public void Test_ConnectDisconnectWhenRoboDKIsAlreadyRunning()
{
var rdk = new RoboDK();
for (var i = 0; i < 10; i++)
{
rdk.Connected().Should().BeFalse();
rdk.Connect().Should().BeTrue();
// RoboDK is already running. It is not expected that connect will start a new process
rdk.Process.Should().BeNull();
rdk.Connected().Should().BeTrue();
// Test some properties
rdk.Version().Should().StartWith("5");
rdk.ApiVersion.Should().BeGreaterThan(0);
rdk.RoboDKBuild.Should().BeGreaterThan(0);
rdk.RoboDKServerPort.Should().BeGreaterThan(0);
rdk.RoboDKClientPort.Should().BeGreaterThan(0);
rdk.RoboDKServerIpAddress.Length.Should().BeGreaterThan(0);
rdk.DefaultSocketTimeoutMilliseconds.Should().BeGreaterThan(1000);
rdk.Disconnect();
rdk.Connected().Should().BeFalse();
}
}
private void PrepareSimulation()
{
RoboDK RDK = new RoboDK("127.0.0.1");
RoboDK.Item frame_pallet = RDK.GetItem("PalletA", RoboDK.ITEM_TYPE_FRAME);
// 获取参数
string SizeBox = RDK.GetParam("SizeBox"); // 150,200,150 箱子大小
string SizePallet = RDK.GetParam("SizePallet"); // 5,3,3 横纵列
float[] SizeBoxXyz = SizeBox.Split(',').Select((m) => float.Parse(m.Trim())).ToArray(); // [150,200,150]
int[] SizePalletXyz = SizePallet.Split(',').Select((m) => int.Parse(m.Trim())).ToArray(); // [5,3,3]
float SizeBoxZ = SizeBoxXyz[2]; // 箱子的高度很重要，用来计算位置和碰撞检测的
RDK.Render(false);
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_OBJECT), "Part ");
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_TOOL), "TCP ");
RDK.GetItem("box100mm").Copy();
Random random = new Random();
for (int i = 0; i < SizePalletXyz[0]; i++)
{
for (int j = 0; j < SizePalletXyz[1]; j++)
{
for (int k = 0; k < SizePalletXyz[2]; k++)
{
// 计算位置
float location_x = SizeBoxXyz[0] / 2 + i * SizeBoxXyz[0];
float location_y = SizeBoxXyz[1] / 2 + j * SizeBoxXyz[1];
float location_z = SizeBoxXyz[2] / 2 + k * SizeBoxXyz[2];
// 复制新的对象
RoboDK.Item newPart = frame_pallet.Paste();
newPart.Scale(new double[] { SizeBoxXyz[0] / 100, SizeBoxXyz[1] / 100, SizeBoxXyz[2] / 100 });
newPart.SetName("Part " + i.ToString() + j.ToString() + k.ToString());
newPart.SetPose(Matrix.Transl(location_x, location_y, location_z));
newPart.SetVisible(true, 0);
newPart.SetColor(new double[] { random.NextDouble(), random.NextDouble(), random.NextDouble(), 1 });
}
}
}
RDK.SetParam("SENSOR", "0");
RDK.Render(true);
RDK.Disconnect();
PartsClear();
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
roboDK.Disconnect();
}