Ejemplo n.º 1
0
        /// <summary>
        /// Creates declarations in the RAPID program module inside the RAPID Generator.
        /// This method is called inside the RAPID generator.
        /// </summary>
        /// <param name="RAPIDGenerator"> The RAPID Generator. </param>
        public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
        {
            // Generate the code for the zone and speeddata
            _speedData.ToRAPIDDeclaration(RAPIDGenerator);
            _zoneData.ToRAPIDDeclaration(RAPIDGenerator);

            // Generate code from robot targets
            if (_target is RobotTarget robotTarget)
            {
                // Update the movement of the inverse kinematics
                RAPIDGenerator.Robot.InverseKinematics.Movement = this;

                // Generates the robot target variable for a MoveL or MoveJ instruction
                if (_movementType == MovementType.MoveL || _movementType == MovementType.MoveJ)
                {
                    RAPIDGenerator.Robot.InverseKinematics.CalculateExternalJointPosition();
                    robotTarget.ToRAPIDDeclaration(RAPIDGenerator);
                }

                // Generates the joint target variable from a robot target for a MoveAbsJ instruction
                else
                {
                    if (!RAPIDGenerator.Targets.ContainsKey(robotTarget.Name + "_jt"))
                    {
                        // Calculate the axis values from the robot target
                        RAPIDGenerator.Robot.InverseKinematics.Calculate();
                        RAPIDGenerator.ErrorText.AddRange(new List <string>(RAPIDGenerator.Robot.InverseKinematics.ErrorText));

                        // Create a joint target from the axis values
                        RobotJointPosition    robJointPosition = RAPIDGenerator.Robot.InverseKinematics.RobotJointPosition.Duplicate();
                        ExternalJointPosition extJointPosition = RAPIDGenerator.Robot.InverseKinematics.ExternalJointPosition.Duplicate();
                        JointTarget           jointTarget      = new JointTarget(robotTarget.Name + "_jt", robJointPosition, extJointPosition);
                        jointTarget.ReferenceType = _target.ReferenceType;

                        // Create the RAPID code
                        jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
                    }
                }
            }

            // Generate code from joint targets
            else if (_target is JointTarget jointTarget)
            {
                // JointTarget with MoveAbsJ
                if (_movementType == MovementType.MoveAbsJ)
                {
                    jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
                    RAPIDGenerator.ErrorText.AddRange(jointTarget.CheckAxisLimits(RAPIDGenerator.Robot));
                }

                // Joint Target combined with MoveL or MoveJ
                else
                {
                    throw new InvalidOperationException("Invalid Move instruction: A Joint Target cannot be combined with a MoveL or MoveJ instruction.");
                }
            }
        }
        /// <summary>
        /// Used to create variable definitions in the RAPID Code. It is typically called inside the CreateRAPIDCode() method of the RAPIDGenerator class.
        /// </summary>
        /// <param name="RAPIDGenerator"> Defines the RAPIDGenerator. </param>
        public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
        {
            // Creates SpeedData Variable Code
            _speedData.ToRAPIDDeclaration(RAPIDGenerator);

            // Creates ZoneData Variable Code
            _zoneData.ToRAPIDDeclaration(RAPIDGenerator);

            // Only adds target code if target is not already defined
            if (!RAPIDGenerator.Targets.ContainsKey(_name))
            {
                RAPIDGenerator.Targets.Add(_name, this.ConvertToJointTarget());
                RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t" + this.ToRAPIDDeclaration(RAPIDGenerator.Robot));
                RAPIDGenerator.ErrorText.AddRange(this.CheckForAxisLimits(RAPIDGenerator.Robot));
            }
        }