public TpsViewEbaraV2() { // // Required for Windows Form Designer support // try { //_tpsRm = new TpsResourceManager(); _tpsRm = new ABB.Robotics.Tps.Resources.TpsResourceManager("TpsViewEbaraV2NameSpace.strings", ABB.Robotics.Taf.Base.TafAssembly.Load("TpsViewEbaraV2Texts.dll")); InitializeComponent(); InitializeTexts(); // The Install method, which runs after the constructor, creates the robot controller instance and // starts the controller subscriptions needed in this view. } catch (System.Exception ex) { // If initialization of application fails a message box is shown GTPUMessageBox.Show(this.Parent , null , string.Format("An unexpected error occurred while starting up Sample Application. \n\n{0}", ex.Message) , "Sample Application Start-up Error" , MessageBoxIcon.Hand, MessageBoxButtons.OK); } // // ToDo: Add any constructor code after InitializeComponent call // }
private void menuItem_Apply_Click(object sender, EventArgs e) { try { ABB.Robotics.Controllers.RapidDomain.RapidData boolBlocksiFr1ArcStable = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "boolBlocksiFr1ArcStable"); ABB.Robotics.Controllers.RapidDomain.Bool bBlocksiFr1ArcStable = new ABB.Robotics.Controllers.RapidDomain.Bool(this.checkBox_boolBlocksiFr1ArcStable.Checked); boolBlocksiFr1ArcStable.Value = bBlocksiFr1ArcStable; boolBlocksiFr1ArcStable.Dispose(); ABB.Robotics.Controllers.RapidDomain.RapidData numBlocksiArcStableLength = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "numBlocksiArcStableLength"); ABB.Robotics.Controllers.RapidDomain.Num nBlocksiArcStableLength = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(this.numEditor_numBlocksiArcStableLength.Value)); numBlocksiArcStableLength.Value = nBlocksiArcStableLength; numBlocksiArcStableLength.Dispose(); this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numIsometricalSaddleCoefficient", this.numEditor_numIsometricalSaddleCoefficient); this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numShoulderGrooveCoefficient", this.numEditor_numShoulderGrooveCoefficient); this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numTorchCleanIntervalCount", this.numEditor_numTorchCleanIntervalCount); this.menuItem_Apply.Enabled = false; } catch (Exception ex) { GTPUMessageBox.Show(this.Parent.Parent, null , string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString()) , "System Error" , System.Windows.Forms.MessageBoxIcon.Hand , System.Windows.Forms.MessageBoxButtons.OK); } }
private void DisplayErrorMessage(string message) { // Show GTPUMessageBox on exception GTPUMessageBox.Show(this.Parent.Parent, null , string.Format("Unable to open {0} view. \n\nDo the preparations described in 'Prepare signals and RAPID data.doc' and try open the view again.\n\nError message: {1}", "", message) , string.Format("{0}Start-up Error", "") , System.Windows.Forms.MessageBoxIcon.Hand, System.Windows.Forms.MessageBoxButtons.OK); }
private void button_unLimitSTN1Axis1_Click(object sender, EventArgs e) { this.rwSystem.Controller.Configuration.Write("3.159", "MOC", "Arm", "M8DM2", "upper_joint_bound"); this.rwSystem.Controller.Configuration.Write("-3.159", "MOC", "Arm", "M8DM2", "lower_joint_bound"); GTPUMessageBox.Show(this.Parent , RestartController , "The changes will not take effect until the controller is restarted.\n\nDo you want to restart now?" , "Restart" , MessageBoxIcon.Asterisk, MessageBoxButtons.YesNo); //this.rwSystem.Controller.Restart(); }
private void UpdateGUI(object sender, EventArgs e) { try { this.pipeGrooveModel.RefreshData(this.rwSystem); this.comboBox_numPipeGrooveType.SelectedIndex = this.pipeGrooveModel.numPipeGrooveType - 1; this.numEditor_numSeamCenterX.Value = this.pipeGrooveModel.numSeamCenterX; this.numEditor_numSeamNormalAngle.Value = this.pipeGrooveModel.numSeamNormalAngle; RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent"); this.wobjCurrent.FillFromString(rapidData.Value.ToString()); this.numEditor_oframeX.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1); this.numEditor_oframeY.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1); this.numEditor_oframeZ.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1); if (this.pipeGrooveModel.numPipeGrooveType >= 3) { this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1); double dSeamNormalAngle = 0 - Math.PI * ((double)this.numEditor_numSeamNormalAngle.Value) / 180; double doframeX = this.wobjCurrent.Oframe.Trans.X; double doframeY = this.wobjCurrent.Oframe.Trans.Y; this.numEditor_WorldYOffset.Value = (decimal)Math.Round(doframeX * Math.Cos(dSeamNormalAngle) + doframeY * Math.Sin(dSeamNormalAngle), 1); this.numEditor_WorldZOffset.Value = (decimal)Math.Round(0 - doframeX * Math.Sin(dSeamNormalAngle) + doframeY * Math.Cos(dSeamNormalAngle), 1); } else { this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1); this.numEditor_WorldYOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1); this.numEditor_WorldZOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1); } this.menuItem_Apply.Enabled = false; } catch (Exception ex) { GTPUMessageBox.Show(this.Parent.Parent, null , string.Format("An unexpected error occurred when reading RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString()) , "System Error" , System.Windows.Forms.MessageBoxIcon.Hand , System.Windows.Forms.MessageBoxButtons.OK); } }
public TpsFormSetting(TpsResourceManager rM, RWSystem rwSystem) { try { InitializeComponent(); this._tpsRm = rM; this.rwSystem = rwSystem; InitializeTexts(); } catch (System.Exception ex) { // If initialization of application fails a message box is shown GTPUMessageBox.Show(this.Parent , null , string.Format("An unexpected error occurred while starting up Sample Application. \n\n{0}", ex.Message) , "Sample Application Start-up Error" , MessageBoxIcon.Hand, MessageBoxButtons.OK); } }
private void menuItem_Apply_Click(object sender, EventArgs e) { try { this.wobjCurrent.Oframe.Trans.X = (float)this.numEditor_oframeX.Value; this.wobjCurrent.Oframe.Trans.Y = (float)this.numEditor_oframeY.Value; this.wobjCurrent.Oframe.Trans.Z = (float)this.numEditor_oframeZ.Value; RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent"); rapidData.Value = this.wobjCurrent; this.menuItem_Apply.Enabled = false; } catch (Exception ex) { GTPUMessageBox.Show(this.Parent.Parent, null , string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString()) , "System Error" , System.Windows.Forms.MessageBoxIcon.Hand , System.Windows.Forms.MessageBoxButtons.OK); } }
/// <summary> /// This is where you clean up any remaining resources used by your application before /// the application itself is disposed of by the host (TAF - TeachPendant Application Framework). /// The method is called by the host when the application is closed down. /// </summary> protected override void Dispose(bool disposing) { if (!IsDisposed) { try { if (disposing) { //ToDo: Call the Dispose method of all FP SDK instances that may otherwise cause memory leak if (this.rwSystem != null) { this.rwSystem.Dispose(); this.rwSystem = null; } if (this._viewPipeGrooveModel != null) { this._viewPipeGrooveModel.Dispose(); this._viewPipeGrooveModel = null; } if (this._viewSetting != null) { this._viewSetting.Dispose(); this._viewSetting = null; } if (this._viewWeldingParameter != null) { this._viewWeldingParameter.Dispose(); this._viewWeldingParameter = null; } if (this._viewWobjCurrent != null) { this._viewWobjCurrent.Dispose(); this._viewWobjCurrent = null; } if (this._viewLayerParameter != null) { this._viewLayerParameter.Dispose(); this._viewLayerParameter = null; } if (this.pipeGrooveModel != null) { this.pipeGrooveModel.Dispose(); this.pipeGrooveModel = null; } if (this.weldProcedure != null) { this.weldProcedure.Dispose(); this.weldProcedure = null; } if (this.layerParameter != null) { this.layerParameter.Dispose(); this.layerParameter = null; } if (this._tpsRm != null) { this._tpsRm = null; } } } catch (System.Exception ex) { GTPUMessageBox.Show(this.Parent.Parent, null , "An unexpected error occurred while closing down the application.\n\nError message: " + ex.Message , "Application Error" , MessageBoxIcon.Hand, MessageBoxButtons.OK); } finally { base.Dispose(disposing); } } }