// 声明一个私有变量 动态创建扫描接口 创建与控制器的连接
public void DynamicCreation()
{
// 建立一个扫描接口的 引用变量 networkScanner
NetworkScanner networkScanner = new NetworkScanner();
// 扫描接口 虚拟接口还是实际接口 条件运算符
ControllerInfo[] controllers = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
// 发现控制器后
if (controllers.Length > 0)
{
// 确认controller 包含哪些信息
Console.WriteLine(controllers);
// 提取controller中的第默认序列第一的信息
ABBControllerinfo = controllers[0];
Console.WriteLine(ABBControllerinfo);
// 根据控制器的信息创建一个实例 并且可以输出 其基本信息
ABBController = ControllerFactory.CreateFrom(ABBControllerinfo);
Console.WriteLine($"Found one ABB.System Name is:{SystemName} System ID is:{SystemID} System IP is:{SystemIP}");
// $ 起到一个占位符的作用内容包含在 {} 中，可以用于获取{}中对应内容的信息
}
else
{
MessageBox.Show("No ABB Robot Found.");
}
}
public LogEditor()
{
NetworkScanner netScan = new NetworkScanner();
netScan.Scan();
ctrlInfo = netScan.GetControllers();
foreach (var i in ctrlInfo)
{
if (i.SystemName.ToString() == "2600-109425") // ABB IRC5 Controller number 26-00268, 4600-800484
{
aController = new Controller(i);
}
}
// can be used like this, if you know which controller inside of ctrlInfo[] array.
//aController = new Controller(ctrlInfo[0]);
// using ControllerInfoCollection cntInfoColl -
//cntInfoColl = netScan.Controllers;
log = aController.EventLog;
Console.WriteLine($"Application is running.");
aController.EventLog.MessageWritten += _errorEventHappened;
Console.ReadLine();
}
public void DynamicCreation()
{
// ABB 自带接口扫描类
NetworkScanner networkScanner = new NetworkScanner();
// 条件运算符 获取控制器类型
ControllerInfo[] controllers = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
if (controllers.Length > 0)
{
Console.WriteLine(controllers);
// 获取控制器信息
ABBControllerInfo = controllers[0];
// 根据控制器信息 船舰实例
ABBController = ControllerFactory.CreateFrom(ABBControllerInfo);
Console.WriteLine($"Found one ABB.System Name is:{SystemName} System ID is:{SystemID} System IP is:{SystemIP}");
// $ 起到一个占位符的作用内容包含在 {} 中，可以用于获取{}中对应内容的信息,避免了利用{0}的形式占位。 以前占位符 需要 {0} 和 变量 配合使用
}
else
{
MessageBox.Show("No ABB Robot Found!");
}
}
/// <summary>
/// Searches the network for a robot controller and establishes a connection with the specified one by position.
/// Performs no LogOn actions or similar.
/// </summary>
/// <returns></returns>
private bool LoadController(int controllerID)
{
// Scan the network and hookup to the specified controller
bool success = false;
// This is specific to ABB, should become abstracted at some point...
logger.Verbose("Scanning the network for controllers...");
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers();
if (controllers.Length > 0)
{
int cId = controllerID > controllers.Length ? controllers.Length - 1 :
controllerID < 0 ? 0 : controllerID;
controller = ControllerFactory.CreateFrom(controllers[cId]);
if (controller != null)
{
//isConnected = true;
logger.Verbose($"Found controller {controller.SystemName} on {controller.Name}");
success = true;
logger.Debug(controller);
//Console.WriteLine(controller.RobotWare);
//Console.WriteLine(controller.RobotWareVersion);
//try
//{
// this.robotWare = this.controller.RobotWare;
// this.robotWareOptions = this.robotWare.Options;
// this._hasMultiTasking = HasMultiTaskOption(this.robotWareOptions);
// this._hasEGM = HasEGMOption(this.robotWareOptions);
//}
//catch
//{
// Console.WriteLine("Could not access ROBOTWARE options");
//}
}
else
{
logger.Debug("Could not connect to controller...");
}
}
else
{
logger.Debug("No controllers found on the network");
}
//if (!success)
//{
// Disconnect();
// //throw new Exception("ERROR: could not LoadController()");
//}
return(success);
}
private void Scan(object sender, object e)
{
//Reset Controllers
if (controllers != null)
{
foreach (var controller in controllers)
{
controller.LogOff();
}
controllers = new List <Controller>();
}
// Find ABB robots on the network
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
if (ipAddresses != null)
{
// Scan the network for controllers and add them to our controller array.
foreach (string ip in ipAddresses)
{
NetworkScanner.AddRemoteController(ip);
}
}
ControllerInfo[] controllersID = scanner.GetControllers();
foreach (ControllerInfo id in controllersID)
{
controllers.Add(new AbbIRC5Contoller(id));
}
// Possibility to scan for other robots
// Allow value list to be updated
updateVL = true;
if (controllers != null)
{
if (controllers.Count > 0)
{
log.Add("Controllers found:");
// List the controller names that were found on the network.
for (int i = 0; i < controllers.Count; i++)
{
log.Add(controllers[i].Name);
}
}
else
{
log.Add("Scan timed out. No controllers were found.");
}
}
ExpireSolution(true);
}
static Controller CreateController()
{
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers(NetworkScannerSearchCriterias.Virtual);
if (controllers.Length > 0)
{
Controller dynamic = ControllerFactory.CreateFrom(controllers[0]);
return(dynamic);
}
return(null);
}
public void getControllers(NetworkScanner scanner)
{
if (scanner != null)
{
networkScanner = scanner;
controllerInfos = scanner.GetControllers();
foreach (var controller in controllerInfos)
{
TestContrall(controller);
}
}
}
public Controller RAB_ConnectToRob()
{
// scanning the network for the controllers
NetworkScanner netScan = new NetworkScanner();
// getting all available controllers from the network
ctrlInfo = netScan.GetControllers();
// can be used like this, if you know which controller inside of ctrlInfo[] array.
aController = new Controller(ctrlInfo[0]);
return(aController);
}
static void Main(string[] args)
{
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers(NetworkScannerSearchCriterias.Virtual);
foreach (ControllerInfo c in controllers)
{
TestController(c);
}
Console.WriteLine("Press any key to terminate");
Console.ReadKey();
}
private void ABBDiscovery()
{
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
ControllerInfo[] controllerInfos = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
if (controllerInfos.Length > 0)
{
Console.WriteLine($"当前online {controllerInfos.Length} 个ABB机器人");
ABBControllerInfo = controllerInfos[0];
ABBController = ControllerFactory.CreateFrom(ABBControllerInfo); // 利用反射方式创建controller实例
Console.WriteLine($"Found one ABB.System Name is:{abbSystemName} System ID is:{abbSystemID} System IP is:{abbSystemIP}");
}
else
{
Console.WriteLine("没有扫描到Online的机器人！");
}
}
// Additional methods
#region additional methods
/// <summary>
/// Get the controller
/// </summary>
/// <returns> The picked controller. </returns>
private Controller GetController()
{
// Initiate and clear variables
_controllerInstance.Clear();
ControllerInfo[] controllers;
List <string> controllerNames = new List <string>()
{
};
// Scan for a network with controller
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
// Try to get the controllers from the netwerok
try
{
controllers = scanner.GetControllers();
}
// Else return no controllers
catch (Exception)
{
controllers = null;
}
// Get the names of all the controllers in the scanned network
for (int i = 0; i < controllers.Length; i++)
{
_controllerInstance.Add(Controller.Connect(controllers[i], ConnectionType.Standalone));
controllerNames.Add(_controllerInstance[i].Name);
}
// Automatically pick the controller when one controller is available.
if (controllerNames.Count == 1)
{
_pickedIndex = 0;
}
// Display the form and let the user pick a controller when more then one controller is available.
else if (controllerNames.Count > 1)
{
// Display the form and return the index of the picked controller.
_pickedIndex = DisplayForm(controllerNames);
// Return a null value when the picked index is incorrect.
if (_pickedIndex < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "No Station picked from menu!");
return(null);
}
}
// Return a null value when no controller was found
else
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "No Station found!");
return(null);
}
// Select the picked controller
return(_controllerInstance[_pickedIndex]);
}
public void ScannNow()
{
NetScan = new NetworkScanner();
NetScan.Scan();
CtrlInfo = NetScan.GetControllers();
} // end of ScannNow method
protected override void SolveInstance(IGH_DataAccess DA)
{
bool activate = false;
bool scan = false;
bool kill = false;
bool clear = false;
string ip = System.String.Empty;
int index = 0;
bool connect = false;
bool resetPP = false;
bool begin = false;
bool stop = false;
bool monitorTCP = false;
bool monitorIO = false;
bool stream = false;
Target targ = null;
if (!DA.GetData(0, ref activate))
{
;
}
if (!DA.GetData(1, ref scan))
{
;
}
if (!DA.GetData(2, ref kill))
{
;
}
if (!DA.GetData(3, ref clear))
{
;
}
if (!DA.GetData(4, ref ip))
{
;
}
if (!DA.GetData(5, ref index))
{
;
}
if (!DA.GetData(6, ref connect))
{
;
}
if (!DA.GetData(7, ref resetPP))
{
;
}
if (!DA.GetData(8, ref begin))
{
;
}
if (!DA.GetData(9, ref stop))
{
;
}
if (!DA.GetData(10, ref monitorTCP))
{
;
}
if (!DA.GetData(11, ref monitorIO))
{
;
}
if (!DA.GetData(12, ref stream))
{
;
}
if (!DA.GetData(13, ref targ))
{
;
}
this.controllerIndex = index;
this.start = begin;
double cRobX = 0;
double cRobY = 0;
double cRobZ = 0;
double cRobQ1 = 0;
double cRobQ2 = 0;
double cRobQ3 = 0;
double cRobQ4 = 0;
Quaternion cRobQuat = new Quaternion();
//Check for valid licence
/*if (bool (Core.AuthTest.loggedIn) != true)
* {
* new GH_RuntimeMessage("Please sign in to confirm your licence", GH_RuntimeMessageLevel.Error);
* return;
* }*/
if (activate)
{
if (scan)
{
// Scan the network for controllers and add them to our controller array
scanner.Scan();
controllers = scanner.GetControllers();
if (controllers.Length > 0)
{
log.Add("Controllers found:");
// List the controller names that were found on the network.
for (int i = 0; i < controllers.Length; i++)
{
log.Add(controllers[i].ControllerName);
}
}
else
{
log.Add("Scan timed out. No controllers were found.");
}
}
if (kill && controller != null)
{
controller.Logoff();
controller.Dispose();
controller = null;
log.Add("Process killed! Abandon ship!");
}
if (clear)
{
log.Clear();
log.Add("Log cleared.");
}
if (connect)
{
if (controller == null && controllers.Length > 0)
{
string controllerID = controllers[index].ControllerName;
log.Add("Selected robot controller: " + controllers[index].ControllerName + ".");
if (controllers[index].Availability == Availability.Available)
{
log.Add("Robot controller " + controllers[index].ControllerName + " is available.");
if (controller != null)
{
controller.Logoff();
controller.Dispose();
controller = null;
}
controller = ControllerFactory.CreateFrom(controllers[index]);
controller.Logon(UserInfo.DefaultUser);
log.Add("Connection to robot controller " + controller.SystemName + " established.");
// Get T_ROB1 queue to send messages to the RAPID task.
if (!controller.Ipc.Exists("RMQ_T_ROB1"))
{
controller.Ipc.CreateQueue("RMQ_T_ROB1", 10, Ipc.MaxMessageSize);
}
tasks = controller.Rapid.GetTasks();
IpcQueue robotQueue = controller.Ipc.GetQueue("RMQ_T_ROB1");
int queueID = robotQueue.QueueId;
string queueName = robotQueue.QueueName;
log.Add("Established RMQ for T_ROB1 on network controller.");
log.Add("Rapid Message Queue ID:" + queueID.ToString() + ".");
log.Add("Rapid Message Queue Name:" + queueName + ".");
RobotQueue = robotQueue;
}
else
{
log.Add("Selected controller not available.");
}
ControllerID = controllerID;
}
else
{
if (controller != null)
{
return;
}
else
{
string exceptionMessage = "No robot controllers found on network.";
ControllerID = "No Controller";
log.Add(exceptionMessage);
}
}
}
if (resetPP && controller != null)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Reset program pointer to main.
tasks[0].ResetProgramPointer();
log.Add("Program pointer set to main on the active task.");
}
}
if (begin)
{
// Execute robot tasks present on controller.
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Perform operation.
tasks[0].Start();
log.Add("Robot program started on robot " + controller.SystemName + ".");
}
}
else
{
log.Add("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
log.Add("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
log.Add("Unexpected error occurred: " + ex.Message);
}
}
if (stop)
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Stop operation.
tasks[0].Stop(StopMode.Immediate);
log.Add("Robot program stopped on robot " + controller.SystemName + ".");
}
}
else
{
log.Add("Automatic mode is required to stop execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
log.Add("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
log.Add("Unexpected error occurred: " + ex.Message);
}
}
// If active, update the status of the TCP.
if (monitorTCP)
{
if (tcpMonitoringOn == 0)
{
log.Add("TCP monitoring started.");
}
cRobTarg = tasks[0].GetRobTarget();
cRobX = Math.Round(cRobTarg.Trans.X, 3);
cRobY = Math.Round(cRobTarg.Trans.Y, 3);
cRobZ = Math.Round(cRobTarg.Trans.Z, 3);
Point3d cRobPos = new Point3d(cRobX, cRobY, cRobZ);
cRobQ1 = Math.Round(cRobTarg.Rot.Q1, 5);
cRobQ2 = Math.Round(cRobTarg.Rot.Q2, 5);
cRobQ3 = Math.Round(cRobTarg.Rot.Q3, 5);
cRobQ4 = Math.Round(cRobTarg.Rot.Q4, 5);
cRobQuat = new Quaternion(cRobQ1, cRobQ2, cRobQ3, cRobQ4);
tcp = Util.QuaternionToPlane(cRobPos, cRobQuat);
tcpMonitoringOn += 1;
tcpMonitoringOff = 0;
}
else if (tcpMonitoringOn > 0)
{
if (tcpMonitoringOff == 0)
{
log.Add("TCP monitoring stopped.");
}
tcpMonitoringOff += 1;
tcpMonitoringOn = 0;
}
// If active, update the status of the IO system.
if (monitorIO)
{
if (ioMonitoringOn == 0)
{
log.Add("Signal monitoring started.");
}
// Filter only the digital IO system signals.
IOFilterTypes dSignalFilter = IOFilterTypes.Common;
SignalCollection dSignals = controller.IOSystem.GetSignals(dSignalFilter);
IOstatus.Clear();
// Iterate through the found collection and print them to the IO monitoring list.
foreach (Signal signal in dSignals)
{
string sigVal = signal.ToString() + ": " + signal.Value.ToString();
IOstatus.Add(sigVal);
}
ioMonitoringOn += 1;
ioMonitoringOff = 0;
}
else if (ioMonitoringOn > 0)
{
if (ioMonitoringOff == 0)
{
log.Add("Signal monitoring stopped.");
}
ioMonitoringOff += 1;
ioMonitoringOn = 0;
}
if (stream)
{
if (targ != null)
{
IpcMessage message = new IpcMessage();
pos.X = (float)targ.Position.X;
pos.Y = (float)targ.Position.Y;
pos.Z = (float)targ.Position.Z;
ori.Q1 = targ.Quaternion.A;
ori.Q2 = targ.Quaternion.B;
ori.Q3 = targ.Quaternion.C;
ori.Q4 = targ.Quaternion.D;
pose.Trans = pos;
pose.Rot = ori;
string content = "SD;[" +
"\"Linear\"," +
pos.ToString() + "," +
ori.ToString() + "," +
pose.ToString() +
"]";
byte[] data = new UTF8Encoding().GetBytes(content);
message.SetData(data);
RobotQueue.Send(message);
}
}
// Output the status of the connection.
Status = log;
DA.SetDataList(0, log);
DA.SetDataList(1, IOstatus);
DA.SetData(2, new GH_Plane(tcp));
ExpireSolution(true);
}
}
