├── TestRemoteControl
    ├── ClassDiagram1.cd
    ├── ABB.Robotics.Controllers.PC.dll
    ├── RobotStudio.Services.RobApi.dll
    ├── Icons8-Ios7-Logos-Register-Editor.ico
    ├── RobotStudio.Services.RobApi.Desktop.dll
    ├── App.config
    ├── Properties
    │   ├── Settings.settings
    │   ├── AssemblyInfo.cs
    │   ├── Settings.Designer.cs
    │   ├── Resources.Designer.cs
    │   └── Resources.resx
    ├── UserControl1.cs
    ├── Program.cs
    ├── UserControl1.Designer.cs
    ├── TestRemoteControl.csproj
    ├── ABBController.cs
    ├── Form1.cs
    └── Form1.Designer.cs
├── README.md
├── TestRemoteControl.sln
├── .gitattributes
└── .gitignore


/TestRemoteControl/ClassDiagram1.cd:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <ClassDiagram /> 


--------------------------------------------------------------------------------
/TestRemoteControl/ABB.Robotics.Controllers.PC.dll:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JoeFirmament/ABB_PC_SDK_controller/HEAD/TestRemoteControl/ABB.Robotics.Controllers.PC.dll


--------------------------------------------------------------------------------
/TestRemoteControl/RobotStudio.Services.RobApi.dll:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JoeFirmament/ABB_PC_SDK_controller/HEAD/TestRemoteControl/RobotStudio.Services.RobApi.dll


--------------------------------------------------------------------------------
/TestRemoteControl/Icons8-Ios7-Logos-Register-Editor.ico:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JoeFirmament/ABB_PC_SDK_controller/HEAD/TestRemoteControl/Icons8-Ios7-Logos-Register-Editor.ico


--------------------------------------------------------------------------------
/TestRemoteControl/RobotStudio.Services.RobApi.Desktop.dll:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JoeFirmament/ABB_PC_SDK_controller/HEAD/TestRemoteControl/RobotStudio.Services.RobApi.Desktop.dll


--------------------------------------------------------------------------------
/TestRemoteControl/App.config:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <configuration>
3 |     <startup> 
4 |         <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1"/>
5 |     </startup>
6 | </configuration>
7 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Properties/Settings.settings:
--------------------------------------------------------------------------------
1 | <?xml version='1.0' encoding='utf-8'?>
2 | <SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
3 |   <Profiles>
4 |     <Profile Name="(Default)" />
5 |   </Profiles>
6 |   <Settings />
7 | </SettingsFile>
8 | 


--------------------------------------------------------------------------------
/TestRemoteControl/UserControl1.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.ComponentModel;
 4 | using System.Drawing;
 5 | using System.Data;
 6 | using System.Linq;
 7 | using System.Text;
 8 | using System.Threading.Tasks;
 9 | using System.Windows.Forms;
10 | 
11 | namespace TestRemoteControl
12 | {
13 |     public partial class UserControl1 : UserControl
14 |     {
15 |         public UserControl1()
16 |         {
17 |             InitializeComponent();
18 |         }
19 |     }
20 | }
21 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Program.cs:
--------------------------------------------------------------------------------
 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Linq;
 4 | using System.Threading.Tasks;
 5 | using System.Windows.Forms;
 6 | 
 7 | namespace TestRemoteControl
 8 | {
 9 |     static class Program
10 |     {
11 |         /// <summary>
12 |         /// 应用程序的主入口点。
13 |         /// </summary>
14 |         [STAThread]
15 |         static void Main()
16 |         {
17 |             Application.EnableVisualStyles();
18 |             Application.SetCompatibleTextRenderingDefault(false);
19 |             Application.Run(new RobotArmController());
20 |         }
21 |     }
22 | }
23 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # ABB_PC_SDK_controller
 2 | ABB robotarm controller(simple demo) with C# pcsdk6.0 
 3 | #### work with VS2015
 4 | 支持多台联机，log管理。
 5 | 
 6 | ---
 7 | 
 8 | [![](https://bb-embed.herokuapp.com/embed?v=BV1jK411D7r8)](https://www.bilibili.com/video/BV1jK411D7r8?share_source=copy_web&vd_source=dd62c2ec31e1627fa285052bae810556)
 9 | 
10 | ---
11 | [![](https://bb-embed.herokuapp.com/embed?v=BV1MW4y1E7Ma)](https://www.bilibili.com/video/BV1MW4y1E7Ma?share_source=copy_web&vd_source=dd62c2ec31e1627fa285052bae810556)
12 | 
13 | ---
14 | 
15 | [![](https://bb-embed.herokuapp.com/embed?v=BV1Kt4y1u7fz)](https://www.bilibili.com/video/BV1Kt4y1u7fz?share_source=copy_web&vd_source=dd62c2ec31e1627fa285052bae810556)
16 | 
17 | 


--------------------------------------------------------------------------------
/TestRemoteControl.sln:
--------------------------------------------------------------------------------
 1 | 
 2 | Microsoft Visual Studio Solution File, Format Version 12.00
 3 | # Visual Studio Express 2013 for Windows Desktop
 4 | VisualStudioVersion = 12.0.21005.1
 5 | MinimumVisualStudioVersion = 10.0.40219.1
 6 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "TestRemoteControl", "TestRemoteControl\TestRemoteControl.csproj", "{57B4988B-AF45-44F9-AAFD-9A8A237B962A}"
 7 | EndProject
 8 | Global
 9 | 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
10 | 		Debug|Any CPU = Debug|Any CPU
11 | 		Release|Any CPU = Release|Any CPU
12 | 	EndGlobalSection
13 | 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
14 | 		{57B4988B-AF45-44F9-AAFD-9A8A237B962A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
15 | 		{57B4988B-AF45-44F9-AAFD-9A8A237B962A}.Debug|Any CPU.Build.0 = Debug|Any CPU
16 | 		{57B4988B-AF45-44F9-AAFD-9A8A237B962A}.Release|Any CPU.ActiveCfg = Release|Any CPU
17 | 		{57B4988B-AF45-44F9-AAFD-9A8A237B962A}.Release|Any CPU.Build.0 = Release|Any CPU
18 | 	EndGlobalSection
19 | 	GlobalSection(SolutionProperties) = preSolution
20 | 		HideSolutionNode = FALSE
21 | 	EndGlobalSection
22 | EndGlobal
23 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Properties/AssemblyInfo.cs:
--------------------------------------------------------------------------------
 1 | using System.Reflection;
 2 | using System.Runtime.CompilerServices;
 3 | using System.Runtime.InteropServices;
 4 | 
 5 | // 有关程序集的常规信息通过以下
 6 | // 特性集控制。更改这些特性值可修改
 7 | // 与程序集关联的信息。
 8 | [assembly: AssemblyTitle("TestRemoteControl")]
 9 | [assembly: AssemblyDescription("")]
10 | [assembly: AssemblyConfiguration("")]
11 | [assembly: AssemblyCompany("Microsoft")]
12 | [assembly: AssemblyProduct("TestRemoteControl")]
13 | [assembly: AssemblyCopyright("Copyright © Microsoft 2017")]
14 | [assembly: AssemblyTrademark("")]
15 | [assembly: AssemblyCulture("")]
16 | 
17 | // 将 ComVisible 设置为 false 使此程序集中的类型
18 | // 对 COM 组件不可见。  如果需要从 COM 访问此程序集中的类型，
19 | // 则将该类型上的 ComVisible 特性设置为 true。
20 | [assembly: ComVisible(false)]
21 | 
22 | // 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
23 | [assembly: Guid("df22c91d-1c22-46c8-aa48-5b974c3c2b13")]
24 | 
25 | // 程序集的版本信息由下面四个值组成: 
26 | //
27 | //      主版本
28 | //      次版本 
29 | //      生成号
30 | //      修订号
31 | //
32 | // 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值，
33 | // 方法是按如下所示使用“*”: 
34 | // [assembly: AssemblyVersion("1.0.*")]
35 | [assembly: AssemblyVersion("1.0.0.0")]
36 | [assembly: AssemblyFileVersion("1.0.0.0")]
37 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Properties/Settings.Designer.cs:
--------------------------------------------------------------------------------
 1 | //------------------------------------------------------------------------------
 2 | // <auto-generated>
 3 | //     This code was generated by a tool.
 4 | //     Runtime Version:4.0.30319.42000
 5 | //
 6 | //     Changes to this file may cause incorrect behavior and will be lost if
 7 | //     the code is regenerated.
 8 | // </auto-generated>
 9 | //------------------------------------------------------------------------------
10 | 
11 | namespace TestRemoteControl.Properties {
12 |     
13 |     
14 |     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
15 |     [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "14.0.0.0")]
16 |     internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
17 |         
18 |         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
19 |         
20 |         public static Settings Default {
21 |             get {
22 |                 return defaultInstance;
23 |             }
24 |         }
25 |     }
26 | }
27 | 


--------------------------------------------------------------------------------
/TestRemoteControl/UserControl1.Designer.cs:
--------------------------------------------------------------------------------
 1 | namespace TestRemoteControl
 2 | {
 3 |     partial class UserControl1
 4 |     {
 5 |         /// <summary> 
 6 |         /// Required designer variable.
 7 |         /// </summary>
 8 |         private System.ComponentModel.IContainer components = null;
 9 | 
10 |         /// <summary> 
11 |         /// Clean up any resources being used.
12 |         /// </summary>
13 |         /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
14 |         protected override void Dispose(bool disposing)
15 |         {
16 |             if (disposing && (components != null))
17 |             {
18 |                 components.Dispose();
19 |             }
20 |             base.Dispose(disposing);
21 |         }
22 | 
23 |         #region Component Designer generated code
24 | 
25 |         /// <summary> 
26 |         /// Required method for Designer support - do not modify 
27 |         /// the contents of this method with the code editor.
28 |         /// </summary>
29 |         private void InitializeComponent()
30 |         {
31 |             components = new System.ComponentModel.Container();
32 |             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
33 |         }
34 | 
35 |         #endregion
36 |     }
37 | }
38 | 


--------------------------------------------------------------------------------
/.gitattributes:
--------------------------------------------------------------------------------
 1 | ###############################################################################
 2 | # Set default behavior to automatically normalize line endings.
 3 | ###############################################################################
 4 | * text=auto
 5 | 
 6 | ###############################################################################
 7 | # Set default behavior for command prompt diff.
 8 | #
 9 | # This is need for earlier builds of msysgit that does not have it on by
10 | # default for csharp files.
11 | # Note: This is only used by command line
12 | ###############################################################################
13 | #*.cs     diff=csharp
14 | 
15 | ###############################################################################
16 | # Set the merge driver for project and solution files
17 | #
18 | # Merging from the command prompt will add diff markers to the files if there
19 | # are conflicts (Merging from VS is not affected by the settings below, in VS
20 | # the diff markers are never inserted). Diff markers may cause the following 
21 | # file extensions to fail to load in VS. An alternative would be to treat
22 | # these files as binary and thus will always conflict and require user
23 | # intervention with every merge. To do so, just uncomment the entries below
24 | ###############################################################################
25 | #*.sln       merge=binary
26 | #*.csproj    merge=binary
27 | #*.vbproj    merge=binary
28 | #*.vcxproj   merge=binary
29 | #*.vcproj    merge=binary
30 | #*.dbproj    merge=binary
31 | #*.fsproj    merge=binary
32 | #*.lsproj    merge=binary
33 | #*.wixproj   merge=binary
34 | #*.modelproj merge=binary
35 | #*.sqlproj   merge=binary
36 | #*.wwaproj   merge=binary
37 | 
38 | ###############################################################################
39 | # behavior for image files
40 | #
41 | # image files are treated as binary by default.
42 | ###############################################################################
43 | #*.jpg   binary
44 | #*.png   binary
45 | #*.gif   binary
46 | 
47 | ###############################################################################
48 | # diff behavior for common document formats
49 | # 
50 | # Convert binary document formats to text before diffing them. This feature
51 | # is only available from the command line. Turn it on by uncommenting the 
52 | # entries below.
53 | ###############################################################################
54 | #*.doc   diff=astextplain
55 | #*.DOC   diff=astextplain
56 | #*.docx  diff=astextplain
57 | #*.DOCX  diff=astextplain
58 | #*.dot   diff=astextplain
59 | #*.DOT   diff=astextplain
60 | #*.pdf   diff=astextplain
61 | #*.PDF   diff=astextplain
62 | #*.rtf   diff=astextplain
63 | #*.RTF   diff=astextplain
64 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Properties/Resources.Designer.cs:
--------------------------------------------------------------------------------
 1 | //------------------------------------------------------------------------------
 2 | // <auto-generated>
 3 | //     This code was generated by a tool.
 4 | //     Runtime Version:4.0.30319.42000
 5 | //
 6 | //     Changes to this file may cause incorrect behavior and will be lost if
 7 | //     the code is regenerated.
 8 | // </auto-generated>
 9 | //------------------------------------------------------------------------------
10 | 
11 | namespace TestRemoteControl.Properties {
12 |     using System;
13 |     
14 |     
15 |     /// <summary>
16 |     ///   A strongly-typed resource class, for looking up localized strings, etc.
17 |     /// </summary>
18 |     // This class was auto-generated by the StronglyTypedResourceBuilder
19 |     // class via a tool like ResGen or Visual Studio.
20 |     // To add or remove a member, edit your .ResX file then rerun ResGen
21 |     // with the /str option, or rebuild your VS project.
22 |     [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
23 |     [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
24 |     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
25 |     internal class Resources {
26 |         
27 |         private static global::System.Resources.ResourceManager resourceMan;
28 |         
29 |         private static global::System.Globalization.CultureInfo resourceCulture;
30 |         
31 |         [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
32 |         internal Resources() {
33 |         }
34 |         
35 |         /// <summary>
36 |         ///   Returns the cached ResourceManager instance used by this class.
37 |         /// </summary>
38 |         [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
39 |         internal static global::System.Resources.ResourceManager ResourceManager {
40 |             get {
41 |                 if (object.ReferenceEquals(resourceMan, null)) {
42 |                     global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("TestRemoteControl.Properties.Resources", typeof(Resources).Assembly);
43 |                     resourceMan = temp;
44 |                 }
45 |                 return resourceMan;
46 |             }
47 |         }
48 |         
49 |         /// <summary>
50 |         ///   Overrides the current thread's CurrentUICulture property for all
51 |         ///   resource lookups using this strongly typed resource class.
52 |         /// </summary>
53 |         [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
54 |         internal static global::System.Globalization.CultureInfo Culture {
55 |             get {
56 |                 return resourceCulture;
57 |             }
58 |             set {
59 |                 resourceCulture = value;
60 |             }
61 |         }
62 |     }
63 | }
64 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
  1 | ## Ignore Visual Studio temporary files, build results, and
  2 | ## files generated by popular Visual Studio add-ons.
  3 | 
  4 | # User-specific files
  5 | *.suo
  6 | *.user
  7 | *.userosscache
  8 | *.sln.docstates
  9 | 
 10 | # User-specific files (MonoDevelop/Xamarin Studio)
 11 | *.userprefs
 12 | 
 13 | # Build results
 14 | [Dd]ebug/
 15 | [Dd]ebugPublic/
 16 | [Rr]elease/
 17 | [Rr]eleases/
 18 | x64/
 19 | x86/
 20 | build/
 21 | bld/
 22 | [Bb]in/
 23 | [Oo]bj/
 24 | 
 25 | # Visual Studio 2015 cache/options directory
 26 | .vs/
 27 | 
 28 | # MSTest test Results
 29 | [Tt]est[Rr]esult*/
 30 | [Bb]uild[Ll]og.*
 31 | 
 32 | # NUNIT
 33 | *.VisualState.xml
 34 | TestResult.xml
 35 | 
 36 | # Build Results of an ATL Project
 37 | [Dd]ebugPS/
 38 | [Rr]eleasePS/
 39 | dlldata.c
 40 | 
 41 | # DNX
 42 | project.lock.json
 43 | artifacts/
 44 | 
 45 | *_i.c
 46 | *_p.c
 47 | *_i.h
 48 | *.ilk
 49 | *.meta
 50 | *.obj
 51 | *.pch
 52 | *.pdb
 53 | *.pgc
 54 | *.pgd
 55 | *.rsp
 56 | *.sbr
 57 | *.tlb
 58 | *.tli
 59 | *.tlh
 60 | *.tmp
 61 | *.tmp_proj
 62 | *.log
 63 | *.vspscc
 64 | *.vssscc
 65 | .builds
 66 | *.pidb
 67 | *.svclog
 68 | *.scc
 69 | 
 70 | # Chutzpah Test files
 71 | _Chutzpah*
 72 | 
 73 | # Visual C++ cache files
 74 | ipch/
 75 | *.aps
 76 | *.ncb
 77 | *.opensdf
 78 | *.sdf
 79 | *.cachefile
 80 | 
 81 | # Visual Studio profiler
 82 | *.psess
 83 | *.vsp
 84 | *.vspx
 85 | 
 86 | # TFS 2012 Local Workspace
 87 | $tf/
 88 | 
 89 | # Guidance Automation Toolkit
 90 | *.gpState
 91 | 
 92 | # ReSharper is a .NET coding add-in
 93 | _ReSharper*/
 94 | *.[Rr]e[Ss]harper
 95 | *.DotSettings.user
 96 | 
 97 | # JustCode is a .NET coding add-in
 98 | .JustCode
 99 | 
100 | # TeamCity is a build add-in
101 | _TeamCity*
102 | 
103 | # DotCover is a Code Coverage Tool
104 | *.dotCover
105 | 
106 | # NCrunch
107 | _NCrunch_*
108 | .*crunch*.local.xml
109 | 
110 | # MightyMoose
111 | *.mm.*
112 | AutoTest.Net/
113 | 
114 | # Web workbench (sass)
115 | .sass-cache/
116 | 
117 | # Installshield output folder
118 | [Ee]xpress/
119 | 
120 | # DocProject is a documentation generator add-in
121 | DocProject/buildhelp/
122 | DocProject/Help/*.HxT
123 | DocProject/Help/*.HxC
124 | DocProject/Help/*.hhc
125 | DocProject/Help/*.hhk
126 | DocProject/Help/*.hhp
127 | DocProject/Help/Html2
128 | DocProject/Help/html
129 | 
130 | # Click-Once directory
131 | publish/
132 | 
133 | # Publish Web Output
134 | *.[Pp]ublish.xml
135 | *.azurePubxml
136 | ## TODO: Comment the next line if you want to checkin your
137 | ## web deploy settings but do note that will include unencrypted
138 | ## passwords
139 | #*.pubxml
140 | 
141 | *.publishproj
142 | 
143 | # NuGet Packages
144 | *.nupkg
145 | # The packages folder can be ignored because of Package Restore
146 | **/packages/*
147 | # except build/, which is used as an MSBuild target.
148 | !**/packages/build/
149 | # Uncomment if necessary however generally it will be regenerated when needed
150 | #!**/packages/repositories.config
151 | 
152 | # Windows Azure Build Output
153 | csx/
154 | *.build.csdef
155 | 
156 | # Windows Store app package directory
157 | AppPackages/
158 | 
159 | # Visual Studio cache files
160 | # files ending in .cache can be ignored
161 | *.[Cc]ache
162 | # but keep track of directories ending in .cache
163 | !*.[Cc]ache/
164 | 
165 | # Others
166 | ClientBin/
167 | [Ss]tyle[Cc]op.*
168 | ~$*
169 | *~
170 | *.dbmdl
171 | *.dbproj.schemaview
172 | *.pfx
173 | *.publishsettings
174 | node_modules/
175 | orleans.codegen.cs
176 | 
177 | # RIA/Silverlight projects
178 | Generated_Code/
179 | 
180 | # Backup & report files from converting an old project file
181 | # to a newer Visual Studio version. Backup files are not needed,
182 | # because we have git ;-)
183 | _UpgradeReport_Files/
184 | Backup*/
185 | UpgradeLog*.XML
186 | UpgradeLog*.htm
187 | 
188 | # SQL Server files
189 | *.mdf
190 | *.ldf
191 | 
192 | # Business Intelligence projects
193 | *.rdl.data
194 | *.bim.layout
195 | *.bim_*.settings
196 | 
197 | # Microsoft Fakes
198 | FakesAssemblies/
199 | 
200 | # Node.js Tools for Visual Studio
201 | .ntvs_analysis.dat
202 | 
203 | # Visual Studio 6 build log
204 | *.plg
205 | 
206 | # Visual Studio 6 workspace options file
207 | *.opt
208 | 
209 | # LightSwitch generated files
210 | GeneratedArtifacts/
211 | _Pvt_Extensions/
212 | ModelManifest.xml
213 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Properties/Resources.resx:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <root>
  3 |   <!-- 
  4 |     Microsoft ResX Schema 
  5 |     
  6 |     Version 2.0
  7 |     
  8 |     The primary goals of this format is to allow a simple XML format 
  9 |     that is mostly human readable. The generation and parsing of the 
 10 |     various data types are done through the TypeConverter classes 
 11 |     associated with the data types.
 12 |     
 13 |     Example:
 14 |     
 15 |     ... ado.net/XML headers & schema ...
 16 |     <resheader name="resmimetype">text/microsoft-resx</resheader>
 17 |     <resheader name="version">2.0</resheader>
 18 |     <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
 19 |     <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
 20 |     <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
 21 |     <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
 22 |     <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
 23 |         <value>[base64 mime encoded serialized .NET Framework object]</value>
 24 |     </data>
 25 |     <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
 26 |         <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
 27 |         <comment>This is a comment</comment>
 28 |     </data>
 29 |                 
 30 |     There are any number of "resheader" rows that contain simple 
 31 |     name/value pairs.
 32 |     
 33 |     Each data row contains a name, and value. The row also contains a 
 34 |     type or mimetype. Type corresponds to a .NET class that support 
 35 |     text/value conversion through the TypeConverter architecture. 
 36 |     Classes that don't support this are serialized and stored with the 
 37 |     mimetype set.
 38 |     
 39 |     The mimetype is used for serialized objects, and tells the 
 40 |     ResXResourceReader how to depersist the object. This is currently not 
 41 |     extensible. For a given mimetype the value must be set accordingly:
 42 |     
 43 |     Note - application/x-microsoft.net.object.binary.base64 is the format 
 44 |     that the ResXResourceWriter will generate, however the reader can 
 45 |     read any of the formats listed below.
 46 |     
 47 |     mimetype: application/x-microsoft.net.object.binary.base64
 48 |     value   : The object must be serialized with 
 49 |             : System.Serialization.Formatters.Binary.BinaryFormatter
 50 |             : and then encoded with base64 encoding.
 51 |     
 52 |     mimetype: application/x-microsoft.net.object.soap.base64
 53 |     value   : The object must be serialized with 
 54 |             : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
 55 |             : and then encoded with base64 encoding.
 56 | 
 57 |     mimetype: application/x-microsoft.net.object.bytearray.base64
 58 |     value   : The object must be serialized into a byte array 
 59 |             : using a System.ComponentModel.TypeConverter
 60 |             : and then encoded with base64 encoding.
 61 |     -->
 62 |   <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
 63 |     <xsd:element name="root" msdata:IsDataSet="true">
 64 |       <xsd:complexType>
 65 |         <xsd:choice maxOccurs="unbounded">
 66 |           <xsd:element name="metadata">
 67 |             <xsd:complexType>
 68 |               <xsd:sequence>
 69 |                 <xsd:element name="value" type="xsd:string" minOccurs="0" />
 70 |               </xsd:sequence>
 71 |               <xsd:attribute name="name" type="xsd:string" />
 72 |               <xsd:attribute name="type" type="xsd:string" />
 73 |               <xsd:attribute name="mimetype" type="xsd:string" />
 74 |             </xsd:complexType>
 75 |           </xsd:element>
 76 |           <xsd:element name="assembly">
 77 |             <xsd:complexType>
 78 |               <xsd:attribute name="alias" type="xsd:string" />
 79 |               <xsd:attribute name="name" type="xsd:string" />
 80 |             </xsd:complexType>
 81 |           </xsd:element>
 82 |           <xsd:element name="data">
 83 |             <xsd:complexType>
 84 |               <xsd:sequence>
 85 |                 <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
 86 |                 <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
 87 |               </xsd:sequence>
 88 |               <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
 89 |               <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
 90 |               <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
 91 |             </xsd:complexType>
 92 |           </xsd:element>
 93 |           <xsd:element name="resheader">
 94 |             <xsd:complexType>
 95 |               <xsd:sequence>
 96 |                 <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
 97 |               </xsd:sequence>
 98 |               <xsd:attribute name="name" type="xsd:string" use="required" />
 99 |             </xsd:complexType>
100 |           </xsd:element>
101 |         </xsd:choice>
102 |       </xsd:complexType>
103 |     </xsd:element>
104 |   </xsd:schema>
105 |   <resheader name="resmimetype">
106 |     <value>text/microsoft-resx</value>
107 |   </resheader>
108 |   <resheader name="version">
109 |     <value>2.0</value>
110 |   </resheader>
111 |   <resheader name="reader">
112 |     <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
113 |   </resheader>
114 |   <resheader name="writer">
115 |     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
116 |   </resheader>
117 | </root>


--------------------------------------------------------------------------------
/TestRemoteControl/TestRemoteControl.csproj:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  3 |   <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
  4 |   <PropertyGroup>
  5 |     <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
  6 |     <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
  7 |     <ProjectGuid>{57B4988B-AF45-44F9-AAFD-9A8A237B962A}</ProjectGuid>
  8 |     <OutputType>WinExe</OutputType>
  9 |     <AppDesignerFolder>Properties</AppDesignerFolder>
 10 |     <RootNamespace>TestRemoteControl</RootNamespace>
 11 |     <AssemblyName>TestRemoteControl</AssemblyName>
 12 |     <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
 13 |     <FileAlignment>512</FileAlignment>
 14 |     <PublishUrl>publish\</PublishUrl>
 15 |     <Install>true</Install>
 16 |     <InstallFrom>Disk</InstallFrom>
 17 |     <UpdateEnabled>false</UpdateEnabled>
 18 |     <UpdateMode>Foreground</UpdateMode>
 19 |     <UpdateInterval>7</UpdateInterval>
 20 |     <UpdateIntervalUnits>Days</UpdateIntervalUnits>
 21 |     <UpdatePeriodically>false</UpdatePeriodically>
 22 |     <UpdateRequired>false</UpdateRequired>
 23 |     <MapFileExtensions>true</MapFileExtensions>
 24 |     <ApplicationRevision>0</ApplicationRevision>
 25 |     <ApplicationVersion>1.0.0.%2a</ApplicationVersion>
 26 |     <IsWebBootstrapper>false</IsWebBootstrapper>
 27 |     <UseApplicationTrust>false</UseApplicationTrust>
 28 |     <BootstrapperEnabled>true</BootstrapperEnabled>
 29 |     <TargetFrameworkProfile />
 30 |   </PropertyGroup>
 31 |   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
 32 |     <PlatformTarget>x86</PlatformTarget>
 33 |     <DebugSymbols>true</DebugSymbols>
 34 |     <DebugType>full</DebugType>
 35 |     <Optimize>false</Optimize>
 36 |     <OutputPath>bin\Debug\</OutputPath>
 37 |     <DefineConstants>DEBUG;TRACE</DefineConstants>
 38 |     <ErrorReport>prompt</ErrorReport>
 39 |     <WarningLevel>4</WarningLevel>
 40 |   </PropertyGroup>
 41 |   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
 42 |     <PlatformTarget>AnyCPU</PlatformTarget>
 43 |     <DebugType>pdbonly</DebugType>
 44 |     <Optimize>true</Optimize>
 45 |     <OutputPath>bin\Release\</OutputPath>
 46 |     <DefineConstants>TRACE</DefineConstants>
 47 |     <ErrorReport>prompt</ErrorReport>
 48 |     <WarningLevel>4</WarningLevel>
 49 |   </PropertyGroup>
 50 |   <PropertyGroup>
 51 |     <ApplicationIcon>Icons8-Ios7-Logos-Register-Editor.ico</ApplicationIcon>
 52 |   </PropertyGroup>
 53 |   <ItemGroup>
 54 |     <Reference Include="ABB.Robotics.Controllers.PC">
 55 |       <HintPath>.\ABB.Robotics.Controllers.PC.dll</HintPath>
 56 |     </Reference>
 57 |     <Reference Include="RobotStudio.Services.RobApi">
 58 |       <HintPath>.\RobotStudio.Services.RobApi.dll</HintPath>
 59 |     </Reference>
 60 |     <Reference Include="RobotStudio.Services.RobApi.Desktop">
 61 |       <HintPath>.\RobotStudio.Services.RobApi.Desktop.dll</HintPath>
 62 |     </Reference>
 63 |     <Reference Include="System" />
 64 |     <Reference Include="System.Core" />
 65 |     <Reference Include="System.Xml.Linq" />
 66 |     <Reference Include="System.Data.DataSetExtensions" />
 67 |     <Reference Include="Microsoft.CSharp" />
 68 |     <Reference Include="System.Data" />
 69 |     <Reference Include="System.Deployment" />
 70 |     <Reference Include="System.Drawing" />
 71 |     <Reference Include="System.Windows.Forms" />
 72 |     <Reference Include="System.Xml" />
 73 |   </ItemGroup>
 74 |   <ItemGroup>
 75 |     <Compile Include="ABBController.cs" />
 76 |     <Compile Include="Form1.cs">
 77 |       <SubType>Form</SubType>
 78 |     </Compile>
 79 |     <Compile Include="Form1.Designer.cs">
 80 |       <DependentUpon>Form1.cs</DependentUpon>
 81 |     </Compile>
 82 |     <Compile Include="Program.cs" />
 83 |     <Compile Include="Properties\AssemblyInfo.cs" />
 84 |     <Compile Include="UserControl1.cs">
 85 |       <SubType>UserControl</SubType>
 86 |     </Compile>
 87 |     <Compile Include="UserControl1.Designer.cs">
 88 |       <DependentUpon>UserControl1.cs</DependentUpon>
 89 |     </Compile>
 90 |     <EmbeddedResource Include="Form1.resx">
 91 |       <DependentUpon>Form1.cs</DependentUpon>
 92 |     </EmbeddedResource>
 93 |     <EmbeddedResource Include="Properties\Resources.resx">
 94 |       <Generator>ResXFileCodeGenerator</Generator>
 95 |       <LastGenOutput>Resources.Designer.cs</LastGenOutput>
 96 |       <SubType>Designer</SubType>
 97 |     </EmbeddedResource>
 98 |     <Compile Include="Properties\Resources.Designer.cs">
 99 |       <AutoGen>True</AutoGen>
100 |       <DependentUpon>Resources.resx</DependentUpon>
101 |       <DesignTime>True</DesignTime>
102 |     </Compile>
103 |     <None Include="ClassDiagram1.cd" />
104 |     <None Include="Properties\Settings.settings">
105 |       <Generator>SettingsSingleFileGenerator</Generator>
106 |       <LastGenOutput>Settings.Designer.cs</LastGenOutput>
107 |     </None>
108 |     <Compile Include="Properties\Settings.Designer.cs">
109 |       <AutoGen>True</AutoGen>
110 |       <DependentUpon>Settings.settings</DependentUpon>
111 |       <DesignTimeSharedInput>True</DesignTimeSharedInput>
112 |     </Compile>
113 |   </ItemGroup>
114 |   <ItemGroup>
115 |     <None Include="App.config" />
116 |   </ItemGroup>
117 |   <ItemGroup>
118 |     <Content Include="Icons8-Ios7-Logos-Register-Editor.ico" />
119 |   </ItemGroup>
120 |   <ItemGroup>
121 |     <BootstrapperPackage Include=".NETFramework,Version=v4.5">
122 |       <Visible>False</Visible>
123 |       <ProductName>Microsoft .NET Framework 4.5 %28x86 and x64%29</ProductName>
124 |       <Install>true</Install>
125 |     </BootstrapperPackage>
126 |     <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
127 |       <Visible>False</Visible>
128 |       <ProductName>.NET Framework 3.5 SP1</ProductName>
129 |       <Install>false</Install>
130 |     </BootstrapperPackage>
131 |   </ItemGroup>
132 |   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
133 |   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
134 |        Other similar extension points exist, see Microsoft.Common.targets.
135 |   <Target Name="BeforeBuild">
136 |   </Target>
137 |   <Target Name="AfterBuild">
138 |   </Target>
139 |   -->
140 | </Project>


--------------------------------------------------------------------------------
/TestRemoteControl/ABBController.cs:
--------------------------------------------------------------------------------
  1 | using System;
  2 | using System.Collections.Generic;
  3 | using System.Linq;
  4 | using System.Text;
  5 | using System.Threading.Tasks;
  6 | using ABB.Robotics.Controllers;
  7 | using ABB.Robotics.Controllers.Discovery;
  8 | using ABB.Robotics.Controllers.RapidDomain;
  9 | using RobotStudio.Services.RobApi;
 10 | using RobotStudio.Services.RobApi.Desktop;
 11 | using System.Collections;
 12 | 
 13 | namespace TestRemoteControl
 14 | {
 15 |     class ABBController
 16 |     {
 17 |         public ControllerInfoCollection controllers = null;
 18 | 
 19 |         public List<string> errLogger(List<string> err,string str)
 20 |         {
 21 |             err.Add(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "    " + str);
 22 |             Console.Write(err.ToArray());
 23 |             return err;
 24 |         }
 25 |         
 26 |         public void Scan()
 27 |         {
 28 |             NetworkScanner netscan = new NetworkScanner();
 29 |             netscan.Scan();
 30 |             controllers = netscan.Controllers;
 31 |         }
 32 | 
 33 |         public Controller GetController(int Select)
 34 |         {
 35 |             return new Controller(controllers[Select]);
 36 |         }
 37 |        
 38 | 
 39 |         public int PPtoMain(Controller c, out List<string> result)
 40 |         {
 41 |             result = new List<string>();
 42 |             //Controller c = Connect();
 43 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
 44 |             if (c == null)
 45 |             {
 46 |                 result.Add("[error]    No controller connect");
 47 |                 return -1;
 48 |             }
 49 |             else
 50 |             {
 51 |                 foreach (ABB.Robotics.Controllers.RapidDomain.Task t in c.Rapid.GetTasks())
 52 |                 {
 53 |                     int re = RAPID_ProgramReset(c, out result, t.Name);
 54 |                     //int re = 0;
 55 |                     Console.WriteLine(t.Name);
 56 | 
 57 |                     //int re = RAPID_ProgramReset(c, out result, "T_ROB1");
 58 |                     //re = RAPID_ProgramReset(c, out result, "T_ROB2");
 59 |                     //re = RAPID_ProgramReset(c, out result, "T_ROB3");
 60 |                     //re = RAPID_ProgramReset(c, out result, "T_ROB4");
 61 | 
 62 |                     if (re == -1)
 63 |                     {
 64 |                         return -1;
 65 |                     }
 66 |                 }
 67 |                 return 0;
 68 |             }
 69 |         }
 70 | 
 71 |         public int Start(Controller c, out List<string> result)
 72 |         {
 73 |             result = new List<string>();
 74 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
 75 |             //Controller c = Connect();
 76 |             if (c == null)
 77 |             {
 78 |                 result.Add("[error]    No controller connect");
 79 |                 return -1;
 80 |             }
 81 |             else
 82 |             {
 83 |                 return RAPID_ProgramStart(c, out result);
 84 | 
 85 |             }
 86 |         }
 87 | 
 88 |         public int Stop(Controller c, out List<string> result)
 89 |         {
 90 |             result = new List<string>();
 91 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
 92 |             //Controller c = Connect();
 93 |             if (c == null)
 94 |             {
 95 |                 result.Add("[error]    No controller connect");
 96 |                 return -1;
 97 |             }
 98 |             else
 99 |             {
100 |                 return RAPID_ProgramStop(c, out result);
101 | 
102 |             }
103 |         }
104 | 
105 | 
106 |         private int RAPID_ProgramReset(Controller c, out List<string> result, string taskname)
107 |         //private int RAPID_ProgramReset(Controller c, out List<string> result, string taskname = "T_ROB1")
108 |         {
109 |             result = new List<string>();
110 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
111 |             try
112 |             {
113 |                 if (c.OperatingMode != ControllerOperatingMode.Auto)
114 |                 {
115 |                     result.Add("[error]    Need Auto Mode");
116 |                     return -1;
117 |                 }
118 | 
119 |                 if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
120 |                     c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
121 |                 using (Mastership m = Mastership.Request(c.Rapid))
122 |                 {
123 |                     try
124 |                     {
125 | 
126 |                         c.Rapid.GetTask(taskname).ResetProgramPointer();
127 |                         result.Add("[msg]    Program Reset");
128 | 
129 |                         m.Release();
130 |                     }
131 |                     catch (Exception ex)
132 |                     {
133 |                         result.Add("[error]"+ex.ToString());
134 |                         m.Release();
135 |                         return -1;
136 |                     }
137 |                 }
138 |                 return 0;
139 |             }
140 |             catch (Exception ex)
141 |             {
142 |                 result.Add("[error]"+ex.ToString());
143 |                 return -1;
144 |             }
145 |         }
146 | 
147 |         private int RAPID_ProgramStart(Controller c, out List<string> result)
148 |         {
149 |             result = new List<string>();
150 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
151 |             try
152 |             {
153 |                 if (c.OperatingMode != ControllerOperatingMode.Auto)
154 |                 {
155 |                     result.Add("[error]    Need Auto Mode");
156 |                     return -1;
157 |                 }
158 |                 if (c.State != ControllerState.MotorsOn)
159 |                 {
160 |                     result.Add("[error]  Motor need ON");
161 |                     return -1;
162 |                 }
163 |                 if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
164 |                     c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
165 |                 using (Mastership m = Mastership.Request(c.Rapid))
166 |                 {
167 |                     try
168 |                     {
169 |                         c.Rapid.Start();
170 |                         m.Release();
171 |                         result.Add("[msg]    Program Start");
172 | 
173 |                     }
174 |                     catch (Exception ex)
175 |                     {
176 |                         result.Add("[error]" + ex.ToString());
177 |                         m.Release();
178 |                         return -1;
179 |                     }
180 |                 }
181 |                 return 0;
182 |             }
183 |             catch (Exception ex)
184 |             {
185 |                 result.Add("[error]" + ex.ToString());
186 |                 return -1;
187 |             }
188 |         }
189 | 
190 |         private int RAPID_ProgramStop(Controller c, out List<string> result)
191 |         {
192 |             result = new List<string>();
193 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
194 |             try
195 |             {
196 |                 if (c.OperatingMode != ControllerOperatingMode.Auto)
197 |                 {
198 |                     result.Add("[error]    Need Auto Mode");
199 |                     return -1;
200 |                 }
201 |                 if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
202 |                     c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
203 |                 using (Mastership m = Mastership.Request(c.Rapid))
204 |                 {
205 |                     try
206 |                     {
207 |                         c.Rapid.Stop(StopMode.Immediate);
208 |                         m.Release();
209 |                         result.Add("[msg]    Program Stop");
210 |                     }
211 |                     catch (Exception ex)
212 |                     {
213 |                         result.Add("[error]" + ex.ToString());
214 |                         m.Release();
215 |                         return -1;
216 |                     }
217 |                 }
218 |                 return 0;
219 |             }
220 |             catch (Exception ex)
221 |             {
222 |                 result.Add("[error]" + ex.ToString());
223 |                 return -1;
224 |             }
225 |         }
226 |         public int SetMotorsOn(Controller c, out List<string> result)
227 |         {
228 |             result = new List<string>();
229 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
230 |             if (c.State != ControllerState.MotorsOff)
231 |             {
232 |                 result.Add("[warning]    Current state is not MotorsOff.Now is " + c.State.ToString());
233 |                 return -1;
234 |             }
235 |             else
236 |             {
237 |                 try
238 |                 {
239 |                     c.State = ControllerState.MotorsOn;
240 |                     result.Add("[msg]    SetMotorsON");
241 |                     return 0;
242 |                 }
243 |                 catch (Exception ex)
244 |                 {
245 |                     result.Add("[error]" + ex.ToString());
246 |                     return -1;
247 |                 }
248 |             }
249 |         }
250 | 
251 |         public int SetMotorsOff(Controller c, out List<string> result)
252 |         {
253 |             result = new List<string>();
254 |             c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
255 |             if (c.State != ControllerState.MotorsOn)
256 |             {
257 |                 result.Add("[warning]    Current controller state is not MotorsOn.Now is " + c.State.ToString());
258 |                 return -1;
259 |             }
260 |             else
261 |             {
262 |                 if (c.Rapid.ExecutionStatus != ExecutionStatus.Stopped)
263 |                 {
264 |                     result.Add("[error]    Rapid is executing or is in unknow state");
265 |                     return -1;
266 |                 }
267 |                 try
268 |                 {
269 |                     c.State = ControllerState.MotorsOff;
270 |                     result.Add("[msg]    SetMotorsOFF");
271 |                     return 0;
272 |                 }
273 |                 catch (Exception ex)
274 |                 {
275 |                     result.Add("[error]" + ex.ToString());
276 |                     return -1;
277 |                 }
278 |             }
279 |         }
280 |     }
281 | }
282 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Form1.cs:
--------------------------------------------------------------------------------
  1 | using System;
  2 | using System.Collections.Generic;
  3 | using System.ComponentModel;
  4 | using System.Data;
  5 | using System.Drawing;
  6 | using System.Linq;
  7 | using System.IO;
  8 | using System.Text;
  9 | using System.Threading.Tasks;
 10 | using System.Windows.Forms;
 11 | using System.Windows;
 12 | using System.Collections;
 13 | using ABB.Robotics.Controllers;
 14 | using ABB.Robotics.Controllers.Discovery;
 15 | using ABB.Robotics.Controllers.RapidDomain;
 16 | 
 17 | namespace TestRemoteControl
 18 | {
 19 |     public partial class RobotArmController : Form
 20 |     {
 21 |         ABBController robot;
 22 |         List<string> errLog = new List<string>();
 23 |        
 24 |         public RobotArmController()
 25 |         {
 26 |             InitializeComponent();//InitUserFace
 27 |             robot = new ABBController();
 28 |             //robot.Scan();
 29 |             this.listView1.Items.Clear();
 30 |             robot.Scan();
 31 |             ListViewItem item = null;
 32 |             if (robot.controllers == null) return;
 33 |             for (int i = 0; i < robot.controllers.Count(); i++)
 34 |                
 35 |             {
 36 |                 item = new ListViewItem(robot.controllers[i].IPAddress.ToString());
 37 |                 item.SubItems.Add(robot.controllers[i].Id);
 38 |                 item.SubItems.Add(robot.controllers[i].Availability.ToString());
 39 |                 item.SubItems.Add(robot.controllers[i].IsVirtual.ToString());
 40 |                 item.SubItems.Add(robot.controllers[i].SystemName);
 41 |                 item.SubItems.Add(robot.controllers[i].Version.ToString());
 42 |                 item.SubItems.Add(robot.controllers[i].ControllerName);
 43 |                 item.SubItems.Add(robot.GetController(i).OperatingMode.ToString());
 44 |                 item.SubItems.Add(robot.controllers[i].SystemId.ToString());
 45 |                 this.listView1.Items.Add(item);
 46 |                 item.Tag = robot.controllers[i];
 47 |             }
 48 |             errLog = robot.errLogger(errLog, "[Scan]             " + robot.controllers.Count().ToString() + "  controllers");
 49 |             richTextBox1.Lines=errLog.ToArray();
 50 | 
 51 | 
 52 | 
 53 |         }
 54 | 
 55 |         protected override void OnShown(EventArgs e)
 56 |         {
 57 |             base.OnShown(e);
 58 |             for (int i = 0; i < 10; i++)
 59 |             {
 60 |                 if (robot.controllers.Count() == 4)
 61 |                 {
 62 | 
 63 |                     button7_Click_1(null, null);
 64 |                     button4_Click(null, null);
 65 |                     button7_Click_1(null, null);
 66 |                     button6_Click(null, null);
 67 |                     button7_Click_1(null, null);
 68 |                     button5_Click(null, null);
 69 |                     button7_Click_1(null, null);
 70 |                     button2_Click(null, null);
 71 |                     button7_Click_1(null, null);
 72 |                     button3_Click(null, null);
 73 |                     errLog = robot.errLogger(errLog, "[Start]             " + robot.controllers.Count().ToString() + "  controllers");
 74 |                     richTextBox1.Lines = errLog.ToArray();
 75 |                     return;
 76 |                 }
 77 |             }
 78 |             errLog = robot.errLogger(errLog, "[start][error]          can't find 4 controllers");
 79 |             richTextBox1.Lines = errLog.ToArray();
 80 | 
 81 |         }
 82 |         private void button1_Click(object sender, EventArgs e)
 83 |             //scan button
 84 |         {
 85 |             //NetworkScanner netscan = new NetworkScanner();
 86 |             //netscan.Scan();
 87 |             //controllers = netscan.Controllers;
 88 |             this.listView1.Items.Clear();
 89 |             robot.Scan();
 90 |             ListViewItem item = null;
 91 |             if (robot.controllers == null) return;
 92 |             for (int i = 0; i < robot.controllers.Count(); i++) 
 93 |             {
 94 |                 item = new ListViewItem(robot.controllers[i].IPAddress.ToString());
 95 |                 
 96 |                 item.SubItems.Add(robot.controllers[i].Id);
 97 |                 item.SubItems.Add(robot.controllers[i].Availability.ToString());
 98 |                 item.SubItems.Add(robot.controllers[i].IsVirtual.ToString());
 99 |                 item.SubItems.Add(robot.controllers[i].SystemName);
100 |                 item.SubItems.Add(robot.controllers[i].Version.ToString());
101 |                 item.SubItems.Add(robot.controllers[i].ControllerName);
102 |                 //item = new ListViewItem(robot.controllers[i].SystemId.ToString());//Guid SystemId
103 |                 item.SubItems.Add(robot.GetController(i).OperatingMode.ToString());
104 |                 item.SubItems.Add(robot.controllers[i].SystemId.ToString());
105 |                 //item.SubItems.Add(robot.controllers[i].ControllerName);//PP to Main
106 |                 this.listView1.Items.Add(item);
107 |                 item.Tag = robot.controllers[i];
108 |             }
109 |             errLog = robot.errLogger(errLog, "[Scan]             " + robot.controllers.Count().ToString() + "  controllers");
110 |             richTextBox1.Lines = errLog.ToArray();
111 |         }
112 | 
113 |         private void button2_Click(object sender, EventArgs e) //motorON
114 |         {
115 |             try
116 |             {
117 |                 List<string> result = new List<string>();
118 |                 if (this.listView1.SelectedIndices.Count < 1)
119 |                 {
120 |                     MessageBox.Show("Please select at least 1 controller to send command.");
121 |                     return;
122 |                 }
123 |                 for (int i = 0; i < this.listView1.SelectedIndices.Count; i++)
124 |                 {
125 |                     robot.PPtoMain(robot.GetController(i), out result);
126 |                     errLog = robot.errLogger(errLog, "[PP_To_Main]" + result[0]);
127 |                     errLog = robot.errLogger(errLog, "[PP_To_Main]:       "+robot.controllers[i].ControllerName+" Done.");
128 |                     richTextBox1.Lines = errLog.ToArray();
129 | 
130 |                 }
131 |             }
132 |             catch (Exception err)
133 |             {
134 |                 MessageBox.Show(err.ToString());
135 |             }
136 | 
137 |             errLog = robot.errLogger(errLog, "[PP_To_Main]       all set done.");
138 |             richTextBox1.Lines = errLog.ToArray();
139 |         }
140 | 
141 |         private void button5_Click(object sender, EventArgs e)
142 |             //motors on 
143 |         {
144 |             try
145 |             {
146 |                 List<string> result = new List<string>();
147 |                 if (this.listView1.SelectedIndices.Count < 1)
148 |                 {
149 |                     MessageBox.Show("Please select at least 1 controller to send command.");
150 |                     return;
151 |                 }
152 |                 for (int i = 0; i < this.listView1.SelectedIndices.Count; i++)
153 |                 {
154 |                     robot.SetMotorsOn(robot.GetController(i), out result);
155 |                     errLog = robot.errLogger(errLog, "[Motors_ON]" + result[0]);
156 | 
157 |                     errLog = robot.errLogger(errLog, "[Motors_ON]       :  " + robot.controllers[i].ControllerName+ " Done.");
158 |                     richTextBox1.Lines = errLog.ToArray();
159 |                 }
160 |             }
161 |             catch (Exception err)
162 |             {
163 |                 MessageBox.Show(err.ToString());
164 |             }
165 |             errLog = robot.errLogger(errLog, "[Motors_ON]        all set done.");
166 |             richTextBox1.Lines = errLog.ToArray();
167 |         }
168 | 
169 |         private void button6_Click(object sender, EventArgs e)
170 |         {
171 |             
172 |             try
173 |             {
174 |                 List<string> result = new List<string>();
175 |                 if (this.listView1.SelectedIndices.Count < 1)
176 |                 {
177 |                     MessageBox.Show("Please select at least 1 controller to send command.");
178 |                     return;
179 |                 }
180 |                 for (int i = 0; i < this.listView1.SelectedIndices.Count; i++)
181 |                 {
182 |                     robot.SetMotorsOff(robot.GetController(i), out result);
183 |                     errLog = robot.errLogger(errLog, "[Motors_OFF]" + result[0]);
184 | 
185 |                     errLog = robot.errLogger(errLog, "[Motors_OFF]:     " + robot.controllers[i].ControllerName+ " Done.");
186 |                     richTextBox1.Lines = errLog.ToArray();
187 |                 }
188 |             }
189 |             catch (Exception err)
190 |             {
191 |                 MessageBox.Show(err.ToString());
192 |             }
193 |             errLog = robot.errLogger(errLog, "[Motors_OFF]       all set done.");
194 |             richTextBox1.Lines = errLog.ToArray();
195 |         }
196 | 
197 |         private void button3_Click(object sender, EventArgs e)
198 |         {
199 |             try
200 |             {
201 |                 List<string> result = new List<string>();
202 |                 if (this.listView1.SelectedIndices.Count < 1)
203 |                 {
204 |                     MessageBox.Show("Please select at least 1 controller to send command.");
205 |                     return;
206 |                 }
207 |                 for (int i = 0; i < this.listView1.SelectedIndices.Count; i++)
208 |                 {
209 |                     robot.Start(robot.GetController(i), out result);
210 |                     errLog = robot.errLogger(errLog, "[Program_Start]" + result[0]);
211 | 
212 |                     errLog = robot.errLogger(errLog, "[Program_Start]:  " + robot.controllers[i].ControllerName+ " Done.");
213 |                     richTextBox1.Lines = errLog.ToArray();
214 |                 }
215 |             }
216 |             catch (Exception err)
217 |             {
218 |                 MessageBox.Show(err.ToString());
219 |             }
220 |             errLog = robot.errLogger(errLog, "[Program_Start]    all set done.");
221 |             richTextBox1.Lines = errLog.ToArray();
222 |         }
223 | 
224 |         private void button4_Click(object sender, EventArgs e)
225 |         {
226 |             try
227 |             {
228 |                 List<string> result = new List<string>();
229 |                 if (this.listView1.SelectedIndices.Count < 1)
230 |                 {
231 |                     MessageBox.Show("Please select at least 1 controller to send command.");
232 |                     return;
233 |                 }
234 |                 for (int i = 0; i < this.listView1.SelectedIndices.Count; i++)
235 |                 {
236 |                     robot.Stop(robot.GetController(i), out result);
237 |                     errLog = robot.errLogger(errLog, "[Program_Stop]" + result[0]);
238 | 
239 |                     errLog = robot.errLogger(errLog, "[Program_Stop]:   " + robot.controllers[i].ControllerName+ " Done.");
240 |                     richTextBox1.Lines = errLog.ToArray();
241 |                 }
242 |             }
243 |             catch (Exception err)
244 |             {
245 |                 MessageBox.Show(err.ToString());
246 |             }
247 |             errLog = robot.errLogger(errLog, "[Program_Stop]     all set done.");
248 |             richTextBox1.Lines = errLog.ToArray();
249 |         }
250 | 
251 | 
252 | 
253 |         private void button7_Click_1(object sender, EventArgs e)
254 |             // Select all items
255 |         {
256 | 
257 |             listView1.MultiSelect = true;
258 |             foreach (ListViewItem item in listView1.Items)
259 |             {
260 |                 item.Selected = true;
261 |                 item.BackColor = SystemColors.Highlight;
262 |             }
263 |         }
264 | 
265 |         private void button7_Click_2(object sender, EventArgs e)
266 |         {
267 | 
268 |         }
269 | 
270 |         private void richTextBox1_TextChanged(object sender, EventArgs e)
271 |         {
272 |             richTextBox1.SelectionStart = richTextBox1.Text.Length;
273 |             //move to cursor position
274 |            richTextBox1.ScrollToCaret();
275 | 
276 |             this.CheckKeyword("[Scan]", Color.Purple, 0);
277 |             this.CheckKeyword("[Motors_ON]", Color.Green, 0);
278 |             this.CheckKeyword("Motors_OFF", Color.Green, 0);
279 |             this.CheckKeyword("[PP_To_Main]", Color.Green, 0);
280 |             this.CheckKeyword("[Program_Start]", Color.Green, 0);
281 |             this.CheckKeyword("[Program_Stop]", Color.Green, 0);
282 |             this.CheckKeyword("[error", Color.DarkRed, 0);
283 |             this.CheckKeyword("[msg]", Color.Green, 0);
284 |             this.CheckKeyword("[warning]", Color.Tomato, 0);
285 | 
286 | 
287 | 
288 | 
289 |     }
290 | 
291 |         private void button8_Click(object sender, EventArgs e)
292 |         {
293 |               System.String logPath = "./"+ DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss").ToString()+"_log.txt";
294 |             //System.String logPath = "./log.txt";
295 |             File.WriteAllLines(logPath, this.errLog);
296 |             errLog = robot.errLogger(errLog, "Log Save done.");
297 |             richTextBox1.Lines = errLog.ToArray();
298 | 
299 |         }
300 | 
301 |         private void CheckKeyword(string word, Color color, int startIndex)
302 |         {
303 |             if (this.richTextBox1.Text.Contains(word))
304 |             {
305 |                 int index = -1;
306 |                 int selectStart = this.richTextBox1.SelectionStart;
307 | 
308 |                 while ((index = this.richTextBox1.Text.IndexOf(word, (index + 1))) != -1)
309 |                 {
310 |                     this.richTextBox1.Select((index + startIndex), word.Length);
311 |                     this.richTextBox1.SelectionColor = color;
312 |                    this.richTextBox1.Select(selectStart, 0);
313 |                     this.richTextBox1.SelectionColor = Color.Black;
314 |                 }
315 |             }
316 |         }
317 | 
318 |         private void button9_Click(object sender, EventArgs e)
319 |         {
320 |             errLog = robot.errLogger(errLog, "[e-mail]          send 2018_xx_xx_xx_log.txt to  bquill.com.");
321 |             richTextBox1.Lines = errLog.ToArray();
322 |         }
323 | 
324 |         private void label1_Click(object sender, EventArgs e)
325 |         {
326 | 
327 |         }
328 |     }
329 | }
330 | 


--------------------------------------------------------------------------------
/TestRemoteControl/Form1.Designer.cs:
--------------------------------------------------------------------------------
  1 | namespace TestRemoteControl
  2 | {
  3 |     partial class RobotArmController
  4 |     {
  5 |         /// <summary>
  6 |         /// 必需的设计器变量。
  7 |         /// </summary>
  8 |         private System.ComponentModel.IContainer components = null;
  9 | 
 10 |         /// <summary>
 11 |         /// 清理所有正在使用的资源。
 12 |         /// </summary>
 13 |         /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
 14 |         protected override void Dispose(bool disposing)
 15 |         {
 16 |             if (disposing && (components != null))
 17 |             {
 18 |                 components.Dispose();
 19 |             }
 20 |             base.Dispose(disposing);
 21 |         }
 22 | 
 23 |         #region Windows 窗体设计器生成的代码
 24 | 
 25 |         /// <summary>
 26 |         /// 设计器支持所需的方法 - 不要
 27 |         /// 使用代码编辑器修改此方法的内容。
 28 |         /// </summary>
 29 |         private void InitializeComponent()
 30 |         {
 31 |             System.Windows.Forms.ListViewItem listViewItem1 = new System.Windows.Forms.ListViewItem("");
 32 |             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(RobotArmController));
 33 |             this.listView1 = new System.Windows.Forms.ListView();
 34 |             this.columnHeader25 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 35 |             this.columnHeader26 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 36 |             this.columnHeader27 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 37 |             this.columnHeader28 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 38 |             this.columnHeader29 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 39 |             this.columnHeader30 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 40 |             this.columnHeader31 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 41 |             this.columnHeader32 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 42 |             this.columnHeader1 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
 43 |             this.button1 = new System.Windows.Forms.Button();
 44 |             this.button2 = new System.Windows.Forms.Button();
 45 |             this.button3 = new System.Windows.Forms.Button();
 46 |             this.button4 = new System.Windows.Forms.Button();
 47 |             this.button5 = new System.Windows.Forms.Button();
 48 |             this.button6 = new System.Windows.Forms.Button();
 49 |             this.button7 = new System.Windows.Forms.Button();
 50 |             this.richTextBox1 = new System.Windows.Forms.RichTextBox();
 51 |             this.button8 = new System.Windows.Forms.Button();
 52 |             this.button9 = new System.Windows.Forms.Button();
 53 |             this.SuspendLayout();
 54 |             // 
 55 |             // listView1
 56 |             // 
 57 |             this.listView1.AutoArrange = false;
 58 |             this.listView1.BackColor = System.Drawing.SystemColors.Window;
 59 |             this.listView1.CheckBoxes = true;
 60 |             this.listView1.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
 61 |             this.columnHeader25,
 62 |             this.columnHeader26,
 63 |             this.columnHeader27,
 64 |             this.columnHeader28,
 65 |             this.columnHeader29,
 66 |             this.columnHeader30,
 67 |             this.columnHeader31,
 68 |             this.columnHeader32,
 69 |             this.columnHeader1});
 70 |             this.listView1.ForeColor = System.Drawing.SystemColors.InfoText;
 71 |             this.listView1.FullRowSelect = true;
 72 |             this.listView1.GridLines = true;
 73 |             listViewItem1.StateImageIndex = 0;
 74 |             this.listView1.Items.AddRange(new System.Windows.Forms.ListViewItem[] {
 75 |             listViewItem1});
 76 |             this.listView1.Location = new System.Drawing.Point(16, 23);
 77 |             this.listView1.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
 78 |             this.listView1.Name = "listView1";
 79 |             this.listView1.Size = new System.Drawing.Size(1563, 645);
 80 |             this.listView1.TabIndex = 0;
 81 |             this.listView1.UseCompatibleStateImageBehavior = false;
 82 |             this.listView1.View = System.Windows.Forms.View.Details;
 83 |             // 
 84 |             // columnHeader25
 85 |             // 
 86 |             this.columnHeader25.Text = "IP Address";
 87 |             this.columnHeader25.Width = 150;
 88 |             // 
 89 |             // columnHeader26
 90 |             // 
 91 |             this.columnHeader26.Text = "ID";
 92 |             this.columnHeader26.Width = 80;
 93 |             // 
 94 |             // columnHeader27
 95 |             // 
 96 |             this.columnHeader27.Text = "Availability";
 97 |             this.columnHeader27.Width = 100;
 98 |             // 
 99 |             // columnHeader28
100 |             // 
101 |             this.columnHeader28.Text = "Virtual";
102 |             this.columnHeader28.Width = 70;
103 |             // 
104 |             // columnHeader29
105 |             // 
106 |             this.columnHeader29.Text = "System name";
107 |             this.columnHeader29.Width = 120;
108 |             // 
109 |             // columnHeader30
110 |             // 
111 |             this.columnHeader30.Text = "Version";
112 |             this.columnHeader30.Width = 80;
113 |             // 
114 |             // columnHeader31
115 |             // 
116 |             this.columnHeader31.Text = "Name";
117 |             this.columnHeader31.Width = 110;
118 |             // 
119 |             // columnHeader32
120 |             // 
121 |             this.columnHeader32.Text = "Mode";
122 |             this.columnHeader32.Width = 80;
123 |             // 
124 |             // columnHeader1
125 |             // 
126 |             this.columnHeader1.Text = "Guid SystemId";
127 |             this.columnHeader1.Width = 150;
128 |             // 
129 |             // button1
130 |             // 
131 |             this.button1.BackColor = System.Drawing.SystemColors.ActiveCaption;
132 |             this.button1.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
133 |             this.button1.Location = new System.Drawing.Point(1601, 23);
134 |             this.button1.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
135 |             this.button1.Name = "button1";
136 |             this.button1.Size = new System.Drawing.Size(250, 60);
137 |             this.button1.TabIndex = 1;
138 |             this.button1.Text = "Scan";
139 |             this.button1.UseVisualStyleBackColor = false;
140 |             this.button1.Click += new System.EventHandler(this.button1_Click);
141 |             // 
142 |             // button2
143 |             // 
144 |             this.button2.BackColor = System.Drawing.SystemColors.Highlight;
145 |             this.button2.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
146 |             this.button2.Location = new System.Drawing.Point(1601, 199);
147 |             this.button2.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
148 |             this.button2.Name = "button2";
149 |             this.button2.Size = new System.Drawing.Size(250, 60);
150 |             this.button2.TabIndex = 2;
151 |             this.button2.Text = "PP to Main";
152 |             this.button2.UseVisualStyleBackColor = false;
153 |             this.button2.Click += new System.EventHandler(this.button2_Click);
154 |             // 
155 |             // button3
156 |             // 
157 |             this.button3.BackColor = System.Drawing.SystemColors.Highlight;
158 |             this.button3.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
159 |             this.button3.Location = new System.Drawing.Point(1601, 280);
160 |             this.button3.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
161 |             this.button3.Name = "button3";
162 |             this.button3.Size = new System.Drawing.Size(250, 60);
163 |             this.button3.TabIndex = 3;
164 |             this.button3.Text = "Start";
165 |             this.button3.UseVisualStyleBackColor = false;
166 |             this.button3.Click += new System.EventHandler(this.button3_Click);
167 |             // 
168 |             // button4
169 |             // 
170 |             this.button4.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(128)))));
171 |             this.button4.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
172 |             this.button4.Location = new System.Drawing.Point(1601, 406);
173 |             this.button4.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
174 |             this.button4.Name = "button4";
175 |             this.button4.Size = new System.Drawing.Size(250, 200);
176 |             this.button4.TabIndex = 4;
177 |             this.button4.Text = "Stop";
178 |             this.button4.UseVisualStyleBackColor = false;
179 |             this.button4.Click += new System.EventHandler(this.button4_Click);
180 |             // 
181 |             // button5
182 |             // 
183 |             this.button5.BackColor = System.Drawing.SystemColors.Highlight;
184 |             this.button5.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
185 |             this.button5.Location = new System.Drawing.Point(1601, 113);
186 |             this.button5.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
187 |             this.button5.Name = "button5";
188 |             this.button5.Size = new System.Drawing.Size(250, 60);
189 |             this.button5.TabIndex = 5;
190 |             this.button5.Text = "MotorsON";
191 |             this.button5.UseVisualStyleBackColor = false;
192 |             this.button5.Click += new System.EventHandler(this.button5_Click);
193 |             // 
194 |             // button6
195 |             // 
196 |             this.button6.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(128)))));
197 |             this.button6.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
198 |             this.button6.Location = new System.Drawing.Point(1601, 618);
199 |             this.button6.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
200 |             this.button6.Name = "button6";
201 |             this.button6.Size = new System.Drawing.Size(250, 93);
202 |             this.button6.TabIndex = 6;
203 |             this.button6.Text = "MotorsOFF";
204 |             this.button6.UseVisualStyleBackColor = false;
205 |             this.button6.Click += new System.EventHandler(this.button6_Click);
206 |             // 
207 |             // button7
208 |             // 
209 |             this.button7.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(128)))), ((int)(((byte)(255)))));
210 |             this.button7.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
211 |             this.button7.Location = new System.Drawing.Point(1601, 757);
212 |             this.button7.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
213 |             this.button7.Name = "button7";
214 |             this.button7.Size = new System.Drawing.Size(250, 137);
215 |             this.button7.TabIndex = 15;
216 |             this.button7.Text = "All Select";
217 |             this.button7.UseVisualStyleBackColor = false;
218 |             this.button7.Click += new System.EventHandler(this.button7_Click_1);
219 |             // 
220 |             // richTextBox1
221 |             // 
222 |             this.richTextBox1.EnableAutoDragDrop = true;
223 |             this.richTextBox1.Font = new System.Drawing.Font("Courier New", 10.2F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
224 |             this.richTextBox1.Location = new System.Drawing.Point(16, 680);
225 |             this.richTextBox1.Name = "richTextBox1";
226 |             this.richTextBox1.ReadOnly = true;
227 |             this.richTextBox1.Size = new System.Drawing.Size(1563, 373);
228 |             this.richTextBox1.TabIndex = 16;
229 |             this.richTextBox1.Text = "";
230 |             this.richTextBox1.TextChanged += new System.EventHandler(this.richTextBox1_TextChanged);
231 |             // 
232 |             // button8
233 |             // 
234 |             this.button8.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
235 |             this.button8.Location = new System.Drawing.Point(1601, 993);
236 |             this.button8.Name = "button8";
237 |             this.button8.Size = new System.Drawing.Size(250, 60);
238 |             this.button8.TabIndex = 17;
239 |             this.button8.Text = "Save Log";
240 |             this.button8.UseVisualStyleBackColor = true;
241 |             this.button8.Click += new System.EventHandler(this.button8_Click);
242 |             // 
243 |             // button9
244 |             // 
245 |             this.button9.Font = new System.Drawing.Font("Microsoft YaHei UI", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
246 |             this.button9.Location = new System.Drawing.Point(1601, 918);
247 |             this.button9.Name = "button9";
248 |             this.button9.Size = new System.Drawing.Size(250, 60);
249 |             this.button9.TabIndex = 18;
250 |             this.button9.Text = "Service";
251 |             this.button9.UseVisualStyleBackColor = true;
252 |             this.button9.Click += new System.EventHandler(this.button9_Click);
253 |             // 
254 |             // RobotArmController
255 |             // 
256 |             this.AutoScaleDimensions = new System.Drawing.SizeF(10F, 23F);
257 |             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
258 |             this.BackColor = System.Drawing.SystemColors.Control;
259 |             this.ClientSize = new System.Drawing.Size(1865, 1065);
260 |             this.Controls.Add(this.button9);
261 |             this.Controls.Add(this.button8);
262 |             this.Controls.Add(this.richTextBox1);
263 |             this.Controls.Add(this.button7);
264 |             this.Controls.Add(this.button6);
265 |             this.Controls.Add(this.button5);
266 |             this.Controls.Add(this.button4);
267 |             this.Controls.Add(this.button3);
268 |             this.Controls.Add(this.button2);
269 |             this.Controls.Add(this.button1);
270 |             this.Controls.Add(this.listView1);
271 |             this.Font = new System.Drawing.Font("Microsoft YaHei UI Light", 10.2F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
272 |             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
273 |             this.Margin = new System.Windows.Forms.Padding(5, 6, 5, 6);
274 |             this.Name = "RobotArmController";
275 |             this.Text = "RobotArmController";
276 |             this.ResumeLayout(false);
277 | 
278 |         }
279 | 
280 |         #endregion
281 | 
282 |         private System.Windows.Forms.ListView listView1;
283 |         private System.Windows.Forms.ColumnHeader columnHeader25;
284 |         private System.Windows.Forms.ColumnHeader columnHeader26;
285 |         private System.Windows.Forms.ColumnHeader columnHeader27;
286 |         private System.Windows.Forms.ColumnHeader columnHeader28;
287 |         private System.Windows.Forms.ColumnHeader columnHeader29;
288 |         private System.Windows.Forms.ColumnHeader columnHeader30;
289 |         private System.Windows.Forms.ColumnHeader columnHeader31;
290 |         private System.Windows.Forms.ColumnHeader columnHeader32;
291 |         private System.Windows.Forms.Button button1;
292 |         private System.Windows.Forms.Button button2;
293 |         private System.Windows.Forms.Button button3;
294 |         private System.Windows.Forms.Button button4;
295 |         private System.Windows.Forms.Button button5;
296 |         private System.Windows.Forms.Button button6;
297 |         private System.Windows.Forms.ColumnHeader columnHeader1;
298 |         private System.Windows.Forms.Button button7;
299 |         private System.Windows.Forms.RichTextBox richTextBox1;
300 |         private System.Windows.Forms.Button button8;
301 |         private System.Windows.Forms.Button button9;
302 |     }
303 | }
304 | 
305 | 


--------------------------------------------------------------------------------