add example to read variables from Dashboard server

Author: AlfredTouring

Examples/WindowsDesktop/Components/DashboardServerControl.Designer.cs

@@ -35,7 +35,7 @@ public void OnOpen() { }
     #endregion
 
     // Append command response to the console text area
-    private void Log(CommandResponse response, string command)
+    private void Log(CommandResponse response, string command, string messageBefore=null, string messageAfter=null)
     {
         txtConsole.AppendText(command);
         txtConsole.AppendText("()\r\n");
@@ -52,7 +52,9 @@ private void Log(CommandResponse response, string command)
             txtConsole.AppendText("FAILED : ");
         }
 
-        txtConsole.AppendText(response.ToString());
+        if(messageBefore != null) txtConsole.AppendText(messageBefore);
+        txtConsole.AppendText(response.ToString() ?? "");
+        if (messageAfter != null) txtConsole.AppendText(messageAfter);
 
 
         txtConsole.SelectionBullet = false;
@@ -247,5 +249,25 @@ private void btnRestartSafety_Click(object sender, EventArgs e)
         var response = _ur.RestartSafety();
         Log(response, "RestartSafety");
     }
+
+    private void txtSendCustomCommand_Click(object sender, EventArgs e)
+    {
+        var response = _ur.SendCustomDashboardCommand(txtCustomCommand.Text);
+        Log(response, "SendCustomDashboardCommand");
+    }
+
+    private void btnGetVariableValue_Click(object sender, EventArgs e)
+    {
+        var response = _ur.GetVariable(txtVariableName.Text);
+        if(response.Value.Type == GlobalVariableTypes.None)
+        {
+            Log(response, "GetVariableValue", $"Variable {txtVariableName.Text} is not declared. ");
+        }
+        else
+        {
+            Log(response, "GetVariableValue", response.Succeed ? $"{response.Value.Type} {response.Value.Name} = " : "");
+        }
+    }
     #endregion
+
 }

Examples/WindowsDesktop/Components/DashboardServerControl.cs

@@ -29,11 +29,11 @@ private void _ur_PopupMessageReceived(object sender, PopupMessageEventArgs e)
 
     private void ShowPopup(string title, string message, bool warning, bool error)
     {
-        Application.OpenForms[0].Invoke(new Action(() =>
+        MainForm.InvokeOnMainForm(new Action(() =>
             {
                 var popup = new PrimaryInterfacePopup(_ur, title, message, warning, error);
 
-                popup.ShowDialog(Application.OpenForms[0]);
+                popup.ShowDialog(MainForm.Instance);
             }));
     }
 

Examples/WindowsDesktop/Components/PrimaryInterfaceControl.cs

@@ -23,11 +23,11 @@ private void _ur_OnXmlRpcServerRequest(object sender, XmlRpcEventArg request)
         var waitHandle = new AutoResetEvent(false);
 
         // Open dialog in main thread
-        this.Invoke(new Action(() =>
+        MainForm.InvokeOnMainForm(new Action(() =>
         {
             var dlg = new XmlRpcPopup(request, waitHandle);
 
-            dlg.ShowDialog(this);
+            dlg.ShowDialog(MainForm.Instance);
         }));
 
         // Wait dialog to close

Examples/WindowsDesktop/Components/XmlRpcControl.cs

@@ -9,7 +9,7 @@ public partial class MainForm : Form
     // UR instance that handles connection to the robot
     private readonly UR _ur = new UR();
 
-    private static MainForm Instance;
+    public static MainForm Instance { get; private set; }
 
     #region Initialisation
     public MainForm()
@@ -166,4 +166,14 @@ public static void Decompile(string fullName)
         Instance.SelectNode(node);
         control?.Decompile(fullName);
     }
+
+    public static void InvokeOnMainForm(Delegate action)
+    {
+        if (Instance.InvokeRequired)
+        {
+            Instance.Invoke(action);
+            return;
+        }
+        action?.DynamicInvoke();
+    }
 }

Examples/WindowsDesktop/MainForm.Designer.cs

@@ -125,7 +125,7 @@
         AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj0yLjAuMC4w
         LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACZTeXN0
         ZW0uV2luZG93cy5Gb3Jtcy5JbWFnZUxpc3RTdHJlYW1lcgEAAAAERGF0YQcCAgAAAAkDAAAADwMAAABE
-        CAAAAk1TRnQBSQFMAgEBAgEAARgBAAEYAQABEAEAARABAAT/AQkBAAj/AUIBTQE2AQQGAAE2AQQCAAEo
+        CAAAAk1TRnQBSQFMAgEBAgEAASABAAEgAQABEAEAARABAAT/AQkBAAj/AUIBTQE2AQQGAAE2AQQCAAEo
         AwABQAMAARADAAEBAQABCAYAAQQYAAGAAgABgAMAAoABAAGAAwABgAEAAYABAAKAAgADwAEAAcAB3AHA
         AQAB8AHKAaYBAAEzBQABMwEAATMBAAEzAQACMwIAAxYBAAMcAQADIgEAAykBAANVAQADTQEAA0IBAAM5
         AQABgAF8Af8BAAJQAf8BAAGTAQAB1gEAAf8B7AHMAQABxgHWAe8BAAHWAucBAAGQAakBrQIAAf8BMwMA