CAO_RC8PRovider_CSHARP_Task.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ORiN2.interop.CAO;

namespace RC8_with_ORiN_VS2010
{
    public partial class Task : Form
    {
        private CaoEngine g_eng;        //CaoEngine object variable
        private CaoController g_ctrl;   //CaoController object variable
        private CaoTask g_task;         //CaoTask object variable
        private CaoTask g_task2;

        public Task()
        {
            InitializeComponent();
        }

        private void Command1_Click(object sender, EventArgs e)
        {
            g_task.Start(1, "");    //Start Task
        }

        private void Command2_Click(object sender, EventArgs e)
        {
            g_task.Stop(4, "");     //Stop Task
        }

        private void Task_Load(object sender, EventArgs e)
        {
            g_eng = new CaoEngine(); //CaoEngine object creation

            //Connect RC: IP setting depends on your RC setting.
            g_ctrl = g_eng.Workspaces.Item(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");
            
            g_task = g_ctrl.AddTask("PRO1", ""); //Task name PRO1
            g_task2 = g_ctrl.AddTask("Test1", "");
        }

        private void Task_FormClosed(object sender, FormClosedEventArgs e)
        {
            //Delete task object
            g_ctrl.Tasks.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_task);
            g_task = null;

            //Delete controller object
            g_eng.Workspaces.Item(0).Controllers.Remove(g_ctrl.Index);
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl);
            g_ctrl = null;

            //Delete engine object
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng);
            g_eng = null;
        }
    }
}