/// <summary>
 /// Protected constructor needed for deserialization of the object.
 /// </summary>
 /// <param name="info"> The SerializationInfo to extract the data from. </param>
 /// <param name="context"> The context of this deserialization. </param>
 protected Movement(SerializationInfo info, StreamingContext context)
 {
     // int version = (int)info.GetValue("Version", typeof(int)); // <-- use this if the (de)serialization changes
     _movementType  = (MovementType)info.GetValue("Movement Type", typeof(MovementType));
     _target        = (ITarget)info.GetValue("Target", typeof(ITarget));
     _id            = (int)info.GetValue("ID", typeof(int));
     _speedData     = (SpeedData)info.GetValue("Speed Data", typeof(SpeedData));
     _zoneData      = (ZoneData)info.GetValue("Zone Data", typeof(ZoneData));
     _robotTool     = (RobotTool)info.GetValue("Robot Tool", typeof(RobotTool));
     _workObject    = (WorkObject)info.GetValue("Work Object", typeof(WorkObject));
     _digitalOutput = (DigitalOutput)info.GetValue("Digital Output", typeof(DigitalOutput));
 }
 /// <summary>
 /// Initializes a new instance of the Movement class.
 /// This constructor is typically used to cast a Robot Target to a movement.
 /// </summary>
 /// <param name="target"> The Target. </param>
 public Movement(ITarget target)
 {
     _movementType = 0;
     _target       = target;
     _id           = -1;
     _speedData    = new SpeedData(5);     // Slowest predefined tcp speed
     _zoneData     = new ZoneData(0);
     _robotTool    = new RobotTool();      // Default Robot Tool tool0
     _robotTool.Clear();                   // Empty Robot Tool
     _workObject    = new WorkObject();    // Default work object wobj0
     _digitalOutput = new DigitalOutput(); // InValid / empty DO
 }
 /// <summary>
 /// Initializes a new instance of the Movement class.
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data. </param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
 /// <param name="workObject"> The Work Object. </param>
 /// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool, WorkObject workObject, DigitalOutput digitalOutput)
 {
     _movementType  = movementType;
     _target        = target;
     _id            = -1;
     _speedData     = speedData;
     _zoneData      = zoneData;
     _robotTool     = robotTool;
     _workObject    = workObject;
     _digitalOutput = digitalOutput;
     CheckCombination();
 }
 /// <summary>
 /// Initializes a new instance of the Movement class with a default Work object (wobj0) and an empty Digital Output.
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data. </param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
 {
     _movementType  = movementType;
     _target        = target;
     _id            = -1;
     _speedData     = speedData;
     _zoneData      = zoneData;
     _robotTool     = robotTool;
     _workObject    = new WorkObject();    // Default work object wobj0
     _digitalOutput = new DigitalOutput(); // InValid / empty DO
     CheckCombination();
 }
 /// <summary>
 /// Initializes a new instance of the Movement class with an empty Robot Tool (no override) and a default Work Object (wobj0)
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data.</param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, DigitalOutput digitalOutput)
 {
     _movementType = movementType;
     _target       = target;
     _id           = -1;
     _speedData    = speedData;
     _zoneData     = zoneData;
     _robotTool    = new RobotTool();   // Default Robot Tool tool0
     _robotTool.Clear();                // Empty Robot Tool
     _workObject    = new WorkObject(); // Default work object wobj0
     _digitalOutput = digitalOutput;
     CheckCombination();
 }
        /// <summary>
        /// Initializes a new instance of the Movement class by duplicating an existing Movement instance.
        /// </summary>
        /// <param name="movement"> The Movement instance to duplicate. </param>
        /// <param name="duplicateMesh"> Specifies whether the meshes should be duplicated. </param>
        public Movement(Movement movement, bool duplicateMesh = true)
        {
            _movementType  = movement.MovementType;
            _target        = movement.Target.DuplicateTarget();
            _id            = movement.SyncID;
            _speedData     = movement.SpeedData.Duplicate();
            _zoneData      = movement.ZoneData.Duplicate();
            _digitalOutput = movement.DigitalOutput.Duplicate();

            if (duplicateMesh == true)
            {
                _robotTool  = movement.RobotTool.Duplicate();
                _workObject = movement.WorkObject.Duplicate();
            }
            else
            {
                _robotTool  = movement.RobotTool.DuplicateWithoutMesh();
                _workObject = movement.WorkObject.DuplicateWithoutMesh();
            }
        }
Beispiel #7
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 /// <summary>
 /// Initializes a new instance of the Digital Output class by duplicating an existing Digital Output instance.
 /// </summary>
 /// <param name="digitalOutput"> The Digital Output instance to duplicate. </param>
 public DigitalOutput(DigitalOutput digitalOutput)
 {
     _name     = digitalOutput.Name;
     _isActive = digitalOutput.IsActive;
 }