protected ITcSmTreeItem CreateHardware(IWorker worker, bool scanHardware, bool simulation)
{
OrderScriptContext context = (OrderScriptContext)_context;
ConfigurationInfo configurationInfo = context.Order.ConfigurationInfo;
HardwareInfo hardware = configurationInfo.Hardware;
ITcSmTreeItem devices = systemManager.LookupTreeItem("TIID"); // Getting IO-Configuration
ITcSmTreeItem device = null;
if (worker.CancellationPending)
{
throw new Exception("Execution cancelled!");
}
// Scans the Fieldbus interfaces and adds an EtherCAT Device.
string deviceName = "EtherCAT Master";
worker.ProgressStatus = string.Format("Creating device '{0}'", deviceName);
device = Helper.CreateEthernetDevice(this.systemManager, DeviceType.EtherCAT_DirectMode, deviceName, worker);
ITcSmTreeItem parent = device;
foreach (BoxInfo boxInfo in hardware.Boxes)
{
if (worker.CancellationPending)
{
throw new Exception("Execution cancelled!");
}
ITcSmTreeItem box = CreateBox(parent, boxInfo, worker);
}
return(device);
}
public AutomationInterface(EnvDTE.Project project)
{
sysManager = (ITcSysManager10)project.Object;
configManager = (ITcConfigManager)sysManager.ConfigurationManager;
plcTreeItem = sysManager.LookupTreeItem(Constants.PLC_CONFIGURATION_SHORTCUT);
routesTreeItem = sysManager.LookupTreeItem(Constants.RT_CONFIG_ROUTE_SETTINGS_SHORTCUT);
}
} //ActivateConfiguration()
public void EditParams(ITcSmTreeItem drive, string filename)
{
//Create the filepath to the motor file using the path provided to load the excel spreadsheet.
string file = filename;
string path = buildPathString(file);
//open the Motor file as an xml document,read its tags with InitCmds
XmlDocument xDoc = new XmlDocument();
xDoc.Load(path);
XmlNode xNode = xDoc.SelectSingleNode("/EtherCATMailbox/CoE/InitCmds");
string driveParams = drive.ProduceXml();
XmlNodeList xmlInitCmds = xNode.ChildNodes;
foreach (XmlNode Cmd in xmlInitCmds)
{
string newStartListParam = "<" + Cmd.Name + ">";
foreach (XmlNode node in Cmd)
{
newStartListParam += "<" + node.Name + ">";
newStartListParam += node.InnerText;
newStartListParam += "</" + node.Name + ">";
}
newStartListParam += "</" + Cmd.Name + ">";
int idx = driveParams.IndexOf("</InitCmd></InitCmds><CanOpenType>55</CanOpenType></CoE></Mailbox>");
idx = idx + 10;
driveParams = driveParams.Insert(idx, newStartListParam);
}
drive.ConsumeXml(driveParams);
}//EditParams
/// <summary>
/// Stops the PLC, assuming that you already have a running PLC.
/// </summary>
public Boolean stopPLC()
{
Console.WriteLine("Stopping " + project.Name);
ITcSysManager4 systemManager = (ITcSysManager4)(project.Object);
if (!systemManager.IsTwinCATStarted())
{
Console.WriteLine("No Twincat project running!!");
return(false);
}
ITcSmTreeItem plcApp = getPLCApp(systemManager);
System.Threading.Thread.Sleep(1000);
if (!login(plcApp))
{
return(false);
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("Stopping PLC");
plcApp.ConsumeXml(createXMLString(PLCAction.STOP));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => checkXmlIsString(plcApp, "PlcAppState", "Stop")))
{
Console.WriteLine("Failed to stop!");
return(false);
}
return(true);
}
public void exportAxisXml(int axisNumber)
{
ITcSmTreeItem axisName = Axes.Child[axisNumber + 1];
string xmlDescription = axisName.ProduceXml();
File.WriteAllText(ConfigFolder + @"\" + AxisDirectory + @"\" + axisName.Name + @".xml", xmlDescription);
}
/// <summary>
/// Checks that a solution contains at least one PLC project and starts the project running.
/// </summary>
public Boolean startPLC()
{
Console.WriteLine("Starting " + project.Name);
ITcSysManager4 systemManager = (ITcSysManager4)(project.Object);
ITcSmTreeItem plcApp = getPLCApp(systemManager);
System.Threading.Thread.Sleep(1000);
if (!login(plcApp))
{
return(false);
}
if (isRunning(plcApp))
{
Console.WriteLine("PLC is running");
return(true);
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("Starting PLC");
plcApp.ConsumeXml(createXMLString(PLCAction.START));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => isRunning(plcApp)))
{
Console.WriteLine("Failed to start!");
return(false);
}
return(true);
}
/// <summary>
/// Produces a string of data for use in the IO List file
/// </summary>
/// <param name="tierLevel"></param>
/// <param name="ioName"></param>
/// <returns></returns>
public String getIoData(String tierLevel, ITcSmTreeItem ioName)
{
//Need to get product revision from XML
XmlDocument ioXml = new XmlDocument();
ioXml.LoadXml(ioName.ProduceXml());
String productRevision;
String name;
String subType;
String strB4; //not utilised but needs to be set. Can be used to state where in tree the device should appear when created.
String ioListString;
name = ioName.Name;
subType = (ioName.ItemSubType).ToString();
var node = ioXml.SelectSingleNode("TreeItem/EtherCAT/Slave/Info/ProductRevision");
if (node != null)
{
strB4 = " ";
productRevision = node.InnerText;
}
else
{
strB4 = "null";
productRevision = "null";
}
ioListString = tierLevel + "," + name + "," + subType + "," + strB4 + "," + productRevision;
return(ioListString);
}
public void activateAndRunPLC()
{
adsClient.Connect(sysMan.GetTargetNetId(), 10000); //AMS net id of target system. TwinCAT system service port = 10000
System.Threading.Thread.Sleep(10000); //waiting for TwinCAT to go into Run mode.
sysMan.ActivateConfiguration();
sysMan.StartRestartTwinCAT();
try
{
bool rundo = true;
do
{
if (adsClient.ReadState().AdsState == AdsState.Run) //reads TwinCAT's system state, if it is in run mode then log into plc.
{
string xml = "<TreeItem><IECProjectDef><OnlineSettings><Commands><LoginCmd>true</LoginCmd><StartCmd>true</StartCmd></Commands></OnlineSettings></IECProjectDef></TreeItem>";
ITcSmTreeItem plcProject = sysMan.LookupTreeItem("TIPC^Untitled1^Untitled1 Project");
plcProject.ConsumeXml(xml);
rundo = false;
}
} while (rundo);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
}
private bool TryLookupChild3(ITcSmTreeItem parent, string childName, out ITcSmTreeItem child)
{
string parentPath = parent.PathName;
string path = parentPath + "^" + childName;
return(TryLookupTreeItem(path, out child));
}
SpecificEventsModuleCreator(
int targetIndex,
ITcSmTreeItem pou,
ITcSmTreeItem dut,
ITcSmTreeItem gvl,
ITcSmTreeItem eventManagers,
ITcSmTreeItem modules,
ITcSmTreeItem triggers
)
{
this.eventManagers = eventManagers;
this.modules = modules;
this.triggers = triggers;
this.pou = pou;
this.dut = dut;
this.gvl = gvl;
module = AssignedConfigFileData.modulesContainer.content[targetIndex];
eventNamesLists = new List <String[]>();
eventManagerNames = new List <String>();
this.targetIndex = targetIndex;
CreateModuleCode();
Console.WriteLine("Code for module {0} created.", module.getName);
CreateEventManagerCode();
}
private ITcSmTreeItem createItf(ItfInfo itfInfo, ITcSmTreeItem parent, IWorker worker, XmlDocument doc)
{
XmlNode itfNode = doc.SelectSingleNode("TcPlcObject/Itf");
string itfName = itfNode.Attributes["Name"].Value;
worker.ProgressStatus = string.Format("Creating Interface '{0}' ...", itfName);
ITcSmTreeItem item = null;
XmlElement node = (XmlElement)doc.SelectSingleNode("TcPlcObject/Itf/Declaration");
string declString = node.InnerText;
if (!TryLookupChild(parent, itfName, out item))
{
item = parent.CreateChild(itfName, TreeItemType.PlcInterface.AsInt32(), "", declString);
}
//Debug.Fail("");
ITcXmlDocument xmlDoc = (ITcXmlDocument)item;
xmlDoc.DocumentXml = doc.OuterXml;
ITcPlcDeclaration decl = (ITcPlcDeclaration)item;
//decl.DeclarationText = node.InnerText;
return(item);
}
private ITcSmTreeItem createWorksheet2(WorksheetInfo info, ITcSmTreeItem parent, IWorker worker)
{
string template = Path.Combine(ApplicationDirectory, info.TemplatePath);
XmlDocument doc = new XmlDocument();
doc.Load(template);
ITcSmTreeItem ret = null;
switch (info.Type)
{
case PlcObjectType.DataType:
ret = createDut((DataTypeInfo)info, parent, worker, doc);
break;
case PlcObjectType.POU:
ret = createPou((POUInfo)info, parent, worker, doc);
break;
case PlcObjectType.Itf:
ret = createItf((ItfInfo)info, parent, worker, doc);
break;
case PlcObjectType.Gvl:
ret = createGvl((GvlInfo)info, parent, worker, doc);
break;
default:
Debug.Fail("");
break;
}
return(ret);
}
private ITcSmTreeItem createPlcFolder(ITcSmTreeItem parent, string folderName, string before, IWorker worker)
{
worker.ProgressStatus = string.Format("Creating Folder '{0}' ...", folderName);
ITcSmTreeItem item = parent.CreateChild(folderName, TreeItemType.PlcFolder.AsInt32(), before, null);
return(item);
}
protected override void OnExecute(IWorker worker)
{
worker.Progress = 0;
ITcSmTreeItem plcConfig = systemManager.LookupTreeItem("TIPC"); // Getting PLC-Configuration
CreatePlcProject(worker); // Method of CodeGenerationBaseScript to create a new PLC project.
}
/// <summary>
/// Checks that the specified tag in the XML from the project tree matches the expected value.
/// </summary>
/// <param name="plcProjectItem">The tree to search.</param>
/// <param name="tag">The tag to search for.</param>
/// <param name="expected">The expected value.</param>
/// <returns>True if the value is found, else false.</returns>
private Boolean checkXmlIsString(ITcSmTreeItem plcProjectItem, String tag, String expected)
{
XmlDocument doc = new XmlDocument();
doc.LoadXml(plcProjectItem.ProduceXml(true));
XmlNodeList loggedIn = doc.SelectNodes(String.Format("//{0}", tag));
return(loggedIn.Item(0).InnerText.Equals(expected));
}
private void createPlaceholder(PlaceholderInfo info, ITcSmTreeItem plcProject, IWorker worker)
{
worker.ProgressStatus = string.Format("Adding Placeholder '{0}' ...", info.PlaceholderName);
ITcSmTreeItem referencesItem = plcProject.LookupChild("References");
ITcPlcLibraryManager libraryManager = (ITcPlcLibraryManager)referencesItem;
libraryManager.AddPlaceholder(info.PlaceholderName);
}
private void ConsumeTemplate(ITcSmTreeItem item, string templatePath)
{
string templ = Path.Combine(ApplicationDirectory, templatePath);
XmlTextReader reader = new XmlTextReader(templ);
reader.MoveToContent();
item.ConsumeXml(reader.ReadOuterXml());
}
private void createLibrary(LibraryInfo info, ITcSmTreeItem plcProject, IWorker worker)
{
worker.ProgressStatus = string.Format("Adding Library '{0}' ...", info.LibraryName);
ITcSmTreeItem referencesItem = plcProject.LookupChild("References");
ITcPlcLibraryManager libraryManager = (ITcPlcLibraryManager)referencesItem;
libraryManager.AddLibrary(info.LibraryName);
}
//This contructor is meant to be used for testing individual methods
//It should never be called in a live use
public SolutionHandler()
{
dte = attachToExistingDte(@"C:\Users\NathanM\Desktop\DELETE ME\Garth Gaddy\TestDirectory\Test4.sln", ProgID);
sol = dte.Solution;
pro = sol.Projects.Item(1);
sysMan = (ITcSysManager11)pro.Object;
adsClient = new TcAdsClient();
ITcSmTreeItem drive = sysMan.LookupTreeItem(@"TIID^Device_1^InfeedWest0");
LinkIoToPlc(drive);
}
}//CreatePLCVariable()
private void LinkIoToPlc(ITcSmTreeItem drive)
{
/*------------------------------------------
* This is a placehiolder method for the code needed to link our drives to the PLC.
* When we say PLC we mean explicitly and exclusively the PLC, no NC task/configuration
* can be used.
* -----------------------------------------*/
string plcInputsPath = "TIPC^Untitled1^Untitled1 Instance^PlcTask Inputs";
string plcOutputsPath = "TIPC^Untitled1^Untitled1 Instance^PlcTask Outputs";
string drivePath = drive.PathName;
string boxName = drive.Name;
// Create links between the current drive and the PLC structure
//Link the inputs
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Input 1", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Input_1");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Input 2", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Input_2");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Input 3", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Input_3");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Input 4", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Input_4");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Control input 1", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Control_input_1");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Control input 2", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Control_input_2");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Control input 3", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Control_input_3");
this.sysMan.LinkVariables(drivePath + "^DI Inputs^Control input 4", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Control_input_4");
this.sysMan.LinkVariables(drivePath + "^STM Status Channel 1^Status", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_1_Status");
this.sysMan.LinkVariables(drivePath + "^STM Status Channel 2^Status", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_2_Status");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 1^Info data 1", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_1_info_data_1");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 1^Info data 2", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_1_info_data_2");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 1^Info data 3", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_1_info_data_3");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 2^Info data 1", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_2_info_data_1");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 2^Info data 2", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_2_info_data_2");
this.sysMan.LinkVariables(drivePath + "^STM Synchron info data Channel 2^Info data 3", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Channel_2_info_data_3");
this.sysMan.LinkVariables(drivePath + "^STM Inputs Device^Device Diag", plcInputsPath + "^EP7402_List.st" + boxName + ".stInputs^Device_Diag");
//Link the Outputs
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Output 1", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Output_1");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Output 2", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Output_2");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Output 3", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Output_3");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Output 4", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Output_4");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Control output 1", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Control_output_1");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Control output 2", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Control_output_2");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Control output 3", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Control_output_3");
this.sysMan.LinkVariables(drivePath + "^DO Outputs^Control output 4", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Control_output_4");
this.sysMan.LinkVariables(drivePath + "^STM Control Channel 1^Control", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_1_Control");
this.sysMan.LinkVariables(drivePath + "^STM Control Channel 2^Control", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_2_Control");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 1^Velocity", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_1_Velocity");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 1^Accelleration", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_1_Accelleration");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 1^Decceleration", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_1_Decceleration");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 2^Velocity", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_2_Velocity");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 2^Accelleration", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_2_Accelleration");
this.sysMan.LinkVariables(drivePath + "^STM Target Velocity Channel 2^Decceleration", plcOutputsPath + "^EP7402_List.st" + boxName + ".stOutputs^Channel_2_Decceleration");
}//LinkIoToPlc()
private Boolean login(ITcSmTreeItem plcApp)
{
Console.WriteLine("Logging in");
plcApp.ConsumeXml(createXMLString(PLCAction.LOGIN));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => checkXmlIsString(plcApp, "LoggedIn", "true")))
{
Console.WriteLine("Failed to login!");
return(false);
}
return(true);
}
private bool TryLookupChild(ITcSmTreeItem parent, string childName, out ITcSmTreeItem child)
{
foreach (ITcSmTreeItem c in parent)
{
if (c.Name == childName)
{
child = c;
return(true);
}
}
child = null;
return(false);
}
private bool TryLookupChild2(ITcSmTreeItem parent, string childName, out ITcSmTreeItem child)
{
try
{
child = parent.LookupChild(childName);
return(true);
}
catch
{
child = null;
return(false);
}
}
private bool TryLookupTreeItem(string itemPath, out ITcSmTreeItem treeItem)
{
try
{
treeItem = this.systemManager.LookupTreeItem(itemPath);
return(true);
}
catch
{
treeItem = null;
return(false);
}
}
//<Not used>
public void addBaseSln(String slnBasePath) //For adding collab code automatically - requires better gitbash
{
string template = slnBasePath + @"\tc_project_app\tc_project_app.plcproj"; //path toproject template
ITcSmTreeItem plc = SystemManager.LookupTreeItem("TIPC");
try
{
ITcSmTreeItem newProject = plc.CreateChild("basePLC", 0, "", template);
}
catch
{
MessageBox.Show("Nope"); //Change the template so it detects version installed and knows where to look
}
}
/// <summary>
/// Export xti file for a given device number under the IO (Will retain mappings by default)
/// </summary>
/// <param name="deviceNumber"></param>
public Boolean exportHardwareXTI(int deviceNumber)
{
try
{
//ITcSmTreeItem io = SystemManager.LookupTreeItem("TIID");
ITcSmTreeItem deviceName = Io.Child[deviceNumber];
Io.ExportChild(deviceName.Name, ConfigFolder + IoFile);
return(true);
}
catch
{
return(false);
}
}
public SolutionHandler(string filePath, string FileName)
{
this.BASEFOLDER = filePath;
this._solutionName = _tcProjectName = FileName;
this.adsClient = new TcAdsClient();
MessageFilter.Register();
/* -----------------------------------------------------------------
* Creates new solution based off of TwinCAT's XAE and PLC templates.
* -----------------------------------------------------------------*/
if (dte == null)
{
CreateNewProject();
}
pro = sol.Projects.Item(1);
sysMan = (ITcSysManager11)pro.Object;
//System.Threading.Thread.Sleep(5000);
ITcSmTreeItem plc = sysMan.LookupTreeItem("TIPC");
plc.CreateChild("Untitled1", 0, "", "Standard PLC Template");
//---Navigate to References node and cast to Library Manager interface
ITcSmTreeItem references = sysMan.LookupTreeItem("TIPC^Untitled1^Untitled1 Project^References");
ITcPlcLibraryManager libraryManager = (ITcPlcLibraryManager)this.RetrieveLibMan();
/* ------------------------------------------------------
* Check to see if library already exists, if it does it will delete before adding to avoid any exceptions.
* ------------------------------------------------------ */
foreach (ITcPlcLibRef libraryReference in libraryManager.References)
{
if (libraryReference is ITcPlcLibrary)
{
ITcPlcLibrary library = (ITcPlcLibrary)libraryReference;
if (library.Name == "MDR_Control")
{
DeleteLibrary(ref libraryManager);
}
}
}
/* ------------------------------------------------------
* Add our MDR library to the project References.
* ------------------------------------------------------ */
AddLibrary(ref libraryManager);
MessageFilter.Revoke();
}//Constructor()
public static bool SearchForSubItem(string itemToLookFor, ref ITcSmTreeItem parentItem, ref ITcSmTreeItem childItem)
{
try
{
childItem = parentItem.LookupChild(itemToLookFor);
Console.WriteLine(itemToLookFor + " item found.");
}
catch (Exception e)
{
Console.WriteLine(itemToLookFor + " item not found. Exiting on Enter.");
Console.Read();
Environment.Exit(-1);
}
return(true);
}
private ITcSmTreeItem CreateBox(ITcSmTreeItem parent, BoxInfo boxInfo, IWorker worker)
{
worker.ProgressStatus = string.Format("Creating Box '{0}' ({1})...", boxInfo.Name, boxInfo.Type);
ITcSmTreeItem ret = parent.CreateChild(boxInfo.Name, (int)BoxType.EtherCAT_EXXXXX, "", boxInfo.Type);
if (boxInfo.ChildBoxes != null)
{
foreach (BoxInfo child in boxInfo.ChildBoxes)
{
ITcSmTreeItem tcChild = CreateBox(ret, child, worker);
}
}
return(ret);
}
protected void CreateMotion(IWorker worker)
{
if (worker.CancellationPending)
{
throw new Exception("Execution cancelled!");
}
OrderScriptContext context = (OrderScriptContext)_context;
ConfigurationInfo configurationInfo = context.Order.ConfigurationInfo;
ITcSmTreeItem ncConfig = systemManager.LookupTreeItem("TINC");
foreach (TaskInfo taskInfo in configurationInfo.MotionTasks)
{
ITcSmTreeItem task = null;
worker.ProgressStatus = string.Format("Creating Motion Task '{0}'", taskInfo.Name);
if (!TryLookupChild(ncConfig, taskInfo.Name, out task))
{
task = ncConfig.CreateChild(taskInfo.Name, 1);
}
ITcSmTreeItem axes = null;
TryLookupChild(task, "Axes", out axes);
if (axes == null)
{
TryLookupChild(task, "Achsen", out axes);
}
foreach (AxisInfo axisInfo in taskInfo.Axes)
{
if (worker.CancellationPending)
{
throw new Exception("Execution cancelled!");
}
ITcSmTreeItem axis = null;
worker.ProgressStatus = string.Format("Creating Axis '{0}'", axisInfo.Name);
if (!TryLookupChild(axes, axisInfo.Name, out axis))
{
axis = axes.CreateChild(axisInfo.Name, 1);
ConsumeTemplate(axis, axisInfo.TemplatePath);
}
}
}
}