private void btnCfgModify_Click(object sender, EventArgs e)
{
this.curCmd = EnumCmd.修改配置;
this.panel2.Enabled = true;
CfgFillClear();
presenter.BeginAddProductCfg();
}
/// <summary>
/// Create a new FullStrategy object from file
/// Filename : contains path to file to load
/// PatternFilename : contains path to pattern file to load
/// </summary>
public FullStrategy(string Filename, string PatternFilename)
{
if ((Filename == null) || (PatternFilename == null))
{
throw(new Exception("Invalid Filename/PatternFilename"));
}
// Read files
StructuredFile StrategyFile = new StructuredFile(Filename);
StrategyFile.Parse(PatternFilename);
// Store data into private data
// Store PATTERN_STRATEGY_NAME
_StrategyName = StrategyFile.GetValue("PATTERN_STRATEGY_NAME", "Undefined");
_DefaultSpeed = StrategyFile.GetValue("PATTERN_DEFAULT_SPEED", "50");
// Store initial cmd (setpos)
EnumCmd CurrentCmd = Command.GetCmdFromString(StrategyFile.GetValue("PATTERN_INIT_CMD", "App_SetNewPos"));
EnumCmdType CurrentCmdType = Command.GetCmdTypeFromString(StrategyFile.GetValue("PATTERN_INIT_CMD_TYPE", "NonBlocking"));
String ParamX = StrategyFile.GetValue("PATTERN_INIT_POS_X", "0");
String ParamY = StrategyFile.GetValue("PATTERN_INIT_POS_Y", "0");
String ParamAngle = StrategyFile.GetValue("PATTERN_INIT_POS_ANGLE", "0.0");
EnumStrategyFlag ActiveSensors = Command.GetSensorsFlagFromString(StrategyFile.GetValue("PATTERN_INIT_ACTIVE_SENSORS", "APP_PARAM_APPFLAG_NONE"));
_InitialCmd = new Command(CurrentCmd, CurrentCmdType, null, ParamX, ParamY, ParamAngle, ActiveSensors);
// Read other items (Loops)
// Try to read all loops
for (int iLoop = 0; iLoop <= StrategyFile.GetMaxLoopID(); iLoop++)
{
for (int iCount = 0; iCount <= StrategyFile.GetMaxGID(iLoop); iCount++)
{
// Read ActionID and NextActionID
int ActionID = StrategyFile.GetActionID(iLoop, iCount);
int NextActionID = StrategyFile.GetNextActionID(iLoop, iCount);
int TimeoutID = StrategyFile.GetTimeoutID(iLoop, iCount);
// If current action is valid
if (ActionID >= 0)
{
// Read command data from StratgeyFile
Command ReadCommand = StrategyFile.GetCommand(iLoop, iCount);
// If current command is valid, we store it
if (ReadCommand != null)
{
// If current list is empty, we create it
if (_Strategy == null)
{
_Strategy = new List <StrategyItem>();
}
// Create new entry
_Strategy.Add(new StrategyItem(ReadCommand, ActionID, NextActionID, TimeoutID));
}
}
}
}
}
public void InsertNewCmd_Before(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index <= 0)
{
throw (new Exception("Invalid Param"));
}
if (_Strategy == null)
{
throw (new Exception("Invalid Param"));
}
if (Index > _Strategy.Count)
{
throw (new Exception("Invalid Param"));
}
Command NewCommand = new Command(CmdToAdd);
if (NewCmdID > 1)
{
FreeActionID = GetPrevFreeActionID(NewCmdID + 1);
}
else
{
FreeActionID = GetPrevFreeActionID(_Strategy[Index - 1].ActionID);
}
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index - 1, NewStrategyItem);
}
private void btnProductCfgAdd_Click(object sender, EventArgs e)
{
this.curCmd = EnumCmd.增加配置;
this.panel2.Enabled = true;
this.textBoxBarcode.Enabled = true;
CfgFillClear();
presenter.BeginAddProductCfg();
}
/// <summary>
/// Get the Command into String
/// </summary>
/// <param name="Cmd">Command we have to export into a string</param>
/// <returns>A string that contains the command into a string</returns>
public static String GetCmdToString(EnumCmd Cmd)
{
foreach (EnumCmd ECmd in Enum.GetValues(typeof(EnumCmd)))
{
if (Cmd == ECmd)
{
return(ECmd.ToString());
}
}
return(EnumCmd.NotSet.ToString());
}
public RobotAction(int ID)
{
_uID = ID; // Identifiant unique pour l'action
_cmd = EnumCmd.NotSet; // Commande
_cmdType = EnumCmdType.CmdType_NotSet; // Type de l'action à réaliser
_param1 = ""; // Param 1
_param2 = ""; // Param 2
_param3 = ""; // Param 3
_param4 = ""; // Param 4
_activeSensors = new ActiveSensors(); // Sensors actifs durant le mouvement (pas de sensor actif)
_nextID = -1; // Action suivante
_timeoutID = -1; // Action à réaliser en cas de timeout
}
/// <summary>
/// Récupère la commande complète d'après la Loop et le GID
/// </summary>
/// <param name="LoopID">Identifiant de la boucle</param>
/// <param name="GID">Identifiant du GID</param>
/// <returns>La commande complétée de toutes les infos de la LoopID + GID</returns>
public Command GetCommand(int LoopID, int GID)
{
Command ReadCommand = null;
EnumCmd CmdFromFile = EnumCmd.NotSet;
EnumCmdType CmdTypeFromFile = EnumCmdType.NotSet;
string [] ParamsFromFile = null;
EnumStrategyFlag ActiveSensorsFromFile = EnumStrategyFlag.STRATEGYFLAG_NONE;
// Lecture de toute la liste pour trouver la bonne LoopID et GID
for (int i = 0; i < _Items.Count(); i++)
{
// Si nous sommes dans la bonne LoopID et GID
if ((_Items[i].GetLoopID() == LoopID) && (_Items[i].GetGID() == GID))
{
// Lecture des informations
// Lecture de la commande
if (_Items[i].GetName() == "PATTERN_CMD")
{
CmdFromFile = Command.GetCmdFromString(_Items[i].GetValue());
}
// Lecture du type de la commande
if (_Items[i].GetName() == "PATTERN_CMD_TYPE")
{
CmdTypeFromFile = Command.GetCmdTypeFromString(_Items[i].GetValue());
}
// Lecture des flags des sensors
if (_Items[i].GetName() == "PATTERN_ACTIVE_SENSORS_FLAG")
{
ActiveSensorsFromFile = Command.GetSensorsFlagFromString(_Items[i].GetValue());
}
// Lecture des paramètres
if (_Items[i].GetName() == "PATTERN_PARAMS")
{
ParamsFromFile = Command.GetParamsListFromString(_Items[i].GetValue());
}
}
}
// Creation de l'objet de retour
if (CmdFromFile != EnumCmd.NotSet)
{
ReadCommand = new Command(CmdFromFile, CmdTypeFromFile, ParamsFromFile[0], ParamsFromFile[1], ParamsFromFile[2], ParamsFromFile[3], ActiveSensorsFromFile);
}
return(ReadCommand);
}
public void InsertNewCmd_After(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index < 0)
{
throw (new Exception("Invalid Param"));
}
if (_Strategy == null)
{
_Strategy = new List <StrategyItem>();
}
if (Index > _Strategy.Count)
{
throw (new Exception("Invalid Param"));
}
Command NewCommand = new Command(CmdToAdd);
if (_Strategy.Count == 0)
{
FreeActionID = 1;
}
else
{
if (NewCmdID > 1)
{
FreeActionID = GetNextFreeActionID(NewCmdID - 1);
}
else
{
FreeActionID = GetNextFreeActionID(_Strategy[Index - 1].ActionID);
}
}
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index, NewStrategyItem);
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type, 'Params' parameters and ActiveSensors parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, ActiveSensors);
return;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type
/// Default value is used Params
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType)
{
Update(Cmd, CmdType, null, null, null, null, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type and 'Params' parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
/// <summary>
/// Update the current command with the given data
/// </summary>
/// <param name="Cmd">Command</param>
/// <param name="CmdType">Command Type</param>
/// <param name="Param1">Param 1</param>
/// <param name="Param2">Param 2</param>
/// <param name="Param3">Param 3</param>
/// <param name="Param4">Param 4</param>
/// <param name="ActiveSensors"></param>
/// <returns></returns>
public bool Update(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
bool Ret = false;
// Init Cmd to the default value
_Cmd = EnumCmd.NotSet;
_CmdType = EnumCmdType.NotSet;
_Param1 = null;
_Param2 = null;
_Param3 = null;
_Param4 = null;
if (ActiveSensors != EnumStrategyFlag.STRATEGYFLAG_NONE)
{
_ActiveSensorsFlag = ActiveSensors;
}
_Cmd = Cmd;
_CmdType = CmdType;
// Check Params for Cmd
// Cmd Modif : Add new command here
switch (Cmd)
{
// ________________________________________________________ Param1 / Param2
case EnumCmd.MvtSimple_MoveInMM:
case EnumCmd.App_SetStrategyFlags:
if ((Param1 != null) && (Param2 != null))
{
_Param1 = Param1;
_Param2 = Param2;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param4
case EnumCmd.Mvt_UseAngleOnly:
case EnumCmd.MvtSimple_RotateInDeg:
case EnumCmd.MvtSimple_RotateToAngleInDeg:
if ((Param1 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3
case EnumCmd.Mvt_UseDistOnly:
case EnumCmd.App_IfGoto_System:
case EnumCmd.App_IfGoto_Strategy:
if ((Param1 != null) && (Param2 != null) && (Param3 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param4
case EnumCmd.Mvt_UsePivotMode:
if ((Param1 != null) && (Param2 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param2 / Param3 / Param4
case EnumCmd.App_SetNewPos:
if ((Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3 / Param4
case EnumCmd.Mvt_UseMixedMode:
case EnumCmd.App_Wait:
case EnumCmd.Mvt_UseSpline:
if ((Param1 != null) && (Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ None
case EnumCmd.Mvt_Stop:
case EnumCmd.Sensors_ArmsClose:
case EnumCmd.Sensors_ArmsCloseTotem:
case EnumCmd.Sensors_ArmsOpenDown:
case EnumCmd.Sensors_ArmsOpenUp:
case EnumCmd.Sensors_ArmsOpenOneCD:
case EnumCmd.Sensors_ArmsOpenTotem:
case EnumCmd.Sensors_ArmsUngrab:
case EnumCmd.Sensors_ElevatorLow:
Ret = true;
break;
// ________________________________________________________
default:
break;
}
return(Ret);
}
/// <summary>
/// Get the Command into String
/// </summary>
/// <param name="Cmd">Command we have to export into a string</param>
/// <returns>A string that contains the command into a string</returns>
public static String GetCmdToString(EnumCmd Cmd)
{
foreach (EnumCmd ECmd in Enum.GetValues(typeof(EnumCmd)))
{
if (Cmd == ECmd)
return ECmd.ToString();
}
return EnumCmd.NotSet.ToString();
}
/// <summary>
/// Fonction pour verifier la valeur de la commande passée en paramètre
/// </summary>
/// <param name="valueToCheck">Valeur à tester</param>
/// <param name="defaultValue">Valeur à utiliser en cas de valeur non valide</param>
/// <returns>La commande verifiée</returns>
private EnumCmd CheckEnumCmdValue(String valueToCheck, EnumCmd defaultValue)
{
EnumCmd Ret = defaultValue;
try
{
foreach (EnumCmd currentValue in Enum.GetValues(typeof(EnumCmd)))
{
if (currentValue.ToString() == valueToCheck)
Ret = currentValue;
}
}
catch (Exception)
{
Ret = defaultValue;
}
return Ret;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type, 'Params' parameters and ActiveSensors parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, ActiveSensors);
return;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type and 'Params' parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
/// <summary>
/// Update the current command with the given data
/// </summary>
/// <param name="Cmd">Command</param>
/// <param name="CmdType">Command Type</param>
/// <param name="Param1">Param 1</param>
/// <param name="Param2">Param 2</param>
/// <param name="Param3">Param 3</param>
/// <param name="Param4">Param 4</param>
/// <param name="ActiveSensors"></param>
/// <returns></returns>
public bool Update(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
bool Ret = false;
// Init Cmd to the default value
_Cmd = EnumCmd.NotSet;
_CmdType = EnumCmdType.NotSet;
_Param1 = null;
_Param2 = null;
_Param3 = null;
_Param4 = null;
if (ActiveSensors != EnumStrategyFlag.STRATEGYFLAG_NONE)
_ActiveSensorsFlag = ActiveSensors;
_Cmd = Cmd;
_CmdType = CmdType;
// Check Params for Cmd
// Cmd Modif : Add new command here
switch (Cmd)
{
// ________________________________________________________ Param1 / Param2
case EnumCmd.MvtSimple_MoveInMM:
case EnumCmd.App_SetStrategyFlags:
if ((Param1 != null) && (Param2 != null))
{
_Param1 = Param1;
_Param2 = Param2;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param4
case EnumCmd.Mvt_UseAngleOnly:
case EnumCmd.MvtSimple_RotateInDeg:
case EnumCmd.MvtSimple_RotateToAngleInDeg:
if ((Param1 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3
case EnumCmd.Mvt_UseDistOnly:
case EnumCmd.App_IfGoto_System:
case EnumCmd.App_IfGoto_Strategy:
if ((Param1 != null) && (Param2 != null) && (Param3 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param4
case EnumCmd.Mvt_UsePivotMode:
if ((Param1 != null) && (Param2 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param2 / Param3 / Param4
case EnumCmd.App_SetNewPos:
if ((Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3 / Param4
case EnumCmd.Mvt_UseMixedMode:
case EnumCmd.App_Wait:
case EnumCmd.Mvt_UseSpline:
if ((Param1 != null) && (Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ None
case EnumCmd.Mvt_Stop:
case EnumCmd.Sensors_ArmsClose:
case EnumCmd.Sensors_ArmsCloseTotem:
case EnumCmd.Sensors_ArmsOpenDown:
case EnumCmd.Sensors_ArmsOpenUp:
case EnumCmd.Sensors_ArmsOpenOneCD:
case EnumCmd.Sensors_ArmsOpenTotem:
case EnumCmd.Sensors_ArmsUngrab:
case EnumCmd.Sensors_ElevatorLow:
Ret = true;
break;
// ________________________________________________________
default:
break;
}
return Ret;
}
public void InsertNewCmd_Before(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index <= 0)
throw (new Exception("Invalid Param"));
if (_Strategy == null)
throw (new Exception("Invalid Param"));
if (Index > _Strategy.Count)
throw (new Exception("Invalid Param"));
Command NewCommand = new Command(CmdToAdd);
if (NewCmdID > 1)
FreeActionID = GetPrevFreeActionID(NewCmdID + 1);
else
FreeActionID = GetPrevFreeActionID(_Strategy[Index - 1].ActionID);
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index - 1, NewStrategyItem);
}
public void InsertNewCmd_After(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index < 0)
throw (new Exception("Invalid Param"));
if (_Strategy == null)
{
_Strategy = new List<StrategyItem>();
}
if (Index > _Strategy.Count)
throw (new Exception("Invalid Param"));
Command NewCommand = new Command(CmdToAdd);
if (_Strategy.Count == 0)
FreeActionID = 1;
else
{
if (NewCmdID > 1)
FreeActionID = GetNextFreeActionID(NewCmdID - 1);
else
FreeActionID = GetNextFreeActionID(_Strategy[Index - 1].ActionID);
}
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index, NewStrategyItem);
}
/// <summary>
/// Create a new 'Cmd' command
/// Default values are used for CmdType and Params
/// </summary>
public Command(EnumCmd Cmd)
{
Update(Cmd, EnumCmdType.NotSet, null, null, null, null, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
