ABB机器人PCSDK包开发上位机

扫描网络上可用的控制器

在这里插入图片描述

		if (Common.scanner == null)
        {
            Common.scanner = new NetworkScanner();
        }
        Common.scanner.Scan();
        this.listView1.Items.Clear();

        ControllerInfoCollection controllers = Common.scanner.Controllers;

        Common.robotCount = controllers.Count;

        foreach (ControllerInfo info in controllers)
        {
            ListViewItem listViewItem = new ListViewItem(info.SystemName);
            //listViewItem.Text = info.SystemName.ToString();
            listViewItem.SubItems.Add(info.IPAddress.ToString());
            listViewItem.SubItems.Add(info.Version.ToString());
            listViewItem.SubItems.Add(info.IsVirtual.ToString());
            listViewItem.SubItems.Add(info.ControllerName.ToString());

            listViewItem.Tag = info;
            this.listView1.Items.Add(listViewItem);
        }

        if (Common.robotCount == 1)
        {
            ListViewItem item = this.listView1.Items[0];
            if (item.Tag != null)
            {
                ControllerInfo info = (ControllerInfo)item.Tag;
                if (info.Availability == Availability.Available)
                {
                    if (Common.controller != null)
                    {
                        Common.controller.Logoff();
                        Common.controller.Dispose();
                        Common.controller = null;
                    }
                    Common.controller = new Controller(info);
                    Common.controller.Logon(UserInfo.DefaultUser);
                }
            }
        }

我此处是扫描到一个机器人控制器的话，就直接连接该控制器

            if (Common.robotCount == 1)
       	    {
            	ListViewItem item = this.listView1.Items[0];
            	if (item.Tag != null)
           		{
                	ControllerInfo info = (ControllerInfo)item.Tag;
                	if (info.Availability == Availability.Available)
               		{
                    	if (Common.controller != null)
                   	    {
                       		Common.controller.Logoff();
                        	Common.controller.Dispose();
                        	Common.controller = null;
                    	}
                    	Common.controller = new Controller(info);
                    	Common.controller.Logon(UserInfo.DefaultUser);
                	}
           	 	}
       		 }