Merge pull request #2 from nfu-irs-lab/update

Update RASDK from v0.2.2 to v0.3.0
nfu-irs-lab · Mar 17, 2022 · abd5821 · abd5821
2 parents 910669a + 02406b9
commit abd5821
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Showing 4 changed files with 12 additions and 12 deletions.
diff --git a/ExclusiveControl.cs b/ExclusiveControl.cs
@@ -8,13 +8,13 @@ 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 RASDK.Basic.Message.IMessageHandler MessageHandler;
 
         public ExclusiveControl()
         {
             InitializeComponent();
         }
+
+        public Config Config { get; protected set; } = new Config();
     }
-}
+}
diff --git a/MainForm.cs b/MainForm.cs
@@ -33,6 +33,8 @@ public partial class MainForm : Form
         /// </summary>
         private readonly List<NumericUpDown> TargetPosition;
 
+        private readonly ExclusiveControl _exclusiveControl;
+
         /// <summary>
         /// 連線裝置組。
         /// </summary>
@@ -43,16 +45,14 @@ public partial class MainForm : Form
         /// </summary>
         private ILogHandler LogHandler;
 
-        private readonly ExclusiveControl _exclusiveControl;
-
         /// <summary>
         /// 手臂藍牙控制器。
         /// </summary>
         // private IBluetoothController Bluetooth = null;
         /// <summary>
         /// 訊息處理器。
         /// </summary>
-        private IMessage MessageHandler;
+        private IMessageHandler MessageHandler;
 
         public MainForm(ExclusiveControl exclusiveControl = null)
         {
@@ -94,7 +94,7 @@ public MainForm(ExclusiveControl exclusiveControl = null)
 
             // 物件實體化。
             LogHandler = new LogHandler(exclusiveControl.Config.LogFilePath, LoggingLevel.Trace);
-            MessageHandler = new GeneralMessage(LogHandler);
+            MessageHandler = new GeneralMessageHandler(LogHandler);
             Arm = new RASDK.Arm.Hiwin.RoboticArm(MessageHandler, exclusiveControl.Config.ArmIp);
             // Gripper = new GripperController(Configuration.GripperComPort, Message);
             // Bluetooth = new BluetoothArmController(Configuration.BluetoothComPort, Arm, Gripper, Message);

diff --git a/MainForm.csproj b/MainForm.csproj
@@ -73,13 +73,13 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="RASDK.Arm, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
-      <HintPath>..\packages\NFUIRSL.RASDK.0.2.2\lib\net472\RASDK.Arm.dll</HintPath>
+      <HintPath>..\packages\NFUIRSL.RASDK.0.3.0\lib\net472\RASDK.Arm.dll</HintPath>
     </Reference>
     <Reference Include="RASDK.Basic, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
-      <HintPath>..\packages\NFUIRSL.RASDK.0.2.2\lib\net472\RASDK.Basic.dll</HintPath>
+      <HintPath>..\packages\NFUIRSL.RASDK.0.3.0\lib\net472\RASDK.Basic.dll</HintPath>
     </Reference>
     <Reference Include="RASDK.Gripper, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
-      <HintPath>..\packages\NFUIRSL.RASDK.0.2.2\lib\net472\RASDK.Gripper.dll</HintPath>
+      <HintPath>..\packages\NFUIRSL.RASDK.0.3.0\lib\net472\RASDK.Gripper.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Configuration" />

diff --git a/packages.config b/packages.config
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <packages>
-  <package id="NFUIRSL.RASDK" version="0.2.2" targetFramework="net472" />
+  <package id="NFUIRSL.RASDK" version="0.3.0" targetFramework="net472" />
 </packages>