/// <summary>
/// Permet de démarrer l'éxécution d'un processus sur un robot
/// </summary>
/// <param name="robot">Robot éxécutant le processus</param>
/// <param name="process">Processus à éxécuter</param>
/// <returns>Indicateur de succès d'éxécution</returns>
public static bool ExecuteProcess(RobotController robot, List <IRobotCommand> commands, Tray tray = null, LogManager log = null)
{
try
{
//Arrêt des mouvements relatifs du robot
robot.StopRelativeMovement();
// Parcours et éxécution des commandes
foreach (var command in commands)
{
if (command is Movement)
{
// Commande de mouvement
var mvt = command as Movement;
//Envoie de la liste de positions au robot
if (log != null)
{
log.AddLog("Info", string.Format("Movement start : {0} waypoints", mvt.Positions.Count()));
}
robot.PlayTrajectory(mvt.GetCartesianPositions());
if (log != null)
{
log.AddLog("Info", "Movement end");
}
}
else if (command is GripperAction)
{
// Commande d'action du gripper
var action = command as GripperAction;
if (action.Command == GripperAction.Action.Open)
{
//Ouverture pince
robot.OpenGripper();
if (log != null)
{
log.AddLog("Info", "Open gripper");
}
}
else if (action.Command == GripperAction.Action.Close)
{
//Fermeture pince
robot.CloseGripper();
if (log != null)
{
log.AddLog("Info", "Close gripper");
}
}
}
else if (command is TrayAction)
{
var action = command as TrayAction;
if (log != null)
{
log.AddLog("Info", action.Command == TrayAction.Action.Depose ? "Deposing item on Tray ..." : "Withdrawing item on Tray ...");
}
if (tray != null)
{
// Execution des commandes plateau
var commandsTray = tray.GetRobotCommand(action.Command == TrayAction.Action.Withdraw);
ExecuteProcess(robot, commandsTray, tray, log);
}
else
{
if (log != null)
{
log.AddLog("Error", "Tray not calibrated...");
}
}
}
else
{
//Commande inconnue
if (log != null)
{
log.AddLog("Error", "In ExecuteProcess(): Unknow command");
}
return(false);
}
}
}
catch (Exception e)
{
if (log != null)
{
log.AddLog("Error", "Exception throw in ExecuteProcess(): " + e.Data);
}
return(false);
}
return(true);
}
public static bool ExecuteProcess(RobotController robot, string processName, Tray tray = null, LogManager log = null)
{
var process = new RobotProcess(processName);
return(ExecuteProcess(robot, process.Commands, tray, log));
}
