/// <summary>
/// Apply ActionIOAnalog write action to this cursor.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionIOAnalog action)
{
if (action.pin < 0 || action.pin >= analogOutputs.Length)
{
Console.WriteLine("Cannot write to analog IO: robot has no analog pin #" + action.pin);
return(false);
}
this.analogOutputs[action.pin] = action.value;
return(true);
}
/// <summary>
/// Apply ActionIOAnalog write action to this cursor.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionIOAnalog action)
{
//if (action.pinName < 0 || action.pinName >= analogOutputs.Length)
//{
// Console.WriteLine("Cannot write to analog IO: robot has no analog pin #" + action.pinName);
// return false;
//}
//this.analogOutputs[action.pinName] = action.value;
//return true;
if (analogOutputs.ContainsKey(action.pinName))
{
analogOutputs[action.pinName] = action.value;
}
else
{
analogOutputs.Add(action.pinName, action.value);
}
return(true);
}
internal bool GenerateInstructionDeclaration(
Action action,
RobotCursor cursor,
Dictionary <double, string> velNames,
Dictionary <double, string> zoneNames,
Dictionary <Tool, string> toolNames,
out string declaration)
{
string dec = null;
switch (action.Type)
{
case ActionType.Acceleration:
bool zero = cursor.acceleration < Geometry.EPSILON;
dec = string.Format(" WorldAccLim {0};",
zero ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M)).ToString(CultureInfo.InvariantCulture);
break;
//case ActionType.JointSpeed:
//case ActionType.JointAcceleration:
// dec = string.Format(" {0} WARNING: {1}() has no effect in ABB robots.",
// commChar,
// action.Type);
// break;
// @TODO: push/pop management should be done PROGRAMMATICALLY, not this CHAPUZa...
case ActionType.PushPop:
// Find if there was a change in acceleration, and set the corresponsing instruction...
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
break; // only necessary for pops
}
if (Math.Abs(cursor.acceleration - cursor.settingsBuffer.SettingsBeforeLastPop.Acceleration) < Geometry.EPSILON)
{
break; // no change
}
// If here, there was a change, so...
bool zeroAcc = cursor.acceleration < Geometry.EPSILON;
dec = string.Format(" WorldAccLim {0};",
zeroAcc
? "\\Off"
: "\\On := " + Math.Round(0.001 * cursor.acceleration,
Geometry.STRING_ROUND_DECIMALS_M)).ToString(CultureInfo.InvariantCulture);
break;
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
dec = string.Format(" {0} {1}, {2}, {3}, {4}\\{5};",
cursor.motionType == MotionType.Joint ? "MoveJ" : "MoveL",
GetRobTargetValue(cursor),
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Axes:
dec = string.Format(" MoveAbsJ {0}, {1}, {2}, {3}\\{4};",
GetJointTargetValue(cursor),
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" TPWrite \"{0}\";",
am.message.Length <= 80 ?
am.message :
am.message.Substring(0, 80)); // ABB strings can only be 80 chars long
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(CultureInfo.InvariantCulture,
" WaitTime {0};",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
CC,
ac.comment);
break;
case ActionType.DefineTool:
ActionDefineTool adt = action as ActionDefineTool;
dec = string.Format(" {0} Tool \"{1}\" defined", // this action has no actual RAPID instruction, just add a comment
CC,
adt.tool.name);
break;
case ActionType.AttachTool:
ActionAttachTool aa = (ActionAttachTool)action;
dec = string.Format(" {0} Tool \"{1}\" attached", // this action has no actual RAPID instruction, just add a comment
CC,
aa.toolName);
break;
case ActionType.DetachTool:
ActionDetachTool ad = (ActionDetachTool)action;
dec = string.Format(" {0} All tools detached", // this action has no actual RAPID instruction, just add a comment
CC);
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
dec = $" SetDO {aiod.pinName}, {(aiod.on ? "1" : "0")};";
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
dec = $" SetAO {aioa.pinName}, {aioa.value};";
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = " " + acc.statement;
}
break;
//default:
// dec = string.Format(" ! ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (addActionString && action.Type != ActionType.Comment)
{
dec = string.Format("{0}{1} {2} [{3}]",
dec,
dec == null ? " " : "", // add indentation to align with code
CC,
action.ToString());
}
else if (addActionID)
{
dec = string.Format("{0}{1} {2} [{3}]",
dec,
dec == null ? " " : "", // add indentation to align with code
CC,
action.Id);
}
declaration = dec;
return(dec != null);
}
// ╦ ╦╔╦╗╦╦ ╔═╗
// ║ ║ ║ ║║ ╚═╗
// ╚═╝ ╩ ╩╩═╝╚═╝
internal bool GenerateInstructionDeclaration(
Action action, RobotCursor cursor,
out string declaration)
{
string dec = null;
switch (action.Type)
{
case ActionType.Speed:
dec = string.Format(CultureInfo.InvariantCulture,
"G1 F{0}",
Math.Round(60.0 * cursor.speed, Geometry.STRING_ROUND_DECIMALS_MM));
break;
case ActionType.Translation:
case ActionType.Transformation:
dec = string.Format("G1 {0}{1}",
GetPositionTargetValue(cursor),
cursor.isExtruding ? " " + GetExtrusionTargetValue(cursor) : "");
break;
// Only available in MakerBot? http://reprap.org/wiki/G-code#M70:_Display_message
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format("M70 P1000 ({0})",
am.message);
break;
// In GCode, this is called "Dwell"
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(CultureInfo.InvariantCulture,
"G4 P{0}",
aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format("{0} {1}",
commChar,
ac.comment);
break;
// Untested, but oh well...
// http://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (!aiod.isDigit)
{
dec = $"{commChar} ERROR on \"{aiod}\": only integer pin names allowed";
}
else
{
dec = $"M42 P{aiod.pinNum} S{(aiod.on ? "1" : "0")}";
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (!aioa.isDigit)
{
dec = $"{commChar} ERROR on \"{aioa}\": only integer pin names allowed";
}
else if (aioa.value < 0 || aioa.value > 255)
{
dec = $"{commChar} ERROR on \"{aioa.ToString()}\": value out of range [0..255]";
}
else
{
//dec = $"M42 P{aioa.pinNum} S{Math.Round(aioa.value, 0)}";
dec = string.Format(CultureInfo.InvariantCulture,
"M42 P{0} S{1}",
aioa.pinNum,
Math.Round(aioa.value, 0));
}
break;
case ActionType.Temperature:
ActionTemperature at = (ActionTemperature)action;
//dec = $"{tempToGCode[new Tuple<RobotPartType, bool>(at.robotPart, at.wait)]} S{Math.Round(cursor.partTemperature[at.robotPart], Geometry.STRING_ROUND_DECIMALS_TEMPERATURE)}";
dec = string.Format(CultureInfo.InvariantCulture,
"{0} S{1}",
tempToGCode[new Tuple <RobotPartType, bool>(at.robotPart, at.wait)],
Math.Round(cursor.partTemperature[at.robotPart], Geometry.STRING_ROUND_DECIMALS_TEMPERATURE));
break;
case ActionType.Extrusion:
case ActionType.ExtrusionRate:
dec = $"{commChar} {action.ToString()}"; // has no direct G-code, simply annotate it as a comment
break;
case ActionType.Initialization:
ActionInitialization ai = (ActionInitialization)action;
if (ai.initialize == true)
{
StartCodeBoilerplate(cursor);
}
else
{
EndCodeBoilerplate(cursor);
}
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = $"{acc.statement}";
}
break;
// If action wasn't implemented before, then it doesn't apply to this device
default:
dec = $"{commChar} ACTION \"{action}\" NOT APPLICABLE TO THIS DEVICE";
break;
//case ActionType.Rotation:
//case ActionType.Zone:
//case ActionType.Joints:
//case ActionType.Attach:
//case ActionType.Detach:
// dec = string.Format("; ACTION \"{0}\" NOT IMPLEMENTED IN THIS DEVICE", action);
// break;
}
// Add trailing comments or ids if speficied
if (ADD_ACTION_STRING && action.Type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.ToString());
}
else if (ADD_ACTION_ID)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.Id);
}
declaration = dec;
return(dec != null);
}
internal bool GenerateInstructionDeclaration(
Action action, RobotCursor cursor,
out string declaration)
{
string dec = null;
switch (action.type)
{
// KUKA does explicit setting of velocities and approximate positioning, so these actions make sense as instructions
case ActionType.Speed:
dec = string.Format(" $VEL = {{CP {0}, ORI1 100, ORI2 100}}",
Math.Round(0.001 * cursor.speed, 3 + Geometry.STRING_ROUND_DECIMALS_MM));
break;
case ActionType.Precision:
dec = string.Format(" $APO.CDIS = {0}",
cursor.precision);
break;
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
dec = string.Format(" {0} {1} {2}",
cursor.motionType == MotionType.Joint ? "PTP" : "LIN",
GetPositionTargetValue(cursor),
cursor.precision >= 1 ? "C_DIS" : "");
break;
case ActionType.Axes:
dec = string.Format(" {0} {1} {2}",
"PTP",
GetAxisTargetValue(cursor),
cursor.precision >= 1 ? "C_DIS" : ""); // @TODO: figure out how to turn this into C_PTP
break;
// @TODO: apparently, messages in KRL are kind fo tricky, with several manuals just dedicated to it.
// Will figure this out later.
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" {0} MESSAGE: \"{1}\" (messages in KRL currently not supported in Machina)",
commChar,
am.message);
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(" WAIT SEC {0}",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
commChar,
ac.comment);
break;
case ActionType.Attach:
ActionAttach at = (ActionAttach)action;
dec = string.Format(" $TOOL = {0}",
GetToolValue(cursor));
break;
case ActionType.Detach:
ActionDetach ad = (ActionDetach)action;
dec = string.Format(" $TOOL = $NULLFRAME");
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (!aiod.isDigit)
{
dec = $" {commChar} ERROR on \"{aiod}\": only integer pin names are possible";
}
else if (aiod.pinNum < 1 || aiod.pinNum > 32) // KUKA starts counting pins by 1
{
dec = $" {commChar} ERROR on \"{aiod}\": IO number not available";
}
else
{
dec = $" $OUT[{aiod.pinNum}] = {(aiod.on ? "TRUE" : "FALSE")}";
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (!aioa.isDigit)
{
dec = $" {commChar} ERROR on \"{aioa}\": only integer pin names are possible";
}
else if (aioa.pinNum < 1 || aioa.pinNum > 16) // KUKA: analog pins [1 to 16]
{
dec = $" {commChar} ERROR on \"{aioa}\": IO number not available";
}
else if (aioa.value < -1 || aioa.value > 1)
{
dec = $" {commChar} ERROR on \"{aioa}\": value out of range [-1.0, 1.0]";
}
else
{
dec = $" $ANOUT[{aioa.pinNum}] = {Math.Round(aioa.value, Geometry.STRING_ROUND_DECIMALS_VOLTAGE)}";
}
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = $" {acc.statement}";
}
break;
//default:
// dec = string.Format(" ; ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (ADD_ACTION_STRING && action.type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.ToString());
}
else if (ADD_ACTION_ID)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.id);
}
declaration = dec;
return(dec != null);
}
internal bool GenerateInstructionDeclaration(
Action action, RobotCursor cursor, bool humanComments,
out string declaration)
{
string dec = null;
switch (action.Type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
// Accelerations and velocities have different meaning for movej and movel instructions: they are either angular or linear respectively.
// Use speed and acceleration values as deg/s or mm/s (converted to rad and m) in either case.
if (cursor.motionType == MotionType.Joint)
{
dec = string.Format(CultureInfo.InvariantCulture,
" movej({0}, a={1}, v={2}, r={3})",
GetPoseTargetValue(cursor),
Math.Round(Geometry.TO_RADS * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_RADS),
Math.Round(Geometry.TO_RADS * cursor.speed, Geometry.STRING_ROUND_DECIMALS_RADS),
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
}
else
{
dec = string.Format(CultureInfo.InvariantCulture,
" movep({0}, a={1}, v={2}, r={3})",
GetPoseTargetValue(cursor),
Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M),
Math.Round(0.001 * cursor.speed, Geometry.STRING_ROUND_DECIMALS_M),
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
}
break;
//// Accelerations and velocoties have different meaning for moveJ and moveL instructions.
//// Joint motion is essentially the same as Axes motion, just the input is a pose instead of a joints vector.
//if (cursor.motionType == MotionType.Joint)
//{
// dec = string.Format(" movej({0}, a={1}, v={2}, r={3})",
// GetPoseTargetValue(cursor),
// cursor.jointAcceleration > Geometry.EPSILON ? Math.Round(Geometry.TO_RADS * cursor.jointAcceleration, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_ACCELERATION,
// cursor.jointSpeed > Geometry.EPSILON ? Math.Round(Geometry.TO_RADS * cursor.jointSpeed, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_SPEED,
// Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
//}
//else
//{
// dec = string.Format(" movel({0}, a={1}, v={2}, r={3})",
// GetPoseTargetValue(cursor),
// cursor.acceleration > Geometry.EPSILON ? Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M) : DEFAULT_TOOL_ACCELERATION,
// cursor.speed > Geometry.EPSILON ? Math.Round(0.001 * cursor.speed, Geometry.STRING_ROUND_DECIMALS_M) : DEFAULT_TOOL_SPEED,
// Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
//}
//break;
case ActionType.Axes:
dec = string.Format(CultureInfo.InvariantCulture,
" movej({0}, a={1}, v={2}, r={3})",
GetJointTargetValue(cursor),
Math.Round(Geometry.TO_RADS * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_RADS),
Math.Round(Geometry.TO_RADS * cursor.speed, Geometry.STRING_ROUND_DECIMALS_RADS),
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
//dec = string.Format(" movej({0}, a={1}, v={2}, r={3})",
// GetJointTargetValue(cursor),
// cursor.jointAcceleration > Geometry.EPSILON ? Math.Round(Geometry.TO_RADS * cursor.jointAcceleration, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_ACCELERATION,
// cursor.jointSpeed > Geometry.EPSILON ? Math.Round(Geometry.TO_RADS * cursor.jointSpeed, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_SPEED,
// Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" popup(\"{0}\", title=\"Machina Message\", warning=False, error=False)",
am.message);
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(CultureInfo.InvariantCulture,
" sleep({0})",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
CC,
ac.comment);
break;
case ActionType.DefineTool:
ActionDefineTool adt = action as ActionDefineTool;
dec = string.Format(" {0} Tool \"{1}\" defined", // this action has no actual instruction, just add a comment
CC,
adt.tool.name);
break;
case ActionType.AttachTool:
ActionAttachTool aa = (ActionAttachTool)action;
dec = string.Format(" set_tcp({0})", // @TODO: should need to add a "set_payload(m, CoG)" dec afterwards...
GetToolValue(cursor));
break;
case ActionType.DetachTool:
ActionDetachTool ad = (ActionDetachTool)action;
dec = string.Format(" set_tcp(p[0,0,0,0,0,0])"); // @TODO: should need to add a "set_payload(m, CoG)" dec afterwards...
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (!aiod.isDigit)
{
dec = $" {CC} ERROR on \"{aiod}\": only integer pin names are possible";
}
else if (aiod.pinNum < 0 || aiod.pinNum > 7)
{
dec = $" {CC} ERROR on \"{aiod}\": IO number not available";
}
else
{
dec = $" set_{(aiod.isToolPin ? "tool" : "standard")}_digital_out({aiod.pinNum}, {(aiod.on ? "True" : "False")})";
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (!aioa.isDigit)
{
dec = $" {CC} ERROR on \"{aioa}\": only integer pin names are possible";
}
else if (aioa.pinNum < 0 || aioa.pinNum > 1)
{
dec = $" {CC} ERROR on \"{aioa}\": IO number not available";
}
else if (aioa.value < 0 || aioa.value > 1)
{
dec = $" {CC} ERROR on \"{aioa}\": value out of range [0.0, 1.0]";
}
else
{
//dec = $" set_{(aioa.isToolPin ? "tool" : "standard")}_analog_out({aioa.pinNum}, {Math.Round(aioa.value, Geometry.STRING_ROUND_DECIMALS_VOLTAGE)})";
dec = string.Format(CultureInfo.InvariantCulture,
" set_{0}_analog_out({1}, {2})",
aioa.isToolPin ? "tool" : "standard",
aioa.pinNum,
Math.Round(aioa.value, Geometry.STRING_ROUND_DECIMALS_VOLTAGE));
}
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = $" {acc.statement}";
}
break;
//default:
// dec = string.Format(" # ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (humanComments && action.Type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
CC,
action.ToString());
}
//else if (ADD_ACTION_ID)
//{
// dec = string.Format("{0} {1} [{2}]",
// dec,
// CC,
// action.id);
//}
declaration = dec;
return(dec != null);
}
internal static bool GenerateInstructionDeclaration(
Action action, RobotCursor cursor, bool humanComments,
out string declaration)
{
string dec = null;
switch (action.type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
// Accelerations and velocoties have different meaning for moveJ and moveL instructions.
// Joint motion is essentially the same as Axes motion, just the input is a pose instead of a joints vector.
if (cursor.motionType == MotionType.Joint)
{
dec = string.Format(" movej({0}, a={1}, v={2}, r={3})",
GetPoseTargetValue(cursor),
cursor.jointAcceleration > Geometry.EPSILON2 ? Math.Round(Geometry.TO_RADS * cursor.jointAcceleration, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_ACCELERATION,
cursor.jointSpeed > Geometry.EPSILON2 ? Math.Round(Geometry.TO_RADS * cursor.jointSpeed, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_SPEED,
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
}
else
{
dec = string.Format(" movel({0}, a={1}, v={2}, r={3})",
GetPoseTargetValue(cursor),
cursor.acceleration > Geometry.EPSILON2 ? Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M) : DEFAULT_TOOL_ACCELERATION,
cursor.speed > Geometry.EPSILON2 ? Math.Round(0.001 * cursor.speed, Geometry.STRING_ROUND_DECIMALS_M) : DEFAULT_TOOL_SPEED,
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
}
break;
case ActionType.RotationSpeed:
dec = string.Format(" {0} WARNING: RotationSpeed() has no effect in UR robots, try JointSpeed() or JointAcceleration() instead", COMMENT_CHAR);
break;
case ActionType.Axes:
// HAL generates a "set_tcp(p[0,0,0,0,0,0])" call here which I find confusing...
dec = string.Format(" movej({0}, a={1}, v={2}, r={3})",
GetJointTargetValue(cursor),
cursor.jointAcceleration > Geometry.EPSILON2 ? Math.Round(Geometry.TO_RADS * cursor.jointAcceleration, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_ACCELERATION,
cursor.jointSpeed > Geometry.EPSILON2 ? Math.Round(Geometry.TO_RADS * cursor.jointSpeed, Geometry.STRING_ROUND_DECIMALS_RADS) : DEFAULT_JOINT_SPEED,
Math.Round(0.001 * cursor.precision, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" popup(\"{0}\", title=\"Machina Message\", warning=False, error=False)",
am.message);
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(" sleep({0})",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
COMMENT_CHAR,
ac.comment);
break;
case ActionType.Attach:
ActionAttach aa = (ActionAttach)action;
dec = string.Format(" set_tcp({0})", // @TODO: should need to add a "set_payload(m, CoG)" dec afterwards...
GetToolValue(cursor));
break;
case ActionType.Detach:
ActionDetach ad = (ActionDetach)action;
dec = string.Format(" set_tcp(p[0,0,0,0,0,0])"); // @TODO: should need to add a "set_payload(m, CoG)" dec afterwards...
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (!aiod.isDigit)
{
dec = $" {COMMENT_CHAR} ERROR on \"{aiod}\": only integer pin names are possible";
}
else if (aiod.pinNum < 0 || aiod.pinNum > 7)
{
dec = $" {COMMENT_CHAR} ERROR on \"{aiod}\": IO number not available";
}
else
{
dec = $" set_{(aiod.isToolPin ? "tool" : "standard")}_digital_out({aiod.pinNum}, {(aiod.on ? "True" : "False")})";
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (!aioa.isDigit)
{
dec = $" {COMMENT_CHAR} ERROR on \"{aioa}\": only integer pin names are possible";
}
else if (aioa.pinNum < 0 || aioa.pinNum > 1)
{
dec = $" {COMMENT_CHAR} ERROR on \"{aioa}\": IO number not available";
}
else if (aioa.value < 0 || aioa.value > 1)
{
dec = $" {COMMENT_CHAR} ERROR on \"{aioa}\": value out of range [0.0, 1.0]";
}
else
{
dec = $" set_{(aioa.isToolPin ? "tool" : "standard")}_analog_out({aioa.pinNum}, {Math.Round(aioa.value, Geometry.STRING_ROUND_DECIMALS_VOLTAGE)})";
}
break;
//default:
// dec = string.Format(" # ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (humanComments && action.type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
COMMENT_CHAR,
action.ToString());
}
//else if (ADD_ACTION_ID)
//{
// dec = string.Format("{0} {1} [{2}]",
// dec,
// COMMENT_CHAR,
// action.id);
//}
declaration = dec;
return(dec != null);
}
internal bool GenerateInstructionDeclarationFromVariable(
Action action,
RobotCursor cursor,
int id,
Dictionary <double, string> velNames,
Dictionary <double, string> zoneNames,
Dictionary <Tool, string> toolNames,
out string declaration)
{
string dec = null;
switch (action.type)
{
case ActionType.Acceleration:
bool zero = cursor.acceleration < Geometry.EPSILON2;
dec = string.Format(" WorldAccLim {0};",
zero ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.JointSpeed:
case ActionType.JointAcceleration:
dec = string.Format(" {0} WARNING: {1}() has no effect in ABB robots.",
commChar,
action.type);
break;
// @TODO: push/pop management should be done PROGRAMMATICALLY, not this CHAPUZA...
case ActionType.PushPop:
// Find if there was a change in acceleration, and set the corresponsing instruction...
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
break; // only necessary for pops
}
if (Math.Abs(cursor.acceleration - cursor.settingsBuffer.SettingsBeforeLastPop.Acceleration) < Geometry.EPSILON2)
{
break; // no change
}
// If here, there was a change, so...
bool zeroAcc = cursor.acceleration < Geometry.EPSILON2;
dec = string.Format(" WorldAccLim {0};",
zeroAcc ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
dec = string.Format(" {0} target{1}, {2}, {3}, {4}\\{5};",
cursor.motionType == MotionType.Joint ? "MoveJ" : "MoveL",
id,
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Axes:
dec = string.Format(" MoveAbsJ target{0}, {1}, {2}, {3}\\{4};",
id,
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" TPWrite \"{0}\";",
am.message.Length <= 80 ?
am.message :
am.message.Substring(0, 80)); // ABB TPWrite messages can only be 80 chars long
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(" WaitTime {0};",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
commChar,
ac.comment);
break;
case ActionType.Attach:
ActionAttach aa = (ActionAttach)action;
dec = string.Format(" {0} Tool \"{1}\" attached", // this action has no actual RAPID instruction, just add a comment
commChar,
aa.tool.name);
break;
case ActionType.Detach:
ActionDetach ad = (ActionDetach)action;
dec = string.Format(" {0} Tool detached", // this action has no actual RAPID instruction, just add a comment
commChar);
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (aiod.pin < 0 || aiod.pin >= cursor.digitalOutputs.Length)
{
dec = string.Format(" {0} ERROR on \"{1}\": IO number not available",
commChar,
aiod.ToString());
}
else
{
dec = string.Format(" SetDO {0}, {1};",
cursor.digitalOutputNames[aiod.pin],
aiod.on ? "1" : "0");
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (aioa.pin < 0 || aioa.pin >= cursor.analogOutputs.Length)
{
dec = string.Format(" {0} ERROR on \"{1}\": IO number not available",
commChar,
aioa.ToString());
}
else
{
dec = string.Format(" SetAO {0}, {1};",
cursor.analogOutputNames[aioa.pin],
aioa.value);
}
break;
//default:
// dec = string.Format(" ! ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (ADD_ACTION_STRING && action.type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.ToString());
}
else if (ADD_ACTION_ID)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.id);
}
declaration = dec;
return(dec != null);
}