private bool GetRobotSetting(out string robotWorkSpace)
{
byte[] dataIdle, dataBusy;
robotWorkSpace = "";
if (!GetRobotEvent(0, out dataIdle))
{
return(false);
}
if (!GetRobotEvent(1, out dataBusy))
{
return(false);
}
XmlDocument root = new XmlDocument();
XmlElement parent = root.CreateElement(string.Empty, "xml", string.Empty);
parent.SetAttribute("id", "workspaceBlocks");
parent.SetAttribute("style", "display:none");
root.AppendChild(parent);
RobotHandler rhIdle = new RobotHandler(dataIdle, BLOCKLY.HAT.IDLE, 0, 0);
RobotHandler rhBusy = new RobotHandler(dataBusy, BLOCKLY.HAT.BUSY, 400, 0);
parent.AppendChild(rhIdle.ToXml(root));
parent.AppendChild(rhBusy.ToXml(root));
robotWorkSpace = XmlToString(root);
return(true);
}
private void BuildObject(string xmlStr)
{
sbObjInfo = new StringBuilder();
xmlStr = RemoveXmlNamespace(xmlStr);
XmlDocument xml = new XmlDocument();
xml.LoadXml(xmlStr);
string nodePath;
nodePath = string.Format("//block[@type=\"{0}\"]", BLOCKLY.HAT.BUSY);
XmlNodeList busyNode = xml.SelectNodes(nodePath);
if (busyNode.Count == 0)
{
MessageBox.Show("動作執行中事件遺失了");
return;
}
if (busyNode.Count > 1)
{
MessageBox.Show("超過一個動作執行中事件");
return;
}
nodePath = string.Format("//block[@type=\"{0}\"]", BLOCKLY.HAT.IDLE);
XmlNodeList idleNode = xml.SelectNodes(nodePath);
if (idleNode.Count == 0)
{
MessageBox.Show("閒置事件遺失了");
return;
}
if (idleNode.Count > 1)
{
MessageBox.Show("超過一個閒置事件");
return;
}
RobotHandler idle = new RobotHandler(idleNode[0], BLOCKLY.HAT.IDLE, 0, 0);
RobotHandler busy = new RobotHandler(busyNode[0], BLOCKLY.HAT.BUSY, 400, 0);
ParentCommand(CONST.COMMAND.StartSystemWork, false);
bool success = UpdateRobotEvents(idle, (byte)RobotHandler.MODE.idle) &&
UpdateRobotEvents(busy, (byte)RobotHandler.MODE.busy);
ParentCommand(CONST.COMMAND.EndSystemWork, false);
if (success)
{
MessageBox.Show("事件處理設定已更新, 請重啟機械人.");
}
return;
}
private bool UpdateRobotEvents(RobotHandler rh, byte mode)
{
byte count = (byte)rh.events.Count;
if (!UBT.V2_SaveEventHeader(mode, count, (byte)RobotHandler.ACTION.before))
{
return(false);
}
try
{
byte[] data = rh.ToBytes();
byte startIdx = 0;
while (startIdx < count)
{
byte batchCount = (byte)(count - startIdx);
if (batchCount > CONST.ED.BATCH_SIZE)
{
batchCount = CONST.ED.BATCH_SIZE;
}
if (!UBT.V2_SaveEventData(mode, startIdx, batchCount, data))
{
return(false);
}
startIdx += batchCount;
}
}
catch
{
MessageBox.Show("事件設定不正常, 請小心檢查一下.");
return(false);
}
if (!UBT.V2_SaveEventHeader(mode, count, (byte)RobotHandler.ACTION.after))
{
return(false);
}
return(true);
}