +36,7 @@ namespace JAKA
}
~JAKABean()
{
DestroyHandler();
//DestroyHandler();
}
#region 更新数据信息
System.Threading.Thread updateThread;
......
source/JAKA/UCRobot.cs
......@@ -73,36 +73,36 @@ namespace JAKA
private void btnPowerOn_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.PowerOn(); });
// Task.Factory.StartNew(() => { jakaBean.PowerOn(); });
}
private void btnPowerOff_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.PowerOff(); });
//Task.Factory.StartNew(() => { jakaBean.PowerOff(); });
}
private void btnEnable_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.EnableRobot(); });
//Task.Factory.StartNew(() => { jakaBean.EnableRobot(); });
}
private void btnDisable_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.DisableRobot(); });
// Task.Factory.StartNew(() => { jakaBean.DisableRobot(); });
}
private void btnStart_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.Run(); });
// Task.Factory.StartNew(() => { jakaBean.Run(); });
}
private void btnStop_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() => { jakaBean.Abort(); });
// Task.Factory.StartNew(() => { jakaBean.Abort(); });
}
......@@ -122,11 +122,11 @@ namespace JAKA
private void btnRun_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() =>
{
if (jakaBean.PowerOn())
jakaBean.EnableRobot();
});
//Task.Factory.StartNew(() =>
//{
// if (jakaBean.PowerOn())
// jakaBean.EnableRobot();
//});
}
private void timer1_Tick(object sender, EventArgs e)
......@@ -178,12 +178,12 @@ namespace JAKA
private void button4_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() =>
{
if (jakaBean.DisableRobot())
jakaBean.PowerOff();
//Task.Factory.StartNew(() =>
//{
// if (jakaBean.DisableRobot())
// jakaBean.PowerOff();
});
//});
}
}
}
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