C# 与ABB机器人​通讯及控制

C# 与ABB机器人通讯及控制

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.RapidDomain;
using RobotStudio.Services.RobApi;
using RobotStudio.Services.RobApi.Desktop;
using System.Collections;

namespace TestRemoteControl
{
    class ABBController
    {
        public ControllerInfoCollection controllers = null;

        public List errLogger（List errstring str）
        {
            err.Add（DateTime.Now.ToString（“yyyy-MM-dd HH:mm:ss“） + “    “ + str）;
            Console.Write（err.ToArray（））;
            return err;
        }
        
        public void Scan（）
        {
            NetworkScanner netscan = new NetworkScanner（）;

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-10-18 23:31  ABB_PC_SDK_controller-master\
     文件        2518  2018-10-18 23:31  ABB_PC_SDK_controller-master\.gitattributes
     文件        3138  2018-10-18 23:31  ABB_PC_SDK_controller-master\.gitignore
     文件         143  2018-10-18 23:31  ABB_PC_SDK_controller-master\README.md
     文件        1026  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl.sln
     目录           0  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\
     文件      544768  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\ABB.Robotics.Controllers.PC.dll
     文件        9292  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\ABBController.cs
     文件         180  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\App.config
     文件          59  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\ClassDiagram1.cd
     文件       15881  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Form1.Designer.cs
     文件       12962  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Form1.cs
     文件      251225  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Form1.resx
     文件      165322  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Icons8-Ios7-Logos-Register-Editor.ico
     文件         520  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Program.cs
     目录           0  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\
     文件        1340  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\AssemblyInfo.cs
     文件        2799  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\Resources.Designer.cs
     文件        5496  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\Resources.resx
     文件        1074  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\Settings.Designer.cs
     文件         242  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\Properties\Settings.settings
     文件      261968  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\RobotStudio.Services.RobApi.Desktop.dll
     文件      324944  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\RobotStudio.Services.RobApi.dll
     文件        5851  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\TestRemoteControl.csproj
     文件        1111  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\UserControl1.Designer.cs
     文件         399  2018-10-18 23:31  ABB_PC_SDK_controller-master\TestRemoteControl\UserControl1.cs