private void menuItem_Apply_Click(object sender, EventArgs e)
{
try
{
ABB.Robotics.Controllers.RapidDomain.RapidData boolBlocksiFr1ArcStable = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "boolBlocksiFr1ArcStable");
ABB.Robotics.Controllers.RapidDomain.Bool bBlocksiFr1ArcStable = new ABB.Robotics.Controllers.RapidDomain.Bool(this.checkBox_boolBlocksiFr1ArcStable.Checked);
boolBlocksiFr1ArcStable.Value = bBlocksiFr1ArcStable;
boolBlocksiFr1ArcStable.Dispose();
ABB.Robotics.Controllers.RapidDomain.RapidData numBlocksiArcStableLength = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "numBlocksiArcStableLength");
ABB.Robotics.Controllers.RapidDomain.Num nBlocksiArcStableLength = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(this.numEditor_numBlocksiArcStableLength.Value));
numBlocksiArcStableLength.Value = nBlocksiArcStableLength;
numBlocksiArcStableLength.Dispose();
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numIsometricalSaddleCoefficient", this.numEditor_numIsometricalSaddleCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numShoulderGrooveCoefficient", this.numEditor_numShoulderGrooveCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numTorchCleanIntervalCount", this.numEditor_numTorchCleanIntervalCount);
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
public void ApplyTpsControl(string strTaskName, string strModuleName, string strDataName, TpsControl tpsControl)
{
if (tpsControl is NumEditor)
{
ABB.Robotics.Controllers.RapidDomain.RapidData rapidData = this.controller.Rapid.GetRapidData(strTaskName, strModuleName, strDataName);
ABB.Robotics.Controllers.RapidDomain.Num number = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(((NumEditor)tpsControl).Value));
rapidData.Value = number;
rapidData.Dispose();
}
}
public void RefreshTpsControl(string strTaskName, string strModuleName, string strDataName, TpsControl tpsControl)
{
if (tpsControl is NumEditor)
{
ABB.Robotics.Controllers.RapidDomain.RapidData rapidData = this.controller.Rapid.GetRapidData(strTaskName, strModuleName, strDataName);
ABB.Robotics.Controllers.RapidDomain.Num number = new ABB.Robotics.Controllers.RapidDomain.Num();
number.FillFromString(rapidData.Value.ToString());
((NumEditor)tpsControl).Value = Convert.ToDecimal(number);
rapidData.Dispose();
}
}
void update_values()
{
DateTime t0 = DateTime.Now;
rdice = aTask[0].GetRapidData("MainModule", "dice_txt");
rangle = aTask[0].GetRapidData("MainModule", "angle_txt");
rx = aTask[0].GetRapidData("MainModule", "x_txt");
ry = aTask[0].GetRapidData("MainModule", "y_txt");
roffset = aTask[0].GetRapidData("MainModule", "roffset");
try
{
if (rx.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rx.Value;
val.FillFromNum(arr[0]);
using (Mastership.Request(this.controller.Rapid))
{
rx.Value = val;
}
}
if (ry.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)ry.Value;
val.FillFromNum(arr[1]);
using (Mastership.Request(this.controller.Rapid))
{
ry.Value = val;
}
}
if (rdice.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rdice.Value;
val.FillFromNum(arr[2]);
using (Mastership.Request(this.controller.Rapid))
{
rdice.Value = val;
}
}
if (rangle.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rangle.Value;
val.FillFromNum(arr[3]);
using (Mastership.Request(this.controller.Rapid))
{
rangle.Value = val;
}
}
//Register time intervar for updating//
double total_D;
DateTime t1 = DateTime.Now;
TimeSpan total = new TimeSpan(t1.Ticks - t0.Ticks);
total_D = total.TotalMilliseconds;
if (total_D > max)
{
max = total_D;
}
textBox2.Text = (max.ToString());
/////////////////////////////////////
if (roffset.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)roffset.Value;
val.FillFromNum(total_D);
using (Mastership.Request(this.controller.Rapid))
{
roffset.Value = val;
}
}
}
catch (System.Exception ex)
{
MessageBox.Show("Reading ERROR: " + ex.Message);
}
}
public void listmethod()
{
////data1 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("Version_SWDEFUSR"); //string
//data1.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data1_ValueChanged);
data2 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("W_00049"); //robtarget //robot punta pozisyon bilgisi
data2.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data2_ValueChanged);
//data3 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("MAX_DEFLECTION"); //num
//data3.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data3_ValueChanged);
//data4 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("nToplamAsinma"); //num
//data4.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data5 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("wobj0"); //wobjdata
//data5.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data6 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("load0"); //loaddata
//data6.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data7 = objController.Rapid.GetTask("T_ROB1").GetModule("HOME_KONTROL").GetRapidData("delta_position1"); //jointtarget
//data7.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
data8 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("bRobot_FrezePrograminda"); //bool
data8.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data9 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("spot1"); //spotdata
data9.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data10 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bCycleOn"); //bool
data10.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data11 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("nHataKodu"); //num
data11.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data12 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("force_bileme"); //forcedata //firezeleme kuvveti
data12.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data13 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bKaynakTamamlandi"); //bool
data13.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data14 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("nProgNo"); //num
data14.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
_string1 = (ABB.Robotics.Controllers.RapidDomain.String)data1.Value;
string1 = _string1.Value;
_robTarget1 = (ABB.Robotics.Controllers.RapidDomain.RobTarget)data2.Value;
robTarget1 = _robTarget1.Trans;
_num3 = (ABB.Robotics.Controllers.RapidDomain.Num)data3.Value;
num3 = _num3.Value;
_num4 = (ABB.Robotics.Controllers.RapidDomain.Num)data4.Value;
num4 = _num4.Value;
_wobjData1 = (WobjData)data5.Value;
wobjData1 = _wobjData1.Oframe;
_loadData1 = (LoadData)data6.Value;
loadData1 = _loadData1.Aom;
_jointTarget1 = (JointTarget)data7.Value;
jointTarget1 = _jointTarget1.RobAx;
_bool1 = (Bool)data8.Value;
bool1 = _bool1.Value;
label4.Text = data9.Value.ToString();
_bool2 = (Bool)data10.Value;
bool2 = _bool2.Value;
_num5 = (ABB.Robotics.Controllers.RapidDomain.Num)data11.Value;
num5 = _num5.Value;
_bool3 = (Bool)data13.Value;
bool3 = _bool3.Value;
label9.Text = data12.Value.ToString();
_num6 = (ABB.Robotics.Controllers.RapidDomain.Num)data14.Value;
num6 = _num6.Value;
dataGridView1.Rows.Add(data1.Symbol.Scope[0], data1.Symbol.Scope[1], data1.Symbol.Scope[2], string1);
dataGridView1.Rows.Add(data2.Symbol.Scope[0], data2.Symbol.Scope[1], data2.Symbol.Scope[2], robTarget1);
dataGridView1.Rows.Add(data3.Symbol.Scope[0], data3.Symbol.Scope[1], data3.Symbol.Scope[2], num3);
dataGridView1.Rows.Add(data4.Symbol.Scope[0], data4.Symbol.Scope[1], data4.Symbol.Scope[2], num4);
dataGridView1.Rows.Add(data5.Symbol.Scope[0], data5.Symbol.Scope[1], data5.Symbol.Scope[2], wobjData1);
dataGridView1.Rows.Add(data6.Symbol.Scope[0], data6.Symbol.Scope[1], data6.Symbol.Scope[2], loadData1);
dataGridView1.Rows.Add(data7.Symbol.Scope[0], data7.Symbol.Scope[1], data7.Symbol.Scope[2], jointTarget1);
dataGridView1.Rows.Add(data8.Symbol.Scope[0], data8.Symbol.Scope[1], data8.Symbol.Scope[2], bool1);
dataGridView1.Rows.Add(data10.Symbol.Scope[0], data10.Symbol.Scope[1], data10.Symbol.Scope[2], bool2);
dataGridView1.Rows.Add(data11.Symbol.Scope[0], data11.Symbol.Scope[1], data11.Symbol.Scope[2], num5);
dataGridView1.Rows.Add(data12.Symbol.Scope[0], data12.Symbol.Scope[1], data12.Symbol.Scope[2], data12.Value);
dataGridView1.Rows.Add(data13.Symbol.Scope[0], data13.Symbol.Scope[1], data13.Symbol.Scope[2], bool3);
dataGridView1.Rows.Add(data14.Symbol.Scope[0], data14.Symbol.Scope[1], data14.Symbol.Scope[2], num6);
dataGridView1.AutoGenerateColumns = false;
}