string CodeKuka(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
string textValue = Value ? "TRUE" : "FALSE";
return($"WAIT FOR $IN[{number}]=={textValue}");
}
string CodeAbb(RobotSystem robotSystem, Target target)
{
var io = robotSystem.IO;
string textValue = Value ? "1" : "0";
return($"WaitDI {io.DI[DI]},{textValue};");
}
public UnityMeshPoser(RobotSystem robot, Material material)
{
_default = robot.DefaultPose;
var allMeshes = _default.Meshes.SelectMany(m => m).ToList();
_joints = new Transform[allMeshes.Count];
var parent = GameObject.Find("Robot").transform;
for (int i = 0; i < allMeshes.Count; i++)
{
string name = $"Joint {i}";
var go = new GameObject(name, typeof(MeshFilter), typeof(MeshRenderer));
var filter = go.GetComponent <MeshFilter>();
filter.mesh = ToMesh(allMeshes[i], name);
var renderer = go.GetComponent <MeshRenderer>();
renderer.material = material;
var transform = go.transform;
transform.SetParent(parent);
_joints[i] = transform;
}
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
wandererWorld = Matrix.Identity;
wanderer = new WandererBody(this);
heightMapTransformSystem_Wanderer = new HeightMapTransformSystem_Wanderer();
heightMapComponent = new HeightMapComponent();
heightMapCameraComponent = new HeightMapCameraComponent();
robotComponent = new RobotComponent();
heightMapSystem = new HeightmapSystem();
heightMapTranformSystem = new HeightMapTranformSystem();
heightMapRenderSystem = new HeightMapRenderSystem(graphics.GraphicsDevice);
robotSystem = new RobotSystem();
robotTranformSystem = new RobotTranformSystem();
robotRenderSystem = new RobotRenderSystem();
collisionSystem = new CollisionSystem();
houseSystem = new HouseSystem(this);
systemRenderer = new Renderer();
base.Initialize();
}
public CustomProgram(string name, RobotSystem robotSystem, List <int> multiFileIndices, List <List <List <string> > > code)
{
Name = name;
RobotSystem = robotSystem;
Code = code;
MultiFileIndices = multiFileIndices;
}
string CodeStaubli(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
string textValue = Value ? "true" : "false";
return($"waitEndMove()\r\nwait(dis[{number}] == {textValue})");
}
string CodeUR(RobotSystem robotSystem, Target target)
{
//string textValue = Value ? "True" : "False";
const string indent = " ";
string textValue = Value ? "not " : "";
return($"while {textValue}get_digital_in({robotSystem.IO.DI[DI]}):\r\n{indent}{indent}sleep(0.008)\r\n{indent}end");
}
public static List <Mesh> Pose(RobotSystem robot, List <KinematicSolution> solutions, IList <Target> targets)
{
var tools = targets.Map(t => t.Tool);
var poser = new RhinoMeshPoser(robot);
poser.Pose(solutions, tools);
return(poser.Meshes);
}
string GetNumber(RobotSystem robotSystem)
{
var io = robotSystem.IO;
return(io.UseControllerNumbering
? DO.ToString()
: io.DO[DO]);
}
public RhinoMeshPoser(RobotSystem robot)
{
_default = robot.DefaultPose;
var meshCount = _default.Meshes.Sum(m => m.Count + 1);
Meshes = new List <Mesh>(meshCount);
}
string CodeUR(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
const string indent = " ";
string textValue = Value ? "not " : "";
return($"while {textValue}get_digital_in({number}):\r\n{indent}{indent}sleep(0.008)\r\n{indent}end");
}
string CodeUR(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
string textValue = Value ? "True" : "False";
return($"set_digital_out({number},{textValue})");
}
private void Awake()
{
instance = this;
this.SpawnedRobotDictionary = new Dictionary <string, RobotBase>();
this.SpawnedRobotList = new List <RobotBase>();
this.StoredRobotSourceCodes = new List <RobotSourceCode>();
}
protected override void ErrorChecking(RobotSystem robotSystem)
{
if (robotSystem.IO.AO == null)
{
throw new Exception(" Robot contains no analog outputs.");
}
if (AO > robotSystem.IO.AO.Length - 1)
{
throw new Exception(" Index of analog output is too high.");
}
}
protected override void ErrorChecking(RobotSystem robotSystem)
{
if (robotSystem.IO.DI == null)
{
throw new Exception(" Robot contains no digital inputs.");
}
if (DI > robotSystem.IO.DI.Length - 1)
{
throw new Exception(" Index of digital inputs is too high.");
}
}
protected override string CodeAbb(RobotSystem robotSystem, Target target)
{
if (target.Zone.IsFlyBy)
{
return($@"WaitTime {this.Name};");
}
else
{
return($@"WaitTime \InPos,{this.Name};");
}
}
protected override string CodeKuka(RobotSystem robotSystem, Target target)
{
if (target.Zone.IsFlyBy)
{
return($"CONTINUE\r\nWAIT SEC {this.Name}");
}
else
{
return($"WAIT SEC {this.Name}");
}
}
string CodeAbb(RobotSystem robotSystem, Target target)
{
if (target.Zone.IsFlyBy)
{
return($"WaitTime {Name};");
}
else
{
return($@"WaitTime \InPos,{Name};");
}
}
protected override string CodeKuka(RobotSystem robotSystem, Target target)
{
if (target.Zone.IsFlyBy)
{
return($"CONTINUE\r\nPULSE($OUT[{robotSystem.IO.DO[DO]}],TRUE,{length:0.00})");
}
else
{
return($"PULSE($OUT[{robotSystem.IO.DO[DO]}],TRUE,{length:0.00})");
}
}
string DeclarationUR(RobotSystem robotSystem)
{
var number = GetNumber(robotSystem);
string time = $"{Name} = {_length:0.###}";
string thread = $@" thread run{Name}():
sleep({Name})
set_digital_out({number}, False)
end";
return($"{time}\r\n{thread}");
}
string CodeKuka(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
if (target.Zone.IsFlyBy)
{
return($"CONTINUE\r\nPULSE($OUT[{number}],TRUE,{_length:0.###})");
}
else
{
return($"PULSE($OUT[{number}],TRUE,{_length:0.###})");
}
}
protected override string CodeKuka(RobotSystem robotSystem, Target target)
{
string textValue = Value ? "TRUE" : "FALSE";
if (target.Zone.IsFlyBy)
{
return($"CONTINUE\r\n$OUT[{robotSystem.IO.DO[DO]}] = {textValue}");
}
else
{
return($"$OUT[{robotSystem.IO.DO[DO]}] = {textValue}");
}
}
protected override string CodeAbb(RobotSystem robotSystem, Target target)
{
string textValue = Value ? "1" : "0";
if (target.Zone.IsFlyBy)
{
return($"SetDO {robotSystem.IO.DO[DO]},{textValue};");
}
else
{
return($@"SetDO \Sync ,{robotSystem.IO.DO[DO]},{textValue};");
}
}
internal CheckProgram(Program program, List <CellTarget> cellTargets, double stepSize)
{
_robotSystem = program.RobotSystem;
_program = program;
FixFirstTarget(cellTargets[0]);
FixTargetAttributes(cellTargets);
var indexError = FixTargetMotions(cellTargets, stepSize);
FixedTargets = (indexError != -1)
? cellTargets.GetRange(0, indexError + 1)
: cellTargets;
}
string CodeAbb(RobotSystem robotSystem, Target target)
{
var io = robotSystem.IO;
string textValue = Value ? "1" : "0";
if (target.Zone.IsFlyBy)
{
return($"SetDO {io.DO[DO]},{textValue};");
}
else
{
return($@"SetDO \Sync ,{io.DO[DO]},{textValue};");
}
}
string CodeKuka(RobotSystem robotSystem, Target target)
{
var number = GetNumber(robotSystem);
string textValue = Value ? "TRUE" : "FALSE";
if (target.Zone.IsFlyBy)
{
return($"CONTINUE\r\n$OUT[{number}] = {textValue}");
}
else
{
return($"$OUT[{number}] = {textValue}");
}
}
public static List <Mesh> PoseMeshes(RobotSystem robot, List <KinematicSolution> solutions, List <Mesh> tools)
{
var cell = robot as RobotCell;
if (cell != null)
{
var meshes = solutions.SelectMany((_, i) => PoseMeshes(cell.MechanicalGroups[i], solutions[i].Planes, tools[i])).ToList();
return(meshes);
}
else
{
var ur = robot as RobotCellUR;
var meshes = PoseMeshesRobot(ur.Robot, solutions[0].Planes, tools[0]);
return(meshes);
}
}
//发送处理完的所有的robot的信息
public void send_robots_data()
{
List <Robot> robots = RobotSystem.get_singleton().get_robots();
lock (robots)
{
foreach (Robot robot in robots)
{
Queue <NetworkMsg> sendQue = robot.m_clientSocket.load_send_queue();
while (sendQue.Count > 0)
{
NetworkMsg msg = sendQue.Dequeue();
m_tcpServer.send_networkMessage(msg, robot.m_clientSocket.m_socket);
}
}
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
string name = null;
GH_Plane basePlane = null;
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref basePlane))
{
return;
}
var robotSystem = RobotSystem.Load(name, basePlane.Value);;
DA.SetData(0, new GH_RobotSystem(robotSystem));
}
public HelixMeshPoser(RobotSystem robot, PBRMaterial material, ObservableElement3DCollection robotModels)
{
_default = robot.DefaultPose;
_robotModels = robotModels;
foreach (var joint in _default.Meshes.SelectMany(m => m))
{
var model = new MeshGeometryModel3D
{
Geometry = ToWPF(joint),
Material = material,
Transform = Transform3D.Identity,
IsThrowingShadow = true
};
robotModels.Add(model);
}
}
