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>
/// 加载控制器上的rapid程序
/// </summary>
void loadModule()
{
try
{
tRob1 = controller.Rapid.GetTask("T_ROB1");
string filePath = controller.FileSystem.GetRemotePath(listBox2_fileStore.SelectedItem.ToString());
Console.WriteLine("目录：" + filePath);
string ProgramFileName = Path.ChangeExtension(filePath, ".mod");
using (Mastership m = Mastership.Request(controller))
{
tRob1.LoadModuleFromFile(Path.GetFileName(filePath), RapidLoadMode.Replace);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "错误");
}
}
/// <summary>
/// Loads a module on a task from the controllers filesystem.
/// </summary>
/// <param name="task"></param>
/// <param name="filename"></param>
/// <param name="wipeout"></param>
/// <returns></returns>
internal bool LoadModuleFromControllerToTask(ABBTask task, string filename, bool wipeout = true)
{
// For the time being, we will always wipe out previous modules on load
if (wipeout)
{
if (ClearAllModules(task) < 0)
{
throw new Exception($"Error clearing modules on task {task.Name}");
}
}
// Load the module
bool success = false;
try
{
using (Mastership.Request(controller.Rapid))
{
FileSystem fs = controller.FileSystem;
string remotePath = fs.RemoteDirectory + "/" + REMOTE_BUFFER_DIR;
bool dirExists = fs.DirectoryExists(REMOTE_BUFFER_DIR);
if (!dirExists)
{
logger.Error($"No directory named {remotePath} found on controller");
return(false);
}
// Loads a Rapid module to the task in the robot controller
success = task.LoadModuleFromFile($"{remotePath}/{filename}", RapidLoadMode.Replace);
}
}
catch (Exception ex)
{
logger.Debug(ex);
throw new Exception("ERROR: Could not LoadModuleFromControllerToTask");
}
if (success)
{
logger.Debug($"Sucessfully loaded {filename} to {task.Name}");
}
return(success);
}
///// <summary>
///// Loads a module to the ABB controller given as a string list of Rapid code lines.
///// </summary>
///// <param name="module"></param>
///// <param name="programName"></param>
///// <returns></returns>
//public bool LoadProgramToController(List<string> module, string programName)
//{
// if (!isConnected)
// {
// Console.WriteLine("Cannot load program, not connected to controller");
// return false;
// }
// string path = Path.Combine(Path.GetTempPath(), $"Machina_{programName}.mod");
// // Modules can only be uploaded to ABB controllers using a file
// if (!Machina.IO.SaveStringListToFile(path, module, Encoding.ASCII)) //
// {
// Console.WriteLine("Could not save module to temp file");
// return false;
// }
// else
// {
// Console.WriteLine($"Saved {programName} to {path}");
// }
// if (!LoadFileToDevice(path))
// {
// Console.WriteLine("Could not load module to controller");
// return false;
// }
// return true;
//}
/// <summary>
/// Loads a module into de controller from a local file.
/// @TODO: This is an expensive operation, should probably become threaded.
/// </summary>
/// <param name="fullPath"></param>
/// <param name="wipeout"></param>
/// <returns></returns>
public bool LoadFileToDevice(string fullPath, bool wipeout = true)
{
string extension = Path.GetExtension(fullPath), // ".mod"
filename = Path.GetFileName(fullPath); // "Machina_Server.mod"
if (!_isConnected)
{
throw new Exception($"Could not load module '{fullPath}', not connected to controller");
}
// check for correct ABB file extension
if (!extension.ToLower().Equals(".mod"))
{
throw new Exception("Wrong file type, must use .mod files for ABB robots");
}
// For the time being, we will always wipe out previous modules on load
if (ClearAllModules() < 0)
{
throw new Exception("Error clearing modules");
}
// Load the module
bool success = false;
try
{
using (Mastership.Request(controller.Rapid))
{
// When connecting to a real controller, the reference filesystem
// for Task.LoadModuleFromFile() becomes the controller's, so it is necessary
// to copy the file to the system first, and then load it.
// Create the remoteBufferDirectory if applicable
FileSystem fs = controller.FileSystem;
string remotePath = fs.RemoteDirectory + "/" + REMOTE_BUFFER_DIR;
bool dirExists = fs.DirectoryExists(REMOTE_BUFFER_DIR);
if (!dirExists)
{
Console.WriteLine("Creating {0} on remote controller", remotePath);
fs.CreateDirectory(REMOTE_BUFFER_DIR);
}
//@TODO: Should implement some kind of file cleanup at somepoint...
// Copy the file to the remote controller
controller.FileSystem.PutFile(fullPath, $"{REMOTE_BUFFER_DIR}/{filename}", wipeout);
Console.WriteLine($"Copied {filename} to {REMOTE_BUFFER_DIR}");
// Loads a Rapid module to the task in the robot controller
success = tRob1Task.LoadModuleFromFile($"{remotePath}/{filename}", RapidLoadMode.Replace);
}
}
catch (Exception ex)
{
//Console.WriteLine("ERROR: Could not load module");
Console.WriteLine(ex);
throw new Exception("ERROR: Could not load module");
}
// True if loading succeeds without any errors, otherwise false.
if (!success)
{
//// Gets the available categories of the EventLog.
//foreach (EventLogCategory category in controller.EventLog.GetCategories())
//{
// if (category.Name == "Common")
// {
// if (category.Messages.Count > 0)
// {
// foreach (EventLogMessage message in category.Messages)
// {
// Console.WriteLine("Program [{1}:{2}({0})] {3} {4}",
// message.Name, message.SequenceNumber,
// message.Timestamp, message.Title, message.Body);
// }
// }
// }
//}
}
else
{
Console.WriteLine("Sucessfully loaded {0}", fullPath);
}
return(success);
}
