public void MotionAll(RobotMotion motion)
{
foreach (var r in robots)
{
r.AddMotion(new RobotMotion(motion));
}
}
static ServerMediation()
{
st_ServerCenter = GameObject.Find("Network").GetComponent <ServerCenter>();
st_ScreenBuild = GameObject.Find("MyScreen").GetComponent <ScreenBuild>();
st_ButtonRespond = GameObject.Find("MyButton").GetComponent <ButtonRespond>();
st_RobotMotion = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
st_Camerascript = GameObject.Find("CameraFree").GetComponent <Camerascript>();
}
public void empty()
{
FILEPATH = Application.dataPath + "\\StreamingAssets\\Programs\\";
GSKFile = new ROBOTFILE(FILEPATH);
button = GameObject.Find("MyButton").GetComponent <ButtonRespond>();
ScreenScript = GameObject.Find("MyScreen").GetComponent <ScreenBuild>();
MotionScript = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
TipsShow = GameObject.Find("MainScript").GetComponent <TipsWindow>();
Voice = GameObject.Find("MainScript").GetComponent <doVoiceExe>();
TipsMo = new TipsMotion();
TipsManager = new TipsInfoManager();
}
private string getPointInfo()
{
RobotMotion Motionscript = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
float[] angle8 = Motionscript.CurrentAngle_All();
string point = "(";
for (int i = 0; i < 8; i++)
{
point += angle8[i].ToString();
if (i != 7)
{
point += ",";
}
}
point += ")";
return(point);
}
void Start()
{
panelcamera = GameObject.Find("CameraUI").GetComponent <Camera>();
Rays[0] = GameObject.Find("ray1");
Rays[1] = GameObject.Find("ray2");
Rays[2] = GameObject.Find("ray3");
Rays[3] = GameObject.Find("ray4");
Rays[4] = GameObject.Find("ray5");
Rays[5] = GameObject.Find("ray6");
Closeray();
TeXiao = GameObject.Find("texiao");
Factory = GameObject.Find("Model");
Scene1 = GameObject.Find("scene1");
Xipan1 = GameObject.Find("xipan1");
Pen1 = GameObject.Find("penpen");
BigPaws = GameObject.Find("MechanicalArm_63_2");
Scene3_6 = GameObject.Find("MechanicalArm_63");
Scene3_table = GameObject.Find("scx17_1");
Scene2 = GameObject.Find("scene2");
Scene5 = GameObject.Find("scene5");
Scene6 = GameObject.Find("scene6");
Robot1 = GameObject.Find("Robot_01");
Scene3 = GameObject.Find("scene3");
Scene4 = GameObject.Find("scene4");
Scene10 = GameObject.Find("scene0");
axisGuid = GameObject.Find("AxisTips");
upDownTrans = GameObject.Find("upDownTrans").GetComponent <Transform>();
rightLeftTrans = GameObject.Find("rightLeftTrans").GetComponent <Transform>();
ExcelPath = Application.dataPath + "/StreamingAssets/Excel/MyCamera.xls";
this.camera.enabled = false;//自由相机不工作
axisGuid.SetActive(false);
robotmove = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
origianlWorkpiece = GameObject.Find("scx0261");
ConveyorBelt = GameObject.Find("chuansongdai35");
TeXiao.SetActive(false);
BigPaws.SetActive(false);
Scene3_table.SetActive(false);
}
// Use this for initialization
void Start()
{
joystick = GameObject.Find("MoveJoystick");
joystickBind = joystick.GetComponent <JoystickBind>();
if (!joystickBind.getBinded())
{
etcJoystick = joystick.GetComponent <ETCJoystick>();
robotMotion = gameObject.GetComponent <RobotMotion>();
etcJoystick.onMove.AddListener(robotMotion.JoystickMove);
etcJoystick.onTouchStart.AddListener(robotMotion.JoystickMoveStart);
etcJoystick.onTouchUp.AddListener(robotMotion.JoysitckMoveEnd);
mainCamera = GameObject.Find("Main Camera");
cameraMotion = mainCamera.GetComponent <CameraMotion>();
cameraMotion.Robot = gameObject;
minimapCamera = GameObject.Find("MinimapCamera");
minimapMotion = minimapCamera.GetComponent <MinimapMotion>();
minimapMotion.Robot = gameObject;
joystickBind.bindJoystick();
}
}
public void Initial(string casename, string filename)
{
ObjectInitial();
StageTotal = 0;
stage_current = 0;
DetectNo = 0;
caseName = casename;
FileName = filename;
TipsShow = GameObject.Find("MainScript").GetComponent <TipsWindow>();
Voice = GameObject.Find("MainScript").GetComponent <doVoiceExe>();
TipsMo = new TipsMotion();
TipsManager = new TipsInfoManager();
button = GameObject.Find("MyButton").GetComponent <ButtonRespond>();
FILEPATH = Application.dataPath + "\\StreamingAssets\\Programs\\";
GSKFile = new ROBOTFILE(FILEPATH);
ScreenScript = GameObject.Find("MyScreen").GetComponent <ScreenBuild>();
MotionScript = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
CalculateTotalStage();
CaseIntro.SetActive(true);
CaseIntro.CaseStart(casename);
PanelInitial();//面板初始化
}
public RobotMotion(RobotMotion src) : this(src.animation, src.duration)
{
}
// 保存されたMotionを追加していく
public void AddMotion(RobotMotion m)
{
motions.Add(m);
}
void Start()
{
robotmotion = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
basicTips = GameObject.Find("MainScript").GetComponent <BasicOperate>();
button = GameObject.Find("MyButton").GetComponent <ButtonRespond>();
}
public bool SolvingA3()
{
MoveScript = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
Special = false;
//theta1.....2
float[] A_1 = new float[2];
A_1[0] = Mathf.Atan2(Py, Px) - Mathf.Atan2(d3, Mathf.Sqrt(Px * Px + Py * Py - d3 * d3));
A_1[1] = Mathf.Atan2(Py, Px) - Mathf.Atan2(d3, -Mathf.Sqrt(Px * Px + Py * Py - d3 * d3));
if (Mathf.Abs(A_1[0] * 180 / Mathf.PI - theta1) < Mathf.Abs(A_1[1] * 180 / Mathf.PI - theta1))
{
angle1 = A_1[0];
}
else
{
angle1 = A_1[1];
}
theta1 = angle1 * 180 / Mathf.PI;
if (float.IsNaN(theta1) || float.IsInfinity(theta1))
{
Debug.Log("theta1无穷大或者不是实数");
return(false);
}
//theta3......2
float[] A_3 = new float[2];
float k3 = (Px * Px + Py * Py + Pz * Pz + a1 * a1 - 2 * a1 * (Mathf.Cos(angle1) * Px + Mathf.Sin(angle1) * Py) - a2 * a2 - a3 * a3 - d3 * d3 - d4 * d4) / (2 * a2);
A_3[0] = Mathf.Atan2(a3, d4) - Mathf.Atan2(k3, Mathf.Sqrt(a3 * a3 + d4 * d4 - k3 * k3));
A_3[1] = Mathf.Atan2(a3, d4) - Mathf.Atan2(k3, -Mathf.Sqrt(a3 * a3 + d4 * d4 - k3 * k3));
A_3[0] = A_3[0] * 180 / Mathf.PI;//转换成度数
A_3[1] = A_3[1] * 180 / Mathf.PI;
if ((float.IsNaN(A_3[0]) || float.IsInfinity(A_3[0])) && (float.IsNaN(A_3[1]) || float.IsInfinity(A_3[1])))
{
Debug.Log("theta3无穷大或者不是实数");
angle3 = theta3 * Mathf.PI / 180;
return(false);
}
else
{
if (!MoveScript.AngleLimit(3, A_3[0]))
{
if (MoveScript.AngleLimit(3, A_3[0] + 360))
{
A_3[0] = A_3[0] + 360;
Debug.Log("+360");
}
else if (MoveScript.AngleLimit(3, A_3[0] - 360))
{
A_3[0] = A_3[0] - 360;
Debug.Log("-360");
}
else
{
A_3[0] = 9999;
}
}
if (!MoveScript.AngleLimit(3, A_3[1]))
{
if (MoveScript.AngleLimit(3, A_3[1] + 360))
{
A_3[1] = A_3[1] + 360;
Debug.Log("+360");
}
else if (MoveScript.AngleLimit(3, A_3[1] - 360))
{
A_3[1] = A_3[1] - 360;
Debug.Log("-360");
}
else
{
A_3[1] = 9999;
}
}
if (A_3[0] == 9999 && A_3[1] == 9999)
{
Debug.Log("theta3超过运动极限" + A_3);
return(false);
}
if (Mathf.Abs(A_3[0] - theta3) < Mathf.Abs(A_3[1] - theta3))
{
theta3 = A_3[0];
}
else
{
theta3 = A_3[1];
}
angle3 = theta3 / 180 * Mathf.PI;
}
//theta2.....2
float[] A_2 = new float[2];
float k21 = (-a3 - a2 * Mathf.Cos(angle3)) * Pz - (Mathf.Cos(angle1) * Px + Mathf.Sin(angle1) * Py - a1) * (d4 - a2 * Mathf.Sin(angle3));
float k22 = (a2 * Mathf.Sin(angle3) - d4) * Pz + (a3 + a2 * Mathf.Cos(angle3)) * (Mathf.Cos(angle1) * Px + Mathf.Sin(angle1) * Py - a1);
A_2[0] = Mathf.Atan2(k21, k22) - angle3 + Mathf.PI / 2;
A_2[1] = Mathf.Atan2(k21, k22) - angle3 - Mathf.PI / 2;
A_2[0] = A_2[0] * 180 / Mathf.PI;//转换成度数
A_2[1] = A_2[1] * 180 / Mathf.PI;
if ((float.IsNaN(A_2[0]) || float.IsInfinity(A_2[0])) && (float.IsNaN(A_2[1]) || float.IsInfinity(A_2[1])))
{
Debug.Log("theta2无穷大或者不是实数");
return(false);
}
else
{
if (!MoveScript.AngleLimit(2, A_2[0]))
{
if (MoveScript.AngleLimit(2, A_2[0] + 360))
{
A_2[0] = A_2[0] + 360;
Debug.Log("+360");
}
else if (MoveScript.AngleLimit(2, A_2[0] - 360))
{
A_2[0] = A_2[0] - 360;
Debug.Log("-360");
}
else
{
A_2[0] = 9999;
}
}
if (!MoveScript.AngleLimit(2, A_2[1]))
{
if (MoveScript.AngleLimit(2, A_3[1] + 360))
{
A_2[1] = A_2[1] + 360;
Debug.Log("+360");
}
else if (MoveScript.AngleLimit(2, A_2[1] - 360))
{
A_2[1] = A_2[1] - 360;
Debug.Log("-360");
}
else
{
A_2[1] = 9999;
}
}
if (A_2[0] == 9999 && A_2[1] == 9999)
{
Debug.Log("theta2超过运动极限");
return(false);
}
if (Mathf.Abs(A_2[0] - theta2) < Mathf.Abs(A_2[1] - theta2))
{
theta2 = A_2[0];
}
else
{
theta2 = A_2[1];
}
angle2 = (theta2 - 90) / 180 * Mathf.PI;//90 90 90
}
//theta4.....2
float[] A_4 = new float[2];
float k41 = Mathf.Sin(angle1) * Ax - Mathf.Cos(angle1) * Ay;
float k42 = Mathf.Cos(angle1) * Mathf.Cos(angle3 + angle2) * Ax + Mathf.Sin(angle1) * Mathf.Cos(angle3 + angle2) * Ay - Mathf.Sin(angle2 + angle3) * Az;
A_4[0] = Mathf.Atan2(-k41, -k42);
A_4[1] = Mathf.Atan2(-k41, -k42) + Mathf.PI;
A_4[0] = A_4[0] * 180 / Mathf.PI;
A_4[1] = A_4[1] * 180 / Mathf.PI;
if (Mathf.Abs(-k41) < 0.00001f && Mathf.Abs(-k42) < 0.00001f)//奇异点
{
angle4 = (theta4) * Mathf.PI / 180;
}
else
{
if (float.IsNaN(theta4) || float.IsInfinity(theta4))
{
Debug.Log("theta4无穷大或者不是实数");
}
if (!MoveScript.AngleLimit(4, A_4[0]))
{
//Debug.Log("A_4[0]" + A_4[0]);
A_4[0] = 9999;
}
if (!MoveScript.AngleLimit(4, A_4[1]))
{
if (MoveScript.AngleLimit(4, A_4[1] - 360))
{
A_4[1] = A_4[1] - 360;
//Debug.Log("-360 :" + A_4[1]);
}
else
{
A_4[1] = 9999;
}
}
if (A_4[0] == 9999 && A_4[1] == 9999)
{
Debug.Log("theta4超过运动极限");
return(false);
}
else if (Mathf.Abs(A_4[0] - theta4) < Mathf.Abs(A_4[1] - theta4))
{
//if (Mathf.Abs(A_4[0] - theta4) < 90)
//{
theta4 = A_4[0];
//}
//else
//{
// Debug.Log("xxx" + A_4[0] + ",,," + A_4[1]);
//}
}
else
{
//if (Mathf.Abs(A_4[1] - theta4) < 90)
//{
theta4 = A_4[1];
//}
//else
//{
// Debug.Log("xxx" + A_4[0] + ",,," + A_4[1]);
//}
}
angle4 = theta4 / 180 * Mathf.PI;
}
//theta5.....1
float A_5;
float k51 = (Mathf.Sin(angle4) * Mathf.Sin(angle1) + Mathf.Cos(angle1) * Mathf.Cos(angle4) * Mathf.Cos(angle2 + angle3)) * Ax + (Mathf.Cos(angle4) * Mathf.Sin(angle1) * Mathf.Cos(angle2 + angle3) - Mathf.Cos(angle1) * Mathf.Sin(angle4)) * Ay - Mathf.Sin(angle2 + angle3) * Mathf.Cos(angle4) * Az;
float k52 = -Mathf.Sin(angle2 + angle3) * Mathf.Cos(angle1) * Ax - Mathf.Sin(angle2 + angle3) * Mathf.Sin(angle1) * Ay - Mathf.Cos(angle2 + angle3) * Az;
A_5 = Mathf.Atan2(-k51, k52);
//float k51 = -Mathf.Cos(angle4) * k42 - Mathf.Sin(angle4) * k41;
//float k52 = -Mathf.Sin(angle2 + angle3) * (Mathf.Cos(angle1) * Ax + Mathf.Sin(angle1) * Ay) + Mathf.Cos(angle2 + angle3) * Az;
//A_5 = Mathf.Atan2(k51, k52);
if (float.IsNaN(theta5) || float.IsInfinity(theta5))
{
Debug.Log("theta5无穷大或者不是实数");
angle5 = (theta5) * Mathf.PI / 180;
//return false;
}
else
{
A_5 = A_5 * 180 / Mathf.PI;
if (!MoveScript.AngleLimit(5, A_5))
{
//Debug.Log("theta4 " + theta4);
//Debug.Log("A_5: " + A_5);
if (MoveScript.AngleLimit(5, A_5 + 360))
{
A_5 = A_5 + 360;
//Debug.Log("A_5: " + A_5);
}
//else if (MoveScript.AngleLimit(5, A_5 - 180))
//{
// A_5 = A_5 - 180;
// Debug.Log("A_5: " + A_5);
//}
//else
//{
// Debug.Log("theta5超过运动极限" + A_5);
// return false;
//}
}
//特殊处理部分,绕过突变点
//if (Mathf.Abs(A_5 - theta5) > 20)
//{
// Special = true;
// Debug.Log("tubian" + theta5);
//}
//else
{
theta5 = A_5;
//Debug.Log("A_5 :"+A_5);
angle5 = theta5 / 180 * Mathf.PI;
}
}
//theta6.....1
float A_6;
float k61 = (Mathf.Cos(angle1) * Mathf.Sin(angle4) * Mathf.Cos(angle2 + angle3) - Mathf.Cos(angle4) * Mathf.Sin(angle1)) * Nx + (Mathf.Cos(angle1) * Mathf.Cos(angle4) + Mathf.Sin(angle1) * Mathf.Sin(angle4) * Mathf.Cos(angle2 + angle3)) * Ny - Mathf.Sin(angle2 + angle3) * Mathf.Sin(angle4) * Nz;
float k62 = (Mathf.Sin(angle4) * Mathf.Sin(angle1) * Mathf.Cos(angle5) - Mathf.Cos(angle1) * Mathf.Sin(angle5) * Mathf.Sin(angle2 + angle3) + Mathf.Cos(angle1) * Mathf.Cos(angle4) * Mathf.Cos(angle2 + angle3) * Mathf.Cos(angle5)) * Nx - (Mathf.Cos(angle1) * Mathf.Sin(angle4) * Mathf.Cos(angle5) + Mathf.Sin(angle1) * Mathf.Sin(angle5) * Mathf.Sin(angle2 + angle3) - Mathf.Sin(angle1) * Mathf.Cos(angle4) * Mathf.Cos(angle5) * Mathf.Cos(angle2 + angle3)) * Ny + (-Mathf.Sin(angle5) * Mathf.Cos(angle2 + angle3) - Mathf.Cos(angle4) * Mathf.Cos(angle5) * Mathf.Sin(angle2 + angle3)) * Nz;
A_6 = Mathf.Atan2(-k61, k62);
//float V112 = Mathf.Cos(angle1) * Ox + Mathf.Sin(angle1) * Oy;
//float V132 = Mathf.Sin(angle1) * Ox - Mathf.Cos(angle1) * Oy;
//float V332 = -Mathf.Sin(angle2 + angle3) * V112 + Mathf.Cos(angle2 + angle3) * Oz;
//float V312 = Mathf.Cos(angle2 + angle3) * V112 + Mathf.Sin(angle2 + angle3) * Oz;
//float V432 = Mathf.Sin(angle4) * V312 + Mathf.Cos(angle4) * V132;
//float V422 = V332;
//float V412 = Mathf.Cos(angle4) * V312 - Mathf.Sin(angle4) * V132;
//float k61 = -Mathf.Cos(angle5) * V412 - Mathf.Sin(angle5) * V422;
//float k62 = -V432;
//A_6 = Mathf.Atan2(k61, k62);
if (float.IsNaN(theta6) || float.IsInfinity(theta6))
{
Debug.Log("theta6无穷大或者不是实数");
angle6 = (theta6) * Mathf.PI / 180;
//return false;
}
else
{
A_6 = A_6 * 180 / Mathf.PI;
if (!MoveScript.AngleLimit(6, A_6))
{
if (MoveScript.AngleLimit(6, A_6 + 360))
{
A_6 = A_6 + 360;
}
else if (MoveScript.AngleLimit(6, A_6 - 360))
{
A_6 = A_6 - 360;
}
else
{
Debug.Log("theta6超过运动极限" + A_6);
return(false);
}
}
theta6 = A_6;
angle6 = theta6 / 180 * Mathf.PI;
}
//特殊情况处理
//if (Special)
//{
// theta4 = 5;
// theta5 = 0;
// theta6 = -theta4;
//}
return(true);
}
// Update is called once per frame
void Update()
{
int mcode = MouseCode();
if (mcode == 1 || mcode == 2)
{
RobotMotion[] motions = new RobotMotion[] {
new RobotMotion(
(r, p) =>
{
if (p >= 0.5)
{
r.Pose("Left");
}
}, 2f
),
new RobotMotion(
(r, p) =>
{
if (p >= 0.5)
{
r.Pose("Right");
}
}, 2f
),
};
List <int>[] selected = new List <int>[]
{
new List <int>()
{
0, 0
},
new List <int>()
{
0, 0
},
};
for (int cnt = 0; cnt < groups.Count; cnt++)
{
groups[cnt].MotionRandom(motions, selected[cnt]);
}
RobotMotion dance = new RobotMotion(
(r, p) =>
{
r.GetComponent <Transform>().localRotation =
Quaternion.Euler(0, 360f * p, 0);
}, 2f
);
if (selected[0][mcode - 1] > selected[1][mcode - 1])
{
Debug.Log("左");
groups[0].MotionAll(dance);
}
else if (selected[0][mcode - 1] < selected[1][mcode - 1])
{
Debug.Log("右");
groups[1].MotionAll(dance);
}
else
{
Debug.Log("引き分け");
}
}
}
void OnGUI()
{
RobotMotion motionss = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
//if(GUILayout.Button("go"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Vector3 StartPoint = motionss.IKA.SolutionOfKinematics(actual);
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// float[] theory = motionss.IKA.AcceptInterPointPosture(StartPoint, Posture, actual);
// for (int i = 0; i < 6; i++)
// {
// Debug.Log("第"+i+"轴的转动角度："+theory[i]);
// if (Mathf.Abs(actual[i] - theory[i])>0.5)
// {
// Debug.Log("机械臂运动学逆解出现错误！！" + "实际角度：" + actual[i] + ",理论角度：" + theory[i]+".");
// }
// }
//}
if (GUILayout.Button("camera"))
{
Camerascript cameras = GameObject.Find("CameraFree").GetComponent <Camerascript>();
cameras.SwitchCamera();
}
//if (GUILayout.Button("add scene"))
//{
// GSKDATA.Scene_NO++;
//}
if (GUILayout.Button("部件提示功能"))
{
FuncPara.componentTips = !FuncPara.componentTips;
}
//if (GUILayout.Button("姿态检测"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// Quaternion Posture2 = GameObject.Find("Shape13").GetComponent<Transform>().rotation;
// Debug.Log("理论姿态" + Posture.ToString("0.000"));
// Debug.Log("实际姿态" + Posture2.ToString("0.000"));
//}
if (GUILayout.Button("IO面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowIOPanel();
}
if (GUILayout.Button("示教器面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowPanel();
}
if (GUILayout.Button("返回零点"))
{
GameObject.Find("MyMotion").GetComponent <RobotMotion>().ReturnToZero();
}
if (GUILayout.Button("视角还原"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().CameraPosition();
}
if (GUILayout.Button("清空画板"))
{
GUILine.TextureInitial(paletter1);
}
if (GUILayout.Button("画画"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例一"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例二"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("方向"))
{
Transform tooldir = GameObject.Find("Circle0571").GetComponent <Transform>();
Transform tooldir2 = GameObject.Find("qt208").GetComponent <Transform>();
Debug.Log(tooldir.forward.ToString("0.00"));
Debug.Log(tooldir2.forward.ToString("0.00"));
}
if (GUILayout.Button("光晕"))
{
GameObject.Find("qt208").AddComponent <FlashingController>();
}
if (GUILayout.Button("GuidPath"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().SetPathGuid();
}
if (GUILayout.Button("教学"))
{
}
if (GUILayout.Button("练习"))
{
}
}
/// <summary>
/// 对机器人程序进行操作
/// </summary>
/// <param name="FM"></param>
/// <param name="robotTask"></param>
/// <param name="listBoxMain"></param>
/// <param name="listBoxTarget"></param>
/// <param name="Pbar"></param>
public void ReadTaskTagList(Form FM, RobotTask robotTask, ListBox listBoxMain, ListBox listBoxTarget, ProgressBar Pbar, ref List <Tag> tagList, ref List <Tag> viatagList, ref List <Tag> processtagList)
{
listBoxMain.Items.Clear();
listBoxTarget.Items.Clear();
tagList.Clear();
viatagList.Clear();
processtagList.Clear();
if (robotTask.ChildrenActivities.Count < 1)
{
Pbar.Maximum = 100;
Pbar.Value = 100;
Pbar.Step = 1;
return;
}
Pbar.Value = 0;
//List<Tag> tagList = new List<Tag>(); // Init A container to Save Target Tag List
//List<Tag> viatagList = new List<Tag>(); // Init A container to Save Target Tag List
//List<Tag> processtagList = new List<Tag>(); // Init A container to Save Target Tag List
Pbar.Maximum = robotTask.ChildrenActivities.Count;
try
{
foreach (Operation soperation in robotTask.ChildrenActivities)
{
foreach (Activity activity in soperation.ChildrenActivities)
{
string activityName = activity.Type;
if (activityName == "DNBRobotMotionActivity")
{
RobotMotion robotMotion = (RobotMotion)activity;
short TagetType = -1;
robotMotion.GetTargetType(ref TagetType); //Type of the Target (Cartesian = 0, Joint = 1, Tag = 2, Home = 3).
if (TagetType != 2)
{
continue;
}
try
{
Tag tag = null;
robotMotion.GetTagTarget(ref tag);
var Return = tagList.Find(
delegate(Tag tag1)
{
return(tag1.get_Name() == tag.get_Name()); //需要修改为检查ID 名称可重复
}); // Check Repeact
if (Return == null) //当列表中不存在时 把新对象加载进入
{
//确定当前Opration类型 The Via Mode (1 if the target is a via point and 0 if the Target is Untyped (process)).
short ViaMode = -1;
soperation.GetViaMode(ref ViaMode);
switch (ViaMode)
{
case 0:
processtagList.Add(tag);
break;
case 1:
viatagList.Add(tag);
break;
default:
break;
}
tagList.Add(tag);
string TagName = tag.get_Name();
listBoxMain.Items.Add(TagName);
}
}
catch (Exception)
{
continue;
//throw;
}
}
}
Pbar.PerformStep();
}
}
catch (Exception e)
{
MessageBox.Show("在处理Oprations时发生错误，请联系或在帮助选项中反馈该问题!" + e.Message);
}
Pbar.Value = Pbar.Maximum;
}