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