async Task RunAutoConfig()
{
// Add a very short async delay to give give UI a chance to update
//(:TODO: Rewrite autoconfig as async)
await Task.Delay(1);
var path = Station.ActiveStation.ActiveTask.ActivePathProcedure;
var autoConfig = new CKT_AutoConfiguration(path, false);
var startJointTarget = GetStartJointTarget();
if (startJointTarget != null)
{
autoConfig.ExternalStartJointTarget = startJointTarget;
}
if (autoConfig.ExternalStartJointTarget == null && !autoConfig.FirstTargetConfigured)
{
return;
}
bool success = await autoConfig.ExecuteAsync();
if (success)
{
//set current (=last target in path) jointvalues to the controller
RsTask task = (RsTask)path.Parent;
RsIrc5Controller ctrl = (RsIrc5Controller)task.Parent;
foreach (RsMechanicalUnit mu in ctrl.FindMechanicalUnitsByMechanism(task.Mechanism))
{
await RobotStudio.API.Internal.ControllerHelper.CommitJointValues(mu.Mechanism);
}
}
}
public static string CheckControllerStatus()
{
Station station = Station.ActiveStation as Station;
RsTask task = station.ActiveTask;
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
return("Controller: " + rsIrc5Controller.SystemState.ToString());
}
public static string LoadModuleFromFile(string moduleFilePath)
{
//Get Station object
Station station = Project.ActiveProject as Station;
//Check for existance of Module
if (System.IO.File.Exists(moduleFilePath))
{
try
{
RsTask task = station.ActiveTask;
if (task != null)
{
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
if (controller != null)
{
//Request Mastership
using (ABB.Robotics.Controllers.Mastership m =
ABB.Robotics.Controllers.Mastership.Request(controller.Rapid))
{
if (controller.Rapid.ExecutionStatus ==
ABB.Robotics.Controllers.RapidDomain.ExecutionStatus.Stopped)
{
//Load Module if Rapid Execution State is stopped
ABB.Robotics.Controllers.RapidDomain.Task vTask = controller.Rapid.GetTask(task.Name);
bool loadResult = vTask.LoadModuleFromFile(moduleFilePath,
ABB.Robotics.Controllers.RapidDomain.RapidLoadMode.Replace);
Thread.Sleep(1000);
}
}
}
}
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
}
return("Loading module: " + moduleFilePath);
}
/// <summary>
/// Get instance of virtual controller of active system in RobotStudio
/// </summary>
/// <returns>Virtual controller</returns>
private static Controller GetVirtualController()
{
//variable used to capture the active controller
Controller controller = default(Controller);
Station station = Station.ActiveProject as Station;
//get active task controller
RsIrc5Controller rsActiveController = station.ActiveTask.Parent as RsIrc5Controller;
if (rsActiveController != null)
{
//Create an object of networkscanner to scan the network for controllers
//controllers can either be a virtual or real
NetworkScanner scanner = null;
if (scanner == null)
{
scanner = new NetworkScanner();
}
scanner.Scan();
//Get virtual controllers from scanner object
ControllerInfo[] arrControllerInfo = scanner.GetControllers(NetworkScannerSearchCriterias.Virtual);
if (arrControllerInfo.Length > 0)
{
for (int i = 0; i < arrControllerInfo.Length; i++)
{
string virtSystemId = string.Concat("{", arrControllerInfo[i].SystemId.ToString().ToUpper(), "}");
//Compares the SystemId of virtual controller and RobotStudio Controller
if (arrControllerInfo[i].BaseDirectory != null && (virtSystemId.ToUpper().Equals(
rsActiveController.SystemId, StringComparison.InvariantCultureIgnoreCase)))
{
controller = ControllerFactory.CreateFrom(arrControllerInfo[i]);
return(controller);
}
}
}
}
return(controller);
}
public static string SaveRapid(string filePath)
{
string result = "Rapid saved: false";
try
{
Station station = Project.ActiveProject as Station;
RsTask rsTask = station.ActiveTask;
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)rsTask.Parent;
ABB.Robotics.Controllers.Controller controller = new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
Task controllerTask = controller.Rapid.GetTask(rsTask.Name);
string name = controllerTask.Name;
if (!Directory.Exists(filePath))
{
Directory.CreateDirectory(filePath);
}
filePath = filePath + @"\";
int i = 1;
while (Directory.Exists(filePath + "simulation-" + i))
{
i++;
}
Directory.CreateDirectory(filePath + "simulation-" + i);
controllerTask.SaveProgramToFile(filePath + "simulation-" + i);
result = filePath + "simulation-" + i;
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
return(result);
}
public static string LoadStation(string stationFilepath)
{
Station station = Station.Load(stationFilepath, false);
if (station != null)
{
Project.ActiveProject = station;
GraphicControl gc = new GraphicControl();
gc.RootObject = station;
DocumentWindow docwindow = new DocumentWindow();
docwindow.Control = gc;
docwindow.Caption = System.IO.Path.GetFileName("View");
UIEnvironment.Windows.Add(docwindow);
string test = ABB.Robotics.RobotStudio.Controllers.ControllerType.StationVC.ToString();
Logger.AddMessage(new LogMessage(test, "MyKey"));
}
RsTask task = station.ActiveTask;
RsIrc5Controller rscontroller = (RsIrc5Controller)task.Parent;
return("Loading station: " + stationFilepath);
}
//创建虚拟信号
public static void VirtualSignals()
{
#region VirtualSignals Example
Project.UndoContext.BeginUndoStep("VirtualSignals");
try
{
Station station = Project.ActiveProject as Station;
#region ISStep1
if (Simulator.DataRecorder.Sinks.Contains("SignalSink"))
{
Simulator.DataRecorder.Sinks.Remove(Simulator.DataRecorder.Sinks["SignalSink"]);
}
#endregion
#region ISStep2
Simulator.DataRecorder.Sinks.Add(new DataRecorderSink("SignalSink"));
#endregion
DataRecorderSink signalSink = (DataRecorderSink)Simulator.DataRecorder.Sinks["SignalSink"];
BuiltInControllerSourceSignals signals = station.BuiltInDataRecorderSignals.ControllerSignals;
signalSink.Enabled = true;
signalSink.DataRecorder.Start();
RsTask task = station.ActiveTask;
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
Logger.AddMessage("isVitural:" + controller.IsVirtual);
BuiltInDataRecorderMotionSignal energy = BuiltInDataRecorderMotionSignal.TotalMotorPowerConsumption;
BuiltInDataRecorderMotionSignal speed = BuiltInDataRecorderMotionSignal.TCPSpeedInCurrentWorkObject;
// DataRecorderSignal dr = signals.GetMotionSignal(new Guid(rsIrc5Controller.SystemId.ToString()), controller.MotionSystem.ActiveMechanicalUnit.Name, energy);
RsIrc5ControllerCollection controllerlist = station.Irc5Controllers;
foreach (RsIrc5Controller irc5Controller in controllerlist)
{
DataRecorderSignal energy_consumption = signals.GetMotionSignal(new Guid(rsIrc5Controller.SystemId.ToString()), controller.MotionSystem.ActiveMechanicalUnit.Name, energy);
DataRecorderSignal TcpSpeed = signals.GetMotionSignal(new Guid(rsIrc5Controller.SystemId.ToString()), controller.MotionSystem.ActiveMechanicalUnit.Name, speed);
if (TcpSpeed != null && !signalSink.Signals.Contains(TcpSpeed) && energy_consumption != null && !signalSink.Signals.Contains(energy_consumption))
{
signalSink.Signals.Add(energy_consumption);
signalSink.Signals.Add(TcpSpeed);
Logger.AddMessage("TCP_ID:" + TcpSpeed.Id);
Logger.AddMessage("TCP_DisplayPath:" + TcpSpeed.DisplayPath);
Logger.AddMessage("ENERGY_ID:" + energy_consumption.Id);
Logger.AddMessage("ENERGY_DisplayPath:" + energy_consumption.DisplayPath);
}
else
{
Logger.AddMessage("TcpSpeed为空");
}
}
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
}
public static bool LoadProgramFromFile(string filePath)
{
bool result = false;
Project.UndoContext.BeginUndoStep("LoadProgramFromFile");
//Get Station object
#region LoadProgramFromFileStep1
Station station = Project.ActiveProject as Station;
#endregion
//Check for existance of Program
if (System.IO.File.Exists(filePath))
{
try
{
RsTask task = station.ActiveTask;
if (task != null)
{
//Get RsIrc5Controller instance
#region LoadProgramFromFileStep2
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
//Get virtual controller instance from RsIrc5Controller
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
//get task
ABB.Robotics.Controllers.RapidDomain.Task vTask = controller.Rapid.GetTask(task.Name);
#endregion
//Request Mastership
#region LoadProgramFromFileStep3
using (ABB.Robotics.Controllers.Mastership m =
ABB.Robotics.Controllers.Mastership.Request(controller.Rapid))
#endregion
{
if (controller.Rapid.ExecutionStatus ==
ABB.Robotics.Controllers.RapidDomain.ExecutionStatus.Stopped)
{
//Load Program if Rapid Execution is stopped
#region LoadProgramFromFileStep4
vTask.LoadProgramFromFile(filePath,
ABB.Robotics.Controllers.RapidDomain.RapidLoadMode.Replace);
#endregion
System.Threading.Thread.Sleep(1000);
result = true;
}
}
}
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
finally
{
Project.UndoContext.EndUndoStep();
}
}
return(result);
}
