/// <summary>
/// Ajoute une action du gripper
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="action">Action de gripper</param>
/// <param name="robot">Controller du robot</param>
/// <returns>Indicateur de succès</returns>
public static bool AddGripperAction(string processName, GripperAction.Action action, RobotController robot)
{
var process = new RobotProcess(processName);
process.Commands.Add(new GripperAction()
{
Name = action == GripperAction.Action.Open ? "Open gripper" : "Close gripper",
Command = action
});
process.SaveProcess();
try
{
robot.StopRelativeMovement();
if (action == GripperAction.Action.Open)
{
robot.OpenGripper();
}
else
{
robot.CloseGripper();
}
robot.StartRelativeMovement();
return(true);
}
catch (Exception ex)
{
return(false);
}
}
// Fonction pour Stopper la connexion avec le Kuka
public void StopMotion()
{
if (debug)
{
robot.StopRelativeMovement();
}
}
/// <summary>
/// Construit une instance de RobotPosition à partir de la position actuelle du robot
/// </summary>
/// <param name="robot"></param>
public RobotPosition(RobotController robot)
{
try
{
robot.StopRelativeMovement();
Position = robot.GetCurrentPosition();
robot.StartRelativeMovement();
}
catch (Exception ex)
{
Position = new CartesianPosition();
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
List <CartesianPosition> Trajectoire = new List <CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
Device Mouse = new Device();
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
List<CartesianPosition> Trajectoire = new List<CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
Device Mouse = new Device();
}
private void LearningLoop()
{
// Envoi la commande au robot
MyRobot.StartRelativeMovement();
// Créer un objet thread de l'objet Mouse, fonction Loop
Thread MouseThread = new Thread(MyMouse.Loop);
// Demarre le thread.
MouseThread.Start();
Logs.AddLog("INFO", "Starting mouse thread...");
//Console.WriteLine("main thread: Starting mouse thread...");
// Attend que le thread soit lancé et activé
while (!MouseThread.IsAlive)
{
;
}
//Console.WriteLine("main thread: Mouse alive");
Logs.AddLog("INFO", "Thread mouse alive");
// Boucle tant qu'on utilise la souris
_learningLoopRunning = true;
while (_learningLoopRunning)
{
// Met le thread principale (ici) en attente d'une millisecond pour autoriser le thread secondaire à faire quelque chose
Thread.Sleep(1);
// Envoi les commandes de deplacement au robot
MyRobot.SetRelativeMovement(MyMouse.CartPosition);
}
// Demande l'arret du thread de la souris
MyMouse.RequestStop();
// Bloque le thread principale tant que le thread Mouse n'est pas terminé
MouseThread.Join();
// Arret le mouvement
MyRobot.StopRelativeMovement();
Logs.AddLog("INFO", "End learning loop");
}
/// <summary>
/// Permet de démarrer l'éxécution d'un processus sur un robot
/// </summary>
/// <param name="robot">Robot éxécutant le processus</param>
/// <param name="process">Processus à éxécuter</param>
/// <returns>Indicateur de succès d'éxécution</returns>
public static bool ExecuteProcess(RobotController robot, List <IRobotCommand> commands, Tray tray = null, LogManager log = null)
{
try
{
//Arrêt des mouvements relatifs du robot
robot.StopRelativeMovement();
// Parcours et éxécution des commandes
foreach (var command in commands)
{
if (command is Movement)
{
// Commande de mouvement
var mvt = command as Movement;
//Envoie de la liste de positions au robot
if (log != null)
{
log.AddLog("Info", string.Format("Movement start : {0} waypoints", mvt.Positions.Count()));
}
robot.PlayTrajectory(mvt.GetCartesianPositions());
if (log != null)
{
log.AddLog("Info", "Movement end");
}
}
else if (command is GripperAction)
{
// Commande d'action du gripper
var action = command as GripperAction;
if (action.Command == GripperAction.Action.Open)
{
//Ouverture pince
robot.OpenGripper();
if (log != null)
{
log.AddLog("Info", "Open gripper");
}
}
else if (action.Command == GripperAction.Action.Close)
{
//Fermeture pince
robot.CloseGripper();
if (log != null)
{
log.AddLog("Info", "Close gripper");
}
}
}
else if (command is TrayAction)
{
var action = command as TrayAction;
if (log != null)
{
log.AddLog("Info", action.Command == TrayAction.Action.Depose ? "Deposing item on Tray ..." : "Withdrawing item on Tray ...");
}
if (tray != null)
{
// Execution des commandes plateau
var commandsTray = tray.GetRobotCommand(action.Command == TrayAction.Action.Withdraw);
ExecuteProcess(robot, commandsTray, tray, log);
}
else
{
if (log != null)
{
log.AddLog("Error", "Tray not calibrated...");
}
}
}
else
{
//Commande inconnue
if (log != null)
{
log.AddLog("Error", "In ExecuteProcess(): Unknow command");
}
return(false);
}
}
}
catch (Exception e)
{
if (log != null)
{
log.AddLog("Error", "Exception throw in ExecuteProcess(): " + e.Data);
}
return(false);
}
return(true);
}
static void Main(string[] args)
{
Console.WriteLine("Start program...");
Mouse MyMouse = new Mouse();
RobotController MyRobot = new RobotController();
// Calibre la souris, valider la calibration avec la touche 4
MyMouse.Calibrate();
// Connexion au robot
MyRobot.Connect("192.168.1.1");
// Ouvre ou ferme la pince
//if (MyRobot.IsGripperOpen()) MyRobot.CloseGripper();
//else MyRobot.OpenGripper();
// Envoi la commande au robot
MyRobot.StartRelativeMovement();
// Créer un objet thread de l'objet Mouse, fonction Loop
Thread MouseThread = new Thread(MyMouse.Loop);
// Demarre le thread.
MouseThread.Start();
Console.WriteLine("main thread: Starting mouse thread...");
// Attend que le thread soit lancé et activé
while (!MouseThread.IsAlive)
{
;
}
Console.WriteLine("main thread: Mouse alive");
// Boucle tant qu'on utilise la souris
bool endMouse = true;
while (endMouse)
{
// Met le thread principale (ici) en attente d'une millisecond pour autoriser le thread secondaire à faire quelque chose
Thread.Sleep(1);
// Convertion des donnees de la souris pour le robot
CartesianPosition CartPositionMouse = new CartesianPosition();
CartPositionMouse.X = -MyMouse.MoveByVector.Z;
CartPositionMouse.Y = -MyMouse.MoveByVector.X;
CartPositionMouse.Z = MyMouse.MoveByVector.Y;
CartPositionMouse.A = -MyMouse.RotateByVector.Z;
CartPositionMouse.B = -MyMouse.RotateByVector.X;
CartPositionMouse.C = MyMouse.RotateByVector.Y;
Console.WriteLine("cmd robot: X : {0} | Y : {1} | Z : {2} | A : {3} | B : {4} | C : {5}", CartPositionMouse.X, CartPositionMouse.Y, CartPositionMouse.Z, CartPositionMouse.A, CartPositionMouse.B, CartPositionMouse.C);
// Envoi les commandes de deplacement au robot
MyRobot.SetRelativeMovement(CartPositionMouse);
}
// Demande l'arret du thread de la souris
MyMouse.RequestStop();
// Bloque le thread principale tant que le thread Mouse n'est pas terminé
MouseThread.Join();
// Arret le mouvement
MyRobot.StopRelativeMovement();
Console.WriteLine("main thread: mouse thread has terminated.");
Console.WriteLine("End program... Press a key to quit...");
Console.ReadKey();
}
