public int LineRel(int nRobotIndex, Coordnates nCoordnate, double dbValue, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.LineCoordnate(nCoordnate, MovementsTypes.Rel, SpeedTypes.Use, WaitTypes.Wait, dbValue, dbAcc, dbDec, dbSpeed);
return(nRet);
}
/// <summary>
/// 單一關節移動(絕對位置)(角度)(輸入速度)(不等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="dbDegree">絕對移動到角度值(絕對位置)</param>
/// <param name="dbAcc">加速度比例(0-100)</param>
/// <param name="dbDec">減速度比例(0-100)</param>
/// <param name="dbSpeed">最大速比例(0-100)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int MoveAbs(int nRobotIndex, Joints nJoint, double dbDegree, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.Use, WaitTypes.Wait, dbDegree, dbAcc, dbDec, dbSpeed);
return(1);
}
public int LinePtoPAbs(int nRobotIndex, double dbX, double dbY, double dbZ, double dbRx, double dbRy, double dbRz, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.LinePtoP(SpeedTypes.Use, WaitTypes.Wait, dbX, dbY, dbZ, dbRx, dbRy, dbRz, dbAcc, dbDec, dbSpeed);
return(nRet);
}
public int LineAbs(int nRobotIndex, Coordnates nCoordnate, double dbValue)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.LineCoordnate(nCoordnate, MovementsTypes.Abs, SpeedTypes.NoUse, WaitTypes.Wait, dbValue, 0, 0, 0);
return(nRet);
}
/*
* STDMETHOD(LineSingleRel)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleRelWait)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleRelSpeed)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleRelSpeedWait)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleAbs)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleAbsWait)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleAbsSpeed)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleAbsSpeedWait)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
*/
/// <summary>
/// 單一關節Jog移動
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="nDir">移動方向</param>
/// <param name="dbSpeedPercentage">速度百分比</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogCoordnate(int nRobotIndex, Coordnates nCoordnate, Jog_Directions nDir, Jog_Speed nSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogCoordnate(nCoordnate, nDir, nSpeed);
return(nRet);
}
/// <summary>
/// 單一關節Jog移動停止
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogCoordnateStop(int nRobotIndex, Coordnates nCoordnate)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogCoordnateStop(nCoordnate);
return(nRet);
}
/// <summary>
/// 對指定手臂斷線
/// </summary>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int DisconnectRobot(int nRobotIndex)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.Disconnect();
return(nRet);
}
/// <summary>
/// 單一關節Jog移動
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="nDir">移動方向</param>
/// <param name="dbSpeedPercentage">速度百分比</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogJoint(int nRobotIndex, Joints nJoint, Jog_Directions nDir, Jog_Speed nSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogJoint(nJoint, nDir, nSpeed);
return(nRet);
/*
* IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
* double dbAcc = 0;
* double dbDec = 0;
* double dbSpeed = 0;
* if (nSpeed == Jog_Speed.High)
* {
* dbAcc = 10000;dbDec = 10000; dbSpeed = 30;
* }
*
* else if (nSpeed == Jog_Speed.Mid)
* { dbAcc = 10000; dbDec = 10000; dbSpeed = 20; }
*
* else if (nSpeed == Jog_Speed.Mid)
* { dbAcc = 10000; dbDec = 10000; dbSpeed = 10; }
*
*
* double dbValue = 0;
* if (nDir == Jog_Directions.Plus)
* dbValue = 50;
* else if (nDir == Jog_Directions.Minus)
* dbValue = -50;
*
* int nRet = IRobot.MoveSingleJoint(nJoint, MovementsTypes.Abs, UnitTypes.Degree, SpeedTypes.Use, WaitTypes.NoWait, dbValue, dbAcc, dbDec, dbSpeed);
*/
return(nRet);
}
/// <summary>
/// 單一關節Jog移動停止
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogJointStop(int nRobotIndex, Joints nJoint)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogJointStop(nJoint);
return(nRet);
}
/// <summary>
/// 單一關節移動(相對位置)(徑度)(有輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="dbDegree">相對移動徑度值(相對位置)</param>
/// <param name="dbAcc">移動時加速度</param>
/// <param name="dbSpeed">移動時均速度</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int MoveJointRelRadianSpeedWait(int nRobotIndex, Joints nJoint, double dbRadian, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Rel, SpeedTypes.Use, WaitTypes.Wait, dbRadian, dbAcc, dbDec, dbSpeed);
return(1);
}
/// <summary>
/// 單一關節移動(相對位置)(徑度)(無輸入速度)(不等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="dbDegree">相對移動徑度值(相對位置)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int MoveJointRelRadian(int nRobotIndex, Joints nJoint, double dbRadian)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Rel, SpeedTypes.NoUse, WaitTypes.NoWait, dbRadian, 0, 0, 0);
return(1);
}
/// <summary>
/// 單一關節移動(絕對位置)(角度)(無輸入速度)(不等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="dbDegree">絕對移動到角度值(絕對位置)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int JointAbsWait(int nRobotIndex, Joints nJoint, double dbDegree)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.NoUse, WaitTypes.Wait, dbDegree, 0, 0, 0);
return(1);
}
/// <summary>
/// 全部關節移動(相對位置)(角度)(有輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1Degree">關節1 相對移動到角度值(相對位置)</param>
/// <param name="dbJ2Degree">關節2 相對移動到角度值(相對位置)</param>
/// <param name="dbJ3Degree">關節3 相對移動到角度值(相對位置)</param>
/// <param name="dbJ4Degree">關節4 相對移動到角度值(相對位置)</param>
/// <param name="dbJ5Degree">關節5 相對移動到角度值(相對位置)</param>
/// <param name="dbJ6Degree">關節6 相對移動到角度值(相對位置)</param>
/// <param name="dbAcc">移動時加速度</param>
/// <param name="dbSpeed">移動時最大速度</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public virtual int MoveAllJointRelDegreeSpeedWait(int nRobotIndex, double dbJ1Degree, double dbJ2Degree, double dbJ3Degree, double dbJ4Degree, double dbJ5Degree, double dbJ6Degree, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveAllJoint(MovementsTypes.Rel, UnitTypes.Degree, SpeedTypes.Use, WaitTypes.Wait,
dbJ1Degree, dbJ2Degree, dbJ3Degree, dbJ4Degree, dbJ5Degree, dbJ6Degree, dbAcc, dbDec, dbSpeed);
return(1);
}
/// <summary>
/// 全部關節移動(相對位置)(徑度)(有輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1Radian">關節1 相對移動到徑度值(相對位置)</param>
/// <param name="dbJ2Radian">關節2 相對移動到徑度值(相對位置)</param>
/// <param name="dbJ3Radian">關節3 相對移動到徑度值(相對位置)</param>
/// <param name="dbJ4Radian">關節4 相對移動到徑度值(相對位置)</param>
/// <param name="dbJ5Radian">關節5 相對移動到徑度值(相對位置)</param>
/// <param name="dbJ6Radian">關節6 相對移動到徑度值(相對位置)</param>
/// <param name="dbAcc">移動時加速度</param>
/// <param name="dbSpeed">移動時最大速度</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public virtual int MoveAllJointRelRadianSpeedWait(int nRobotIndex, double dbJ1Radian, double dbJ2Radian, double dbJ3Radian, double dbJ4Radian, double dbJ5Radian, double dbJ6Radian, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveAllJoint(MovementsTypes.Rel, UnitTypes.Radian, SpeedTypes.Use, WaitTypes.Wait,
dbJ1Radian, dbJ2Radian, dbJ3Radian, dbJ4Radian, dbJ5Radian, dbJ6Radian, dbAcc, dbDec, dbSpeed);
return(1);
}
/// <summary>
/// PtoP(絕對位置)(無輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbX">J1絕對移動到角度值(絕對位置)</param>
/// <param name="dbY">J2絕對移動到角度值(絕對位置)</param>
/// <param name="dbZ">J3絕對移動到角度值(絕對位置)</param>
/// <param name="dbRx">J4絕對移動到角度值(絕對位置)</param>
/// <param name="dbRy">J5絕對移動到角度值(絕對位置)</param>
/// <param name="dbRz">J6絕對移動到角度值(絕對位置)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int MovePtoPAbs(int nRobotIndex, double dbX, double dbY, double dbZ, double dbRx, double dbRy, double dbRz)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MovePtoP(SpeedTypes.NoUse, WaitTypes.Wait,
dbX, dbY, dbZ, dbRx, dbRy, dbRz, 0, 0, 0);
return(nRet);
}
/// <summary>
/// 全部關節移動(絕對位置)(徑度)(無輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1Radian">關節1 絕對移動到徑度值(絕對位置)</param>
/// <param name="dbJ2Radian">關節2 絕對移動到徑度值(絕對位置)</param>
/// <param name="dbJ3Radian">關節3 絕對移動到徑度值(絕對位置)</param>
/// <param name="dbJ4Radian">關節4 絕對移動到徑度值(絕對位置)</param>
/// <param name="dbJ5Radian">關節5 絕對移動到徑度值(絕對位置)</param>
/// <param name="dbJ6Radian">關節6 絕對移動到徑度值(絕對位置)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public virtual int MoveAllJointAbsRadianWait(int nRobotIndex, double dbJ1Radian, double dbJ2Radian, double dbJ3Radian, double dbJ4Radian, double dbJ5Radian, double dbJ6Radian)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveAllJoint(MovementsTypes.Abs, UnitTypes.Radian, SpeedTypes.NoUse, WaitTypes.Wait,
dbJ1Radian, dbJ2Radian, dbJ3Radian, dbJ4Radian, dbJ5Radian, dbJ6Radian, 0, 0, 0);
return(1);
}
/// <summary>
/// 全部關節移動(絕對位置)(角度)(無輸入速度)(等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1Degree">關節1 絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ2Degree">關節2 絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ3Degree">關節3 絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ4Degree">關節4 絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ5Degree">關節5 絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ6Degree">關節6 絕對移動到角度值(絕對位置)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public virtual int MoveAllJointAbsDegreeWait(int nRobotIndex, double dbJ1Degree, double dbJ2Degree, double dbJ3Degree, double dbJ4Degree, double dbJ5Degree, double dbJ6Degree)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveAllJoint(MovementsTypes.Abs, UnitTypes.Degree, SpeedTypes.NoUse, WaitTypes.Wait,
dbJ1Degree, dbJ2Degree, dbJ3Degree, dbJ4Degree, dbJ5Degree, dbJ6Degree, 0, 0, 0);
return(1);
}
/// <summary>
/// 全關節移動(絕對位置)(角度)(有輸入速度)(不等待繼續)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1Degree">J1絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ2Degree">J2絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ3Degree">J3絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ4Degree">J4絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ5Degree">J5絕對移動到角度值(絕對位置)</param>
/// <param name="dbJ6Degree">J6絕對移動到角度值(絕對位置)</param>
/// <param name="dbAcc">加速度比例(0-100)</param>
/// <param name="dbDec">減速度比例(0-100)</param>
/// <param name="dbSpeed">最大速比例(0-100)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int JointAbs(int nRobotIndex, double dbJ1Degree, double dbJ2Degree, double dbJ3Degree, double dbJ4Degree, double dbJ5Degree, double dbJ6Degree, double dbAcc, double dbDec, double dbSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.MoveAllJoint(MovementsTypes.Abs, UnitTypes.Degree, SpeedTypes.Use, WaitTypes.NoWait,
dbJ1Degree, dbJ2Degree, dbJ3Degree, dbJ4Degree, dbJ5Degree, dbJ6Degree, dbAcc, dbDec, dbSpeed);
return(1);
}
public int Arc(int nRobotIndex, double dbMidX, double dbMidY, double dbMidZ, double dbMidRx, double dbMidRy, double dbMidRz,
double dbEndX, double dbEndY, double dbEndZ, double dbEndRx, double dbEndRy, double dbEndRz)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.Arc(SpeedTypes.NoUse, WaitTypes.Wait, dbMidX, dbMidY, dbMidZ, dbMidRx, dbMidRy, dbMidRz,
dbEndX, dbEndY, dbEndZ, dbEndRx, dbEndRy, dbEndRz, 0, 0, 0);
return(nRet);
}
/// <summary>
/// 擷取6關節目前角度值
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1">第1個關節角度回傳值</param>
/// <param name="dbJ2">第2個關節角度回傳值</param>
/// <param name="dbJ3">第3個關節角度回傳值</param>
/// <param name="dbJ4">第4個關節角度回傳值</param>
/// <param name="dbJ5">第5個關節角度回傳值</param>
/// <param name="dbJ6">第6個關節角度回傳值</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int GetJointDegree(int nRobotIndex, ref double dbJ1, ref double dbJ2, ref double dbJ3, ref double dbJ4, ref double dbJ5, ref double dbJ6)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
//Type robot = m_listRobotPluginTypes[nRobotIndex];
//IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(robot);
IRobot.GetJointDegree(ref dbJ1, ref dbJ2, ref dbJ3, ref dbJ4, ref dbJ5, ref dbJ6);
// foreach (Type type in pluginTypes)
// {
// IPlugin.IPlugin plugin = (IPlugin.IPlugin)Activator.CreateInstance(type);
// MessageBox.Show(plugin.Name);
// }
return(1);
}
/// <summary>
/// 減速停止所有關節運動(補間運動時使用)
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbDec">減速度值</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int StopMotionForLine(int nRobotIndex, double dbDec)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
IRobot.StopMotionForLine(dbDec);
return(1);
}
/// <summary>
/// 擷取6關節目前加速度值
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbJ1">第1個關節加速度回傳值</param>
/// <param name="dbJ2">第2個關節加速度回傳值</param>
/// <param name="dbJ3">第3個關節加速度回傳值</param>
/// <param name="dbJ4">第4個關節加速度回傳值</param>
/// <param name="dbJ5">第5個關節加速度回傳值</param>
/// <param name="dbJ6">第6個關節加速度回傳值</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int GetJointAccValue(int nRobotIndex, ref double dbJ1, ref double dbJ2, ref double dbJ3, ref double dbJ4, ref double dbJ5, ref double dbJ6)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
IRobot.GetJointAccValue(ref dbJ1, ref dbJ2, ref dbJ3, ref dbJ4, ref dbJ5, ref dbJ6);
return(1);
}
/// <summary>
/// 初始化此模組
/// </summary>
/// <param name="strSettingFile">設定擋路徑</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public void Init(string strSettingFile)
{
FileOperation.IniFile iniFile;
iniFile = new IniFile(strSettingFile);
//手臂總數
m_nRobots = iniFile.ReadInteger("Robots", "total_num", 0);
// Type pluginType = typeof(IRobotMotion.IRobotMotion);
m_listRobots = new List <IRobotMotion.IRobotMotion>();
for (int n = 0; n < m_nRobots; n++)
{
string strSection = "Robot" + Convert.ToString(n);
string strType = iniFile.ReadString(strSection, "type", "");
Type pluginType = typeof(IRobotMotion.IRobotMotion);
switch (strType)
{
case "Toshiba6":
string strToshiba6DllName = System.IO.Directory.GetCurrentDirectory() + "\\Toshiba6Robot.dll";
int nToshiba6Id = iniFile.ReadInteger(strSection, "id", 0);
string strToshiba6IP = iniFile.ReadString(strSection, "robot_ip", "");
int nToshiba6Port0 = iniFile.ReadInteger(strSection, "robot_port0", 0);
int nToshiba6Port1 = iniFile.ReadInteger(strSection, "robot_port1", 0);
string strToshiba6Program = iniFile.ReadString(strSection, "robot_program", "");
int nToshiba6OVRD = iniFile.ReadInteger(strSection, "robot_init_ovrd", 10);
AssemblyName anToshiba6 = AssemblyName.GetAssemblyName(strToshiba6DllName);
Assembly assemblyToshiba6 = Assembly.Load(anToshiba6);
//Type type = assemblyToshiba6.GetType();
// IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
//Type tt = type.GetInterface(pluginType.FullName);
// IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
Type[] typesToshiba6 = assemblyToshiba6.GetTypes();
foreach (Type type in typesToshiba6)
{
//如果為純interface 或 抽象型別, 則跳過此dll
if (type.IsInterface || type.IsAbstract)
{
continue;
}
else if (type.GetInterface(pluginType.FullName) != null)
{
IRobotMotion.IRobotMotion IToshiba6Robot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nId = nToshiba6Id;
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_strRobotIP = strToshiba6IP;
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nRobotPort0 = nToshiba6Port0;
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nRobotPort1 = nToshiba6Port1;
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_strRobotProgram = strToshiba6Program;
((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nRobotInitOVRD = nToshiba6OVRD;
m_listRobots.Add(IToshiba6Robot);
}
}
// Type type = assemblyToshiba6.GetType();
// IRobotMotion.IRobotMotion IToshiba6Robot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nId = nToshiba6Id;
// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_strRobotIP = strToshiba6IP;
//// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nRobotPort = nToshiba6Port;
// m_listRobots.Add(IToshiba6Robot);
break;
case "Toshiba4":
string strToshiba4DllName = System.IO.Directory.GetCurrentDirectory() + "\\Toshiba4Robot.dll";
int nToshiba4Id = iniFile.ReadInteger(strSection, "id", 0);
string strToshiba4IP = iniFile.ReadString(strSection, "robot_ip", "");
int nToshiba4Port0 = iniFile.ReadInteger(strSection, "robot_port0", 0);
int nToshiba4Port1 = iniFile.ReadInteger(strSection, "robot_port1", 0);
string strToshiba4Program = iniFile.ReadString(strSection, "robot_program", "");
int nToshiba4OVRD = iniFile.ReadInteger(strSection, "robot_init_ovrd", 10);
AssemblyName anToshiba4 = AssemblyName.GetAssemblyName(strToshiba4DllName);
Assembly assemblyToshiba4 = Assembly.Load(anToshiba4);
Type[] typesToshiba4 = assemblyToshiba4.GetTypes();
foreach (Type type in typesToshiba4)
{
//如果為純interface 或 抽象型別, 則跳過此dll
if (type.IsInterface || type.IsAbstract)
{
continue;
}
else if (type.GetInterface(pluginType.FullName) != null)
{
IRobotMotion.IRobotMotion IToshiba4Robot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_nId = nToshiba4Id;
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_strRobotIP = strToshiba4IP;
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_nRobotPort0 = nToshiba4Port0;
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_nRobotPort1 = nToshiba4Port1;
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_strRobotProgram = strToshiba4Program;
((Toshiba4Robot.Toshiba4)IToshiba4Robot).m_nRobotInitOVRD = nToshiba4OVRD;
m_listRobots.Add(IToshiba4Robot);
}
}
break;
case "Epson6":
string strEpson6DllName = System.IO.Directory.GetCurrentDirectory() + "\\Epson6Robot.dll";
int nEpson6Id = iniFile.ReadInteger(strSection, "id", 0);
string strEpson6GetInfoIP = iniFile.ReadString(strSection, "get_info_ip", "");
int nEpson6GetInfoPort = iniFile.ReadInteger(strSection, "get_info_port", 0);
string strEpson6SendCmdIP = iniFile.ReadString(strSection, "send_cmd_ip", "");
int nEpson6SendCmdPort = iniFile.ReadInteger(strSection, "send_cmd_port", 0);
AssemblyName anEpson6 = AssemblyName.GetAssemblyName(strEpson6DllName);
Assembly assemblyEpson6 = Assembly.Load(anEpson6);
//Type type = assemblyToshiba6.GetType();
// IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
//Type tt = type.GetInterface(pluginType.FullName);
// IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
Type[] typesEpson6 = assemblyEpson6.GetTypes();
foreach (Type type in typesEpson6)
{
//如果為純interface 或 抽象型別, 則跳過此dll
if (type.IsInterface || type.IsAbstract)
{
continue;
}
else if (type.GetInterface(pluginType.FullName) != null)
{
IRobotMotion.IRobotMotion IEpson6Robot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
((Epson6Robot.Epson6)IEpson6Robot).m_nId = nEpson6Id;
((Epson6Robot.Epson6)IEpson6Robot).m_strGetInfoIP = strEpson6GetInfoIP;
((Epson6Robot.Epson6)IEpson6Robot).m_nGetInfoPort = nEpson6GetInfoPort;
((Epson6Robot.Epson6)IEpson6Robot).m_strSendCmdIP = strEpson6SendCmdIP;
((Epson6Robot.Epson6)IEpson6Robot).m_nSendCmdPort = nEpson6SendCmdPort;
m_listRobots.Add(IEpson6Robot);
}
}
// Type type = assemblyToshiba6.GetType();
// IRobotMotion.IRobotMotion IToshiba6Robot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nId = nToshiba6Id;
// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_strRobotIP = strToshiba6IP;
//// ((Toshiba6Robot.Toshiba6)IToshiba6Robot).m_nRobotPort = nToshiba6Port;
// m_listRobots.Add(IToshiba6Robot);
break;
case "UR":
string strURDllName = System.IO.Directory.GetCurrentDirectory() + "\\URRobot.dll";
int nURId = iniFile.ReadInteger(strSection, "id", 0);
string strURIP = iniFile.ReadString(strSection, "robot_ip", "");
int nURRealTimePort = iniFile.ReadInteger(strSection, "robot_real_time_port", 0);
int nPCListenPort = iniFile.ReadInteger(strSection, "pc_listen_port", 0);
AssemblyName anUR = AssemblyName.GetAssemblyName(strURDllName);
Assembly assemblyUR = Assembly.Load(anUR);
Type[] typesUR = assemblyUR.GetTypes();
foreach (Type type in typesUR)
{
//如果為純interface 或 抽象型別, 則跳過此dll
if (type.IsInterface || type.IsAbstract)
{
continue;
}
else if (type.GetInterface(pluginType.FullName) != null)
{
IRobotMotion.IRobotMotion IURRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
((URRobot.URRobot)IURRobot).m_nId = nURId;
((URRobot.URRobot)IURRobot).m_strRobotIP = strURIP;
((URRobot.URRobot)IURRobot).m_nRobotRealTimePort = nURRealTimePort;
((URRobot.URRobot)IURRobot).m_nPCListenPort = nPCListenPort;
m_listRobots.Add(IURRobot);
}
}
//IRobotMotion.IRobotMotion IURRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(assemblyUR.GetType());
// ((URRobot.URRobot)IURRobot).m_nId = nURId;
//((URRobot.URRobot)IURRobot).m_strRobotIP = strURIP;
//((URRobot.URRobot)IURRobot).m_nRobotRealTimePort = nURRealTimePort;
// ((URRobot.URRobot)IURRobot).m_nPCListenPort = nPCListenPort;
// m_listRobots.Add(IURRobot);
break;
}
}
/*
* //1.取得dll檔案名稱
* string[] dllFileNames = null;
* // dllFileNames = Directory.GetFiles(AppDomain.CurrentDomain.BaseDirectory, "*.dll");
* dllFileNames = Directory.GetFiles(System.IO.Directory.GetCurrentDirectory(), "*.dll");
* string str = this.GetType().Assembly.Location;
* //2.取得Assembly
* List<Assembly> assemblies = new List<Assembly>(dllFileNames.Length);
* foreach (string dllFile in dllFileNames)
* {
* AssemblyName an = AssemblyName.GetAssemblyName(dllFile);
* Assembly assembly = Assembly.Load(an);
* assemblies.Add(assembly);
* }
*
* //3.取得插件型別
* //3.取得所有Dll內的指定型別 (IRobotMotion)
* Type pluginType = typeof(IRobotMotion.IRobotMotion);
* m_listRobotPluginTypes = new List<Type>();
*
* m_listRobots = new List<IRobotMotion.IRobotMotion>();
* foreach (Assembly assembly in assemblies)
* {
* if (assembly == null)
* continue;
* Type[] types = assembly.GetTypes();
* foreach (Type type in types)
* {
* // Type tt = type.GetInterface(pluginType.FullName);
*
* //如果為純interface 或 抽象型別, 則跳過此dll
* if (type.IsInterface || type.IsAbstract)
* continue;
* else if (type.GetInterface(pluginType.FullName) != null)
* {
* m_listRobotPluginTypes.Add(type);
*
* IRobotMotion.IRobotMotion IRobot = (IRobotMotion.IRobotMotion)Activator.CreateInstance(type);
* m_listRobots.Add(IRobot);
*
* }
* }
* }
*/
}
/// <summary>
/// 擷取 笛卡爾座標系位置值
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="dbX">x方向回傳值(mm)</param>
/// <param name="dbY">y方向回傳值(mm)</param>
/// <param name="dbZ">z方向回傳值(mm)</param>
/// <param name="dbRx">Rx方向回傳值(mm)</param>
/// <param name="dbRy">Ry方向回傳值(mm)</param>
/// <param name="dbRz">Rz方向回傳值(mm)</param>
/// <returns>回傳是否成功,1:成功,-1:失敗</returns>
public int GetWorldPos(int nRobotIndex, ref double dbX, ref double dbY, ref double dbZ, ref double dbRx, ref double dbRy, ref double dbRz)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
IRobot.GetWorldPos(ref dbX, ref dbY, ref dbZ, ref dbRx, ref dbRy, ref dbRz);
return(1);
}
