private void PrintRapidData(string taskName, string moduleName, string varName)
{
try
{
rdt = controller.Rapid.GetRapidDataType(taskName, moduleName, varName);
}
catch (Exception e)
{
Console.WriteLine(e.StackTrace); Thread.Sleep(5000);
}
try
{
if (rd != null)
{
rd.Dispose();
}
rd = controller.Rapid.GetRapidData(taskName, moduleName, varName);
}
catch (Exception e)
{
Console.WriteLine("Could not fetch rapid data");
Console.WriteLine(e.StackTrace);
}
if (!string.IsNullOrWhiteSpace(rd.StringValue))
{
Console.WriteLine("{0} : {1} ", taskName, rd.StringValue);
}
// subscribing to variable change
rd.ValueChanged += RapidVar_ValueChanged;
}
public void RefreshData(RWSystem rwSystem)
{
RapidData rPipeGrooveModel = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName);
RapidDataType rPipeGrooveModelType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rPipeGrooveModelUserDefine = new UserDefined(rPipeGrooveModelType);
rPipeGrooveModelUserDefine.FillFromString(rPipeGrooveModel.Value.ToString());
int i = 0;
this.numIndex = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numPipeGrooveType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numSeamCenterX = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numSeamNormalAngle = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderDiameter = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderThickness = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderMaterial = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchDiameter = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchThickness = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchMaterial = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numMultiPassTotal = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numCooperativeRobots = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numPathSource = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numReviseScanBranchType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numReviseScanHeaderType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numWeldLegWidth = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numGrooveGap = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveRoot = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveAngle = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveAngle90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numTopHeight90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBottomHeight90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numProfCosine = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numLayerHeight = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numLayerPassTotalRoundType = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numAlgorithmType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.boolContinuous = bool.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.boolUseAlignedSTNbyFixedValue = bool.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.strID = rPipeGrooveModelUserDefine.Components[i++].ToString();
this.strRemark = rPipeGrooveModelUserDefine.Components[i++].ToString();
rPipeGrooveModelUserDefine.Dispose();
rPipeGrooveModelType.Dispose();
rPipeGrooveModel.Dispose();
}
public void Write_ABB_DataRecord(string Data_Record_Name, string Module_Name, string Task_Name, Controller aController, List <string> Variables, int ArrayIndex)
{
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
string L_Data_Record_Name = Data_Record_Name;
List <string> _Variables = Variables;
Controller L_aController = aController;
int _ArrayIndex = ArrayIndex;
string _info;
try
{
//Get the array with the records
rd_array = aController.Rapid.GetRapidData(Task_Name, Module_Name, "RawIndividuals");
ad = (ArrayData)rd_array.Value;
int aRank = ad.Rank;
//Read the record
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, L_Data_Record_Name);
rdt = L_aController.Rapid.GetRapidDataType(L_Task_Name, L_Module_Name, L_Data_Record_Name);
UserDefined processdata = new UserDefined(rdt);
//Prepare the parameters
for (int i = 0; i < 5; i++)
{
processdata.Components[i].FillFromString(_Variables[i]);
}
//Add the parameters to the array
rd_array.Value = ad;
ad[ArrayIndex] = processdata;
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
_info = "Error: " + ee.Message;
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
_info = "Error: " + ee.Message;
}
catch (ABB.Robotics.GenericControllerException ee)
{
_info = "Error: " + ee.Message;
}
catch (System.Exception ee)
{
_info = "Error: " + ee.Message;
}
finally
{
// Release resources
}
}
public void ApplyData(RWSystem rwSystem)
{
RapidData rLayerParameter = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, string.Format("{0}{1:00}", strDataName, this.intLayerNo));
RapidDataType rLayerParameterType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rLayerParameterUserDefine = new UserDefined(rLayerParameterType);
rLayerParameterUserDefine.FillFromString(this.ToString());
ErrorHandler.AddErrorMessage("MichaelLog", this.ToString());
rLayerParameter.Value = rLayerParameterUserDefine;
rLayerParameterUserDefine.Dispose();
rLayerParameterType.Dispose();
rLayerParameter.Dispose();
}
public void ApplyData(RWSystem rwSystem)
{
RapidData rPipeGrooveModel = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName);
RapidDataType rPipeGrooveModelType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rPipeGrooveModelUserDefine = new UserDefined(rPipeGrooveModelType);
rPipeGrooveModelUserDefine.FillFromString(this.ToString());
ErrorHandler.AddErrorMessage("MichaelLog", this.ToString());
rPipeGrooveModel.Value = rPipeGrooveModelUserDefine;
rPipeGrooveModelUserDefine.Dispose();
rPipeGrooveModelType.Dispose();
rPipeGrooveModel.Dispose();
}
//Functions
public string Read_ABB_DataRecord(string Data_Record_Name, string Module_Name, string Task_Name, Controller aController, int ArrayIndex)
{
string Data_Records_Time = " ";
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
string L_Data_Record_Name = Data_Record_Name;
Controller L_aController = aController;
string _info;
try
{
//Get the array with the records
rd_array = aController.Rapid.GetRapidData(Task_Name, Module_Name, "RawIndividuals");
ad = (ArrayData)rd_array.Value;
int aRank = ad.Rank;
//Read the record
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, L_Data_Record_Name);
rdt = L_aController.Rapid.GetRapidDataType(L_Task_Name, L_Module_Name, L_Data_Record_Name);
UserDefined processdata = new UserDefined(rdt);
processdata = (UserDefined)ad[ArrayIndex];
//Get the time elapsed using the individual's parameters
Data_Records_Time = processdata.Components[5].ToString();
return(Data_Records_Time);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (ABB.Robotics.GenericControllerException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (System.Exception ee)
{
return(_info = "Error: " + ee.Message);
}
finally
{
//
}
}
public void RefreshData(RWSystem rwSystem, string strCircle)
{
RapidDataType rCircleType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rCircleUserDefine = new UserDefined(rCircleType);
rCircleUserDefine.FillFromString(strCircle);
int i = 0;
this.numDegree0 = decimal.Parse(rCircleUserDefine.Components[i++].ToString());
//ErrorHandler.AddErrorMessage("MichaelLog", rCircleUserDefine.Components[i].ToString());
this.numDegree90 = decimal.Parse(rCircleUserDefine.Components[i++].ToString());
this.numDegree180 = decimal.Parse(rCircleUserDefine.Components[i++].ToString());
this.numDegree270 = decimal.Parse(rCircleUserDefine.Components[i++].ToString());
this.numCurveType = int.Parse(rCircleUserDefine.Components[i++].ToString());
rCircleUserDefine.Dispose();
rCircleType.Dispose();
}
public void TestSpeedDataArray()
{
RapidData rapidData = this.controller.Rapid.GetRapidData("T_ROB1", "MainModule", "speed1");
RapidDataType rapidDataType = controller.Rapid.GetRapidDataType("T_ROB1", "MainModule", "speed1");
if (rapidData.IsArray)
{
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
ArrayData arrayData = (ArrayData)rapidData.Value;
arrayData.Mode = ArrayModes.Snapshot;
for (int i = 0; i < arrayData.Length; i++)
{
SpeedData speedData = new SpeedData(rapidDataType, arrayData[i].ToStructure());
//SpeedData speedData =new SpeedData(rapidDataType,rapidData.ReadItem(i).ToStructure());
speedData.Tcp += i;
rapidData.WriteItem(speedData, i);
}
stopwatch.Stop();
logger.Debug(stopwatch.ElapsedMilliseconds.ToString());
}
}
public void RefreshData(RWSystem rwSystem, int intLayerNo)
{
this.intLayerNo = intLayerNo;
RapidData rLayerParameter = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, string.Format("{0}{1:00}", strDataName, this.intLayerNo));
RapidDataType rLayerParameterType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rLayerParameterUserDefine = new UserDefined(rLayerParameterType);
rLayerParameterUserDefine.FillFromString(rLayerParameter.Value.ToString());
int i = 0;
this.numWorkAngleDeclination = int.Parse(rLayerParameterUserDefine.Components[i++].ToString());
//ErrorHandler.AddErrorMessage("MichaelLog", rLayerParameterUserDefine.Components[i].ToString());
this.rCircleOffsetX.RefreshData(rwSystem, rLayerParameterUserDefine.Components[i++].ToString());
this.rCircleOffsetZ.RefreshData(rwSystem, rLayerParameterUserDefine.Components[i++].ToString());
this.rCircleRotationX.RefreshData(rwSystem, rLayerParameterUserDefine.Components[i++].ToString());
this.rCircleRotationY.RefreshData(rwSystem, rLayerParameterUserDefine.Components[i++].ToString());
this.rCircleRotationZ.RefreshData(rwSystem, rLayerParameterUserDefine.Components[i++].ToString());
this.strLayerParameterID = rLayerParameterUserDefine.Components[i++].ToString();
this.strLayerParameterID = this.strLayerParameterID.Substring(1, this.strLayerParameterID.Length - 2);
rLayerParameterUserDefine.Dispose();
rLayerParameterType.Dispose();
rLayerParameter.Dispose();
//DataRow row = this.CircleTable.Rows.Find("OffsetX");
//row[1] = this.circleOffsetX.numDegree0;
//row[2] = this.circleOffsetX.numDegree90;
//row[3] = this.circleOffsetX.numDegree180;
//row[4] = this.circleOffsetX.numDegree270;
//row[5] = this.circleOffsetX.numCurveType;
//row = this.CircleTable.Rows.Find("OffsetZ");
//row[1] = this.circleOffsetZ.numDegree0;
//row[2] = this.circleOffsetZ.numDegree90;
//row[3] = this.circleOffsetZ.numDegree180;
//row[4] = this.circleOffsetZ.numDegree270;
//row[5] = this.circleOffsetZ.numCurveType;
//row = this.CircleTable.Rows.Find("RotationX");
//row[1] = this.circleRotationX.numDegree0;
//row[2] = this.circleRotationX.numDegree90;
//row[3] = this.circleRotationX.numDegree180;
//row[4] = this.circleRotationX.numDegree270;
//row[5] = this.circleRotationX.numCurveType;
//row = this.CircleTable.Rows.Find("RotationY");
//row[1] = this.circleRotationY.numDegree0;
//row[2] = this.circleRotationY.numDegree90;
//row[3] = this.circleRotationY.numDegree180;
//row[4] = this.circleRotationY.numDegree270;
//row[5] = this.circleRotationY.numCurveType;
//row = this.CircleTable.Rows.Find("RotationZ");
//row[1] = this.circleRotationZ.numDegree0;
//row[2] = this.circleRotationZ.numDegree90;
//row[3] = this.circleRotationZ.numDegree180;
//row[4] = this.circleRotationZ.numDegree270;
//row[5] = this.circleRotationZ.numCurveType;
}
public SpeedData(RapidDataType rdt, string newValue)
{
this.data = new UserDefined(rdt);
this.data.FillFromString2(newValue);
}
public SpeedData(RapidDataType rdt, DataNode root)
{
this.data = new UserDefined(rdt);
this.data.Fill2(root);
}
public SpeedData(RapidDataType rdt)
{
this.data = new UserDefined(rdt);
this.data.FillFromString2("[0,0,0,0]");
}
