Ejemplo n.º 1
0
 public MotionUpdateArgs(Vector pos, Rotation ori, Joints axes, ExternalAxes extax)
 {
     this.Position     = pos;
     this.Rotation     = ori;
     this.Axes         = axes;
     this.ExternalAxes = extax;
 }
Ejemplo n.º 2
0
 //  ╔═╗╔═╗╦═╗╔═╗╔═╗╔╦╗  ╦ ╦╔═╗╔╦╗╔═╗╔╦╗╔═╗╔═╗
 //  ╠╣ ║ ║╠╦╝║  ║╣  ║║  ║ ║╠═╝ ║║╠═╣ ║ ║╣ ╚═╗
 //  ╚  ╚═╝╩╚═╚═╝╚═╝═╩╝  ╚═╝╩  ═╩╝╩ ╩ ╩ ╚═╝╚═╝
 /// <summary>
 /// Force-update a full pose without going through Action application.
 /// Temporarily here for MotionUpdate cursors, until I figure out a better way of dealing with it...
 /// </summary>
 /// <param name="pos"></param>
 /// <param name="rot"></param>
 /// <param name="ax"></param>
 /// <param name="extax"></param>
 internal void UpdateFullPose(Vector pos, Rotation rot, Joints ax, ExternalAxes extax)
 {
     this.position = pos;
     this.rotation = rot;
     this.axes     = ax;
     this.externalAxesCartesian = extax;
 }
Ejemplo n.º 3
0
        //  ╔═╗═╗ ╦╔╦╗╔═╗╦═╗╔╗╔╔═╗╦      ╔═╗═╗ ╦╦╔═╗
        //  ║╣ ╔╩╦╝ ║ ║╣ ╠╦╝║║║╠═╣║      ╠═╣╔╩╦╝║╚═╗
        //  ╚═╝╩ ╚═ ╩ ╚═╝╩╚═╝╚╝╩ ╩╩═╝────╩ ╩╩ ╚═╩╚═╝
        public bool ApplyAction(ActionExternalAxis action)
        {
            // Cartesian targets
            if (action.target == ExternalAxesTarget.All || action.target == ExternalAxesTarget.Cartesian)
            {
                if (this.externalAxesCartesian == null)
                {
                    this.externalAxesCartesian = new ExternalAxes();
                }


                if (action.relative)
                {
                    if (this.externalAxesCartesian[action.axisNumber - 1] == null)
                    {
                        //logger.Info($"Cannot apply \"{action}\", must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones...");
                        logger.Error("Cannot increase cartesian external axis, value has not been initialized. Try `ExternalAxisTo()` instead.");
                        return(false);
                    }

                    this.externalAxesCartesian[action.axisNumber - 1] += action.value;
                }
                else
                {
                    this.externalAxesCartesian[action.axisNumber - 1] = action.value;
                }
            }

            // Joint targets
            if (action.target == ExternalAxesTarget.All || action.target == ExternalAxesTarget.Joint)
            {
                if (this.externalAxesJoints == null)
                {
                    this.externalAxesJoints = new ExternalAxes();
                }

                if (action.relative)
                {
                    if (this.externalAxesJoints[action.axisNumber - 1] == null)
                    {
                        //logger.Info($"Cannot apply \"{action}\", must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones...");
                        logger.Error("Cannot increase joint external axis, value has not been initialized. Try `ExternalAxisTo()` instead.");
                        return(false);
                    }

                    this.externalAxesJoints[action.axisNumber - 1] += action.value;
                }
                else
                {
                    this.externalAxesJoints[action.axisNumber - 1] = action.value;
                }
            }

            if (_logRelativeActions && action.relative)
            {
                logger.Verbose("External Axis " + action.axisNumber + " set to " + this.externalAxesJoints[action.axisNumber - 1]);
            }

            return(true);
        }
Ejemplo n.º 4
0
 /// <summary>
 /// Create a new instance as a copy.
 /// </summary>
 /// <param name="extAx"></param>
 public ExternalAxes(ExternalAxes extAx)
 {
     for (int i = 0; i < extAx.Length; i++)
     {
         this._externalAxes[i] = extAx[i];
     }
 }
Ejemplo n.º 5
0
 public ActionIssuedArgs(Action last, Vector pos, Rotation ori, Joints axes, ExternalAxes extax)
 {
     this.LastAction   = last;
     this.Position     = pos;
     this.Rotation     = ori;
     this.Axes         = axes;
     this.ExternalAxes = ExternalAxes;
 }
Ejemplo n.º 6
0
 public ActionReleasedArgs(Action last, int pendingReleaseToDevice, Vector pos, Rotation ori, Joints axes, ExternalAxes extax)
 {
     this.LastAction             = last;
     this.PendingReleaseToDevice = pendingReleaseToDevice;
     this.Position     = pos;
     this.Rotation     = ori;
     this.Axes         = axes;
     this.ExternalAxes = ExternalAxes;
 }
Ejemplo n.º 7
0
        /// <summary>
        /// Minimum information necessary to initialize a robot object.
        /// </summary>
        /// <param name="position"></param>
        /// <param name="rotation"></param>
        /// <param name="joints"></param>
        /// <returns></returns>
        public bool Initialize(Vector position, Rotation rotation, Joints joints, ExternalAxes extAx,
                               double speed, double acceleration, double precision, MotionType mType, ReferenceCS refCS)
        {
            if (position != null)
            {
                this.position     = new Vector(position);
                this.prevPosition = new Vector(position);
            }
            if (rotation != null)
            {
                this.rotation     = new Rotation(rotation);
                this.prevRotation = new Rotation(rotation);
            }
            if (joints != null)
            {
                this.axes     = new Joints(joints);
                this.prevAxes = new Joints(joints);
            }
            if (extAx != null)
            {
                // @TODO split this definition
                this.externalAxesCartesian = new ExternalAxes(extAx);
                this.externalAxesJoints    = new ExternalAxes(extAx);
            }

            this.acceleration = acceleration;
            this.speed        = speed;
            this.precision    = precision;
            this.motionType   = mType;
            this.referenceCS  = refCS;

            this.availableTools = new Dictionary <string, Tool>();

            // Add a "noTool" default object and make it the default.
            //this.availableTools["noTool"] = Tool.Create("noTool", 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.001, 0, 0, 0);
            //this.tool = this.availableTools["noTool"];

            this.tool = null;  // reverted back to default `null` tool...

            this.digitalOutputs = new Dictionary <string, bool>();
            this.analogOutputs  = new Dictionary <string, double>();


            // Initialize temps to zero
            this.partTemperature = new Dictionary <RobotPartType, double>();
            foreach (RobotPartType part in Enum.GetValues(typeof(RobotPartType)))
            {
                partTemperature[part] = 0;
            }
            isExtruding    = false;
            extrusionRate  = 0;
            extrudedLength = 0;

            this.initialized = true;
            return(this.initialized);
        }
Ejemplo n.º 8
0
 public ActionExecutedArgs(Action last, int pendingExecutionOnDevice, int pendingExecutionTotal, Vector pos, Rotation ori, Joints axes, ExternalAxes extax)
 {
     this.LastAction = last;
     this.PendingExecutionOnDevice = pendingExecutionOnDevice;
     this.PendingExecutionTotal    = pendingExecutionTotal;
     this.Position     = pos;
     this.Rotation     = ori;
     this.Axes         = axes;
     this.ExternalAxes = ExternalAxes;
 }
Ejemplo n.º 9
0
        internal void UpdateRobotStatus()
        {
            if (bot == null)
            {
                ResetRobotStatus();
                return;
            }

            uiContext.Post(x =>
            {
                Machina.Vector pos = bot.GetCurrentPosition();
                string posStr      = pos?.ToString(true) ?? "-";
                lbl_Status_TCP_Position_Value.Content = posStr;

                Machina.Orientation ori = bot.GetCurrentRotation();
                string oriStr           = ori?.ToString(true) ?? "-";
                lbl_Status_TCP_Orientation_Value.Content = oriStr;

                Machina.Joints axes           = bot.GetCurrentAxes();
                string axesStr                = axes?.ToString(true) ?? "-";
                lbl_Status_Axes_Value.Content = axesStr;

                Machina.ExternalAxes extax = bot.GetCurrentExternalAxes();
                bool nullext = true;
                if (extax != null)
                {
                    for (int i = 0; i < 6; i++)
                    {
                        if (extax[i] != null)
                        {
                            nullext = false;
                            break;
                        }
                    }
                }
                lbl_Status_Ext_Axes_Value.Content = nullext ? "-" : extax.ToString(true);

                double speed    = bot.GetCurrentSpeed();
                double acc      = bot.GetCurrentAcceleration();
                string speedacc = Math.Round(speed, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm/s / " + Math.Round(acc, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm/s^2";
                lbl_Status_SpeedAcceleration_Value.Content = speedacc;

                double precision = bot.GetCurrentPrecision();
                lbl_Status_Precision_Value.Content =
                    Math.Round(precision, Machina.Geometry.STRING_ROUND_DECIMALS_MM) + " mm";

                Machina.MotionType mtype            = bot.GetCurrentMotionMode();
                lbl_Status_MotionMode_Value.Content = mtype.ToString();

                lbl_Status_Tool_Value.Content = bot.GetCurrentTool()?.name ?? "(no tool)";
            }, null);
        }
Ejemplo n.º 10
0
        internal bool InitializeRobotCursors()
        {
            if (_driver == null)
            {
                throw new Exception("Cannot initialize Robotcursors without a _comm object");
            }

            // If successful, initialize robot cursors to mirror the state of the device
            Vector       currPos   = _driver.GetCurrentPosition();
            Rotation     currRot   = _driver.GetCurrentOrientation();
            Joints       currJnts  = _driver.GetCurrentJoints();
            ExternalAxes currExtAx = _driver.GetCurrentExternalAxes();

            return(InitializeRobotCursors(currPos, currRot, currJnts, currExtAx));
        }
Ejemplo n.º 11
0
        /// <summary>
        /// Gets the RAPID extax representation from an ExternalAxes object.
        /// </summary>
        /// <param name="extax"></param>
        /// <returns></returns>
        static internal string GetExternalAxesValue(ExternalAxes extax)
        {
            if (extax == null)
            {
                return("[9E9,9E9,9E9,9E9,9E9,9E9]");
            }

            string extj = "[";
            double?val;

            for (int i = 0; i < extax.Length; i++)
            {
                val   = extax[i];
                extj += (val == null) ? "9E9" : Math.Round((double)val, Geometry.STRING_ROUND_DECIMALS_MM).ToString(CultureInfo.InvariantCulture);
                if (i < extax.Length - 1)
                {
                    extj += ",";
                }
            }
            extj += "]";
            return(extj);
        }
Ejemplo n.º 12
0
        //  ╔═╗═╗ ╦╔╦╗╔═╗╦═╗╔╗╔╔═╗╦      ╔═╗═╗ ╦╦╔═╗
        //  ║╣ ╔╩╦╝ ║ ║╣ ╠╦╝║║║╠═╣║      ╠═╣╔╩╦╝║╚═╗
        //  ╚═╝╩ ╚═ ╩ ╚═╝╩╚═╝╚╝╩ ╩╩═╝────╩ ╩╩ ╚═╩╚═╝
        public bool ApplyAction(ActionExternalAxis action)
        {
            if (this.externalAxes == null)
            {
                this.externalAxes = new ExternalAxes();
            }

            if (action.relative)
            {
                if (this.externalAxes[action.axisNumber - 1] == null)
                {
                    Console.WriteLine($"Sorry, must initialize absolute axis value first for axis {action.axisNumber} before applying relative ones... Action: " + action.ToInstruction());
                    return(false);
                }

                this.externalAxes[action.axisNumber - 1] += action.value;
            }
            else
            {
                this.externalAxes[action.axisNumber - 1] = action.value;
            }

            return(true);
        }
Ejemplo n.º 13
0
        ///// <summary>
        ///// If there was a running Communication protocol, drop it and restart it again.
        ///// </summary>
        ///// <returns></returns>
        //private bool ResetCommunication()
        //{
        //    if (_driver == null)
        //    {
        //        Console.WriteLine("Communication protocol not established, please initialize first.");
        //    }
        //    DropCommunication();
        //    return InitializeCommunication();
        //}

        /// <summary>
        /// Initializes all instances of robotCursors with base information
        /// </summary>
        /// <param name="position"></param>
        /// <param name="rotation"></param>
        /// <param name="joints"></param>
        /// <returns></returns>
        internal bool InitializeRobotCursors(Point position   = null, Rotation rotation           = null, Joints joints = null, ExternalAxes extAx = null,
                                             double speed     = Control.DEFAULT_SPEED, double acc = Control.DEFAULT_ACCELERATION, double precision = Control.DEFAULT_PRECISION,
                                             MotionType mType = Control.DEFAULT_MOTION_TYPE, ReferenceCS refCS = Control.DEFAULT_REFCS)

        {
            bool success = true;

            success &= IssueCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);
            success &= ReleaseCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);
            success &= ExecutionCursor.Initialize(position, rotation, joints, extAx, speed, acc, precision, mType, refCS);

            _areCursorsInitialized = success;

            return(success);
        }