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);
}
}
public void listmethod()
{
////data1 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("Version_SWDEFUSR"); //string
//data1.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data1_ValueChanged);
data2 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("W_00049"); //robtarget //robot punta pozisyon bilgisi
data2.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data2_ValueChanged);
//data3 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("MAX_DEFLECTION"); //num
//data3.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data3_ValueChanged);
//data4 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("nToplamAsinma"); //num
//data4.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data5 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("wobj0"); //wobjdata
//data5.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data6 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("load0"); //loaddata
//data6.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
//data7 = objController.Rapid.GetTask("T_ROB1").GetModule("HOME_KONTROL").GetRapidData("delta_position1"); //jointtarget
//data7.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged);
data8 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("bRobot_FrezePrograminda"); //bool
data8.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data9 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("spot1"); //spotdata
data9.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data10 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bCycleOn"); //bool
data10.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data11 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("nHataKodu"); //num
data11.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data12 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("force_bileme"); //forcedata //firezeleme kuvveti
data12.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data13 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bKaynakTamamlandi"); //bool
data13.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
data14 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("nProgNo"); //num
data14.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged);
_string1 = (ABB.Robotics.Controllers.RapidDomain.String)data1.Value;
string1 = _string1.Value;
_robTarget1 = (ABB.Robotics.Controllers.RapidDomain.RobTarget)data2.Value;
robTarget1 = _robTarget1.Trans;
_num3 = (ABB.Robotics.Controllers.RapidDomain.Num)data3.Value;
num3 = _num3.Value;
_num4 = (ABB.Robotics.Controllers.RapidDomain.Num)data4.Value;
num4 = _num4.Value;
_wobjData1 = (WobjData)data5.Value;
wobjData1 = _wobjData1.Oframe;
_loadData1 = (LoadData)data6.Value;
loadData1 = _loadData1.Aom;
_jointTarget1 = (JointTarget)data7.Value;
jointTarget1 = _jointTarget1.RobAx;
_bool1 = (Bool)data8.Value;
bool1 = _bool1.Value;
label4.Text = data9.Value.ToString();
_bool2 = (Bool)data10.Value;
bool2 = _bool2.Value;
_num5 = (ABB.Robotics.Controllers.RapidDomain.Num)data11.Value;
num5 = _num5.Value;
_bool3 = (Bool)data13.Value;
bool3 = _bool3.Value;
label9.Text = data12.Value.ToString();
_num6 = (ABB.Robotics.Controllers.RapidDomain.Num)data14.Value;
num6 = _num6.Value;
dataGridView1.Rows.Add(data1.Symbol.Scope[0], data1.Symbol.Scope[1], data1.Symbol.Scope[2], string1);
dataGridView1.Rows.Add(data2.Symbol.Scope[0], data2.Symbol.Scope[1], data2.Symbol.Scope[2], robTarget1);
dataGridView1.Rows.Add(data3.Symbol.Scope[0], data3.Symbol.Scope[1], data3.Symbol.Scope[2], num3);
dataGridView1.Rows.Add(data4.Symbol.Scope[0], data4.Symbol.Scope[1], data4.Symbol.Scope[2], num4);
dataGridView1.Rows.Add(data5.Symbol.Scope[0], data5.Symbol.Scope[1], data5.Symbol.Scope[2], wobjData1);
dataGridView1.Rows.Add(data6.Symbol.Scope[0], data6.Symbol.Scope[1], data6.Symbol.Scope[2], loadData1);
dataGridView1.Rows.Add(data7.Symbol.Scope[0], data7.Symbol.Scope[1], data7.Symbol.Scope[2], jointTarget1);
dataGridView1.Rows.Add(data8.Symbol.Scope[0], data8.Symbol.Scope[1], data8.Symbol.Scope[2], bool1);
dataGridView1.Rows.Add(data10.Symbol.Scope[0], data10.Symbol.Scope[1], data10.Symbol.Scope[2], bool2);
dataGridView1.Rows.Add(data11.Symbol.Scope[0], data11.Symbol.Scope[1], data11.Symbol.Scope[2], num5);
dataGridView1.Rows.Add(data12.Symbol.Scope[0], data12.Symbol.Scope[1], data12.Symbol.Scope[2], data12.Value);
dataGridView1.Rows.Add(data13.Symbol.Scope[0], data13.Symbol.Scope[1], data13.Symbol.Scope[2], bool3);
dataGridView1.Rows.Add(data14.Symbol.Scope[0], data14.Symbol.Scope[1], data14.Symbol.Scope[2], num6);
dataGridView1.AutoGenerateColumns = false;
}
