Merge pull request #1 from nfu-irs-lab/iss133

Remove contest files

Config.cs

@@ -3,41 +3,51 @@
     /// <summary>
     /// 可調整之設定。
     /// </summary>
-    public static class Config
+    public class Config
     {
         /// <summary>
         /// 手臂連線IP位置。<br/>
         /// 設定錯誤將會無法連線。
         /// </summary>
-         public const string ArmIp = "192.168.100.126";
-        //public const string ArmIp = "169.254.119.180";
+        public virtual string ArmIp => "127.0.0.1";
 
         /// <summary>
         /// 手臂連線Port。<br/>
-        /// 設定錯誤將會無法連線。
+        /// 設定錯誤將會無法連線。<br/>
+        /// 上銀手臂無需設定該項。
+        /// </summary>
+        public virtual int ArmPort => 3000;
+
+        /// <summary>
+        /// 啓用手臂。
         /// </summary>
-        public const int ArmPort = 3000;
+        public virtual bool ArmEnable => true;
 
         /// <summary>
         /// 夾爪連線COM Port。<br/>
         /// 設定錯誤將會無法連線。
         /// </summary>
-        public const string GripperComPort = "COM12";
+        public virtual string GripperComPort => "COM1";
+
+        /// <summary>
+        /// 啓用夾爪。
+        /// </summary>
+        public virtual bool GripperEnable => false;
 
         /// <summary>
         /// 藍牙連線COM Port。<br/>
         /// 設定錯誤將會無法連線。
         /// </summary>
-        public const string BluetoothComPort = "COM21";
+        public virtual string BluetoothComPort => "COM2";
 
         /// <summary>
         /// CSV 檔案儲存路徑。
         /// </summary>
-        public const string CsvFilePath = "../../../../csv/";
+        public virtual string CsvFilePath => @"../../../../csv/";
 
         /// <summary>
         /// Log 檔案儲存路徑。
         /// </summary>
-        public const string LogFilePath = "../../../../log/";
+        public virtual string LogFilePath => @"../../../../log/";
     }
 }

ExclusiveControl.cs

@@ -6,9 +6,12 @@ namespace MainForm
     public partial class ExclusiveControl : UserControl
     {
         public RASDK.Arm.RoboticArm Arm;
+        public RASDK.Gripper.IGripperController Gripper;
         public RASDK.Basic.ILogHandler LogHandler;
         public RASDK.Basic.Message.IMessage MessageHandler;
 
+        public Config Config { get; protected set; } = new Config();
+
         public ExclusiveControl()
         {
             InitializeComponent();

MainForm.cs

@@ -58,6 +58,8 @@ public MainForm(ExclusiveControl exclusiveControl = null)
         {
             InitializeComponent();
 
+            exclusiveControl = exclusiveControl ?? new ExclusiveControl();
+
             // 目標位置控制項集合。
             TargetPosition = new List<NumericUpDown>
             {
@@ -91,9 +93,9 @@ public MainForm(ExclusiveControl exclusiveControl = null)
             };
 
             // 物件實體化。
-            LogHandler = new LogHandler(Config.LogFilePath, LoggingLevel.Trace);
+            LogHandler = new LogHandler(exclusiveControl.Config.LogFilePath, LoggingLevel.Trace);
             MessageHandler = new GeneralMessage(LogHandler);
-            Arm = new RASDK.Arm.Hiwin.RoboticArm(MessageHandler, Config.ArmIp);
+            Arm = new RASDK.Arm.Hiwin.RoboticArm(MessageHandler, exclusiveControl.Config.ArmIp);
             // Gripper = new GripperController(Configuration.GripperComPort, Message);
             // Bluetooth = new BluetoothArmController(Configuration.BluetoothComPort, Arm, Gripper, Message);
             // CsvHandler = new CsvHandler(Configuration.CsvFilePath);
@@ -105,7 +107,15 @@ public MainForm(ExclusiveControl exclusiveControl = null)
             // Camera = new IDSCamera(Message);
 
             // 初始化可連線裝置組。
-            OrganizeConnectableDevices();
+            Devices.Clear(); // 請勿移除此行。
+            if (exclusiveControl.Config.ArmEnable)
+            {
+                Devices.Add(Arm);
+            }
+            if (exclusiveControl.Config.GripperEnable)
+            {
+                Devices.Add(Gripper);
+            }
 
             // 初始化動作流程。
             // ActionFlow.Clear();
@@ -119,18 +129,15 @@ public MainForm(ExclusiveControl exclusiveControl = null)
 
             // PositionHandler.UpdateFileList();
 
-            if (exclusiveControl != null)
-            {
-                exclusiveControl.Arm = Arm;
-                exclusiveControl.LogHandler = LogHandler;
-                exclusiveControl.MessageHandler = MessageHandler;
+            exclusiveControl.Arm = Arm;
+            exclusiveControl.LogHandler = LogHandler;
+            exclusiveControl.MessageHandler = MessageHandler;
 
-                _exclusiveControl = exclusiveControl;
-                _exclusiveControl.Location = new System.Drawing.Point(0, 0);
-                _exclusiveControl.Name = "ExclusiveControl";
+            _exclusiveControl = exclusiveControl;
+            _exclusiveControl.Location = new System.Drawing.Point(0, 0);
+            _exclusiveControl.Name = "ExclusiveControl";
 
-                tabControl_main.TabPages[1].Controls.Add(_exclusiveControl);
-            }
+            tabControl_main.TabPages[1].Controls.Add(_exclusiveControl);
         }
 
         /// <summary>
@@ -141,7 +148,7 @@ private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
 #if (!DISABLE_FORM_CLOSING)
             foreach (var device in Devices)
             {
-                if (device.Connected)
+                if (device == null ? false : device.Connected)
                 {
                     var dr = MessageHandler.Show("手臂或其它裝置似乎還在連線中。\r\n" +
                                                  "是否要斷開連線後再關閉視窗？",

MainForm.csproj

@@ -117,9 +117,6 @@
     <Compile Include="Connection.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="Contest.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="Gripper.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -179,8 +176,5 @@
       <Install>false</Install>
     </BootstrapperPackage>
   </ItemGroup>
-  <ItemGroup>
-    <WCFMetadata Include="Connected Services\" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>