public static Dictionary <string, List <string[]> > readProgramData(bool run, string[] controllerData)
{
List <string[]> progData = new List <string[]> {
};
///List<string[]> currData = new List<string[]> { };
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefault();
sProp.Types = SymbolTypes.Data;
RapidSymbol[] progDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
foreach (RapidSymbol rs in progDatas)
{
RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
if ((rd.Value is ToolData) | (rd.Value is WobjData))
{
string[] eachProg = new string[3]
{
rd.RapidType,
rd.Name,
rd.Value.ToString()
};
progData.Add(eachProg);
}
}
/*
* RapidSymbol[] currDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
* foreach (RapidSymbol rs in currDatas)
* {
* RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
* if ((rd.Value is ToolData) | (rd.Value is WobjData))
* {
* string[] eachCurr = new string[3]
* {
* rd.RapidType,
* rd.Name,
* rd.Value.ToString()
* };
* currData.Add(eachCurr);
* }
* }
*/
}
}
return(new Dictionary <string, List <string[]> >
{
{ "programData", progData } /*,{"currentData", currData}*/
});
}
public static Dictionary <string, List <string> > readTargetData(bool run, string[] controllerData)
{
List <string> rTargets = new List <string>();
List <string> jTargets = new List <string>();
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefault();
sProp.Types = SymbolTypes.Data;
RapidSymbol[] datas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
foreach (RapidSymbol rs in datas)
{
RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
if (rd.Value is RobTarget)
{
rTargets.Add(rd.Value.ToString());
}
if (rd.Value is JointTarget)
{
jTargets.Add(rd.Value.ToString());
}
}
}
}
return(new Dictionary <string, List <string> >
{
{ "robTargets", rTargets },
{ "jointTargets", jTargets }
});
}
