public void CopyTaskToNewRobot(Form FM, DataType.Dsystem DSystem, RobotTask robotTask, RobotTask TargetrobotTask, Product SrcRobot, Product TargetRobot)
{
//string TarName = SrcRobot.get_PartNumber();
//ProductDocument SrcRobotDoc = (ProductDocument)DSystem.DSDocument.Item(TarName + ".CATProduct");
//TarName = TargetRobot.get_PartNumber();
//ProductDocument TargetRobotDoc = (ProductDocument)DSystem.DSDocument.Item(TargetRobot.get_PartNumber() + ".CATProduct");
Selection selection = DSystem.CDSActiveDocument.Selection;
selection.Clear();
//foreach (Operation soperation in robotTask.ChildrenActivities)
//{
// selection.Add(soperation);
//}
selection.Add(robotTask);
try
{
selection.Copy();
selection.Clear();
//selection = TargetRobotDoc.Selection;
selection.Add(TargetrobotTask);
selection.Paste();
}
catch (Exception e)
{
MessageBox.Show("应发了未知错误，请核实是否完全克隆后再删除原机器人! " + e.Message);
}
}
public Selection GetIRobotMotion(Form FM, DataType.Dsystem DSystem, int SelectType = 9, string Mess = "请选择一个机器人")
{
FM.WindowState = FormWindowState.Minimized;
INFITF.Application CatApplication = DSystem.DSApplication;
Selection USelect = null;
try
{
ProcessDocument PPRP = DSystem.DSActiveDocument;
if (PPRP == null)
{
USelect = DSystem.CDSActiveDocument.Selection;
}
else
{
USelect = PPRP.Selection;
}
}
catch (Exception)
{
}
USelect.Clear();
var Result = USelect.SelectElement2(DataType.InputObjectType(SelectType), Mess, true);
if (Result == "Cancel")
{
return(null);
}
if (USelect.Count < 1)
{
MessageBox.Show("请先选择对象后再点此命令！");
return(null);
}
return(USelect);
}
/// <summary>
/// Delmia 在仿真示教模式下使用
/// </summary>
/// <param name="FM"></param>
/// <param name="DSystem"></param>
/// <returns></returns>
public Selection GetInitTargetProduct(Form FM, DataType.Dsystem DSystem, int dType = 9, string Msg = "请选择初始化对象")
{
FM.WindowState = FormWindowState.Minimized;
ProcessDocument PPRP = DSystem.DSActiveDocument;
Selection USelect = null;
if (PPRP == null)
{
return(null);
}
USelect = PPRP.Selection;
USelect.Clear();
var Result = USelect.SelectElement2(DataType.InputObjectType(dType), Msg, true);
if (Result == "Cancel")
{
return(null);
}
if (USelect.Count < 1)
{
MessageBox.Show("请先选择对象后再点此命令！");
return(null);
}
return(USelect);
}
private void OutTargetListAix_Click(object sender, EventArgs e)
{
GloalForDelmia GFD = new GloalForDelmia();
DStype = GFD.InitCatEnv(this);
if (DStype.Revalue == -1)
{
return;
}
Selection Uselect = GFD.GetIRobotMotion(this, DStype, 9, "请选择正确的产品数模作为坐标基准");
Product BaseProduct = null;
if (Uselect == null && Uselect.Count < 1)
{
return;
}
BaseProduct = (Product)Uselect.Item2(1).Value;
SPAWorkbench TheSPAWorkbench = (SPAWorkbench)DStype.CDSActiveDocument.GetWorkbench("SPAWorkbench"); // Default Get Coordxyz From Word
try
{
Reference basereference = Uselect.Item2(1).Reference;
Measurable measurable = TheSPAWorkbench.GetMeasurable(basereference);
object[] PointCoord = new object[3];//{-99, -99, -99, -99, -99, -99, -99, -99, -99 };
Uselect.Item2(1).GetCoordinates(PointCoord);
measurable.GetCenter(PointCoord);
}
catch (Exception e1)
{
MessageBox.Show("发生未知错误:" + e1.Message);
}
}
/// <summary>
/// 清空机器人Home预制坐标信息_Yecc
/// </summary>
/// <param name="FM"></param>
/// <param name="DSystem"></param>
/// <param name="product"></param>
/// <param name="RobotName"></param>
/// <param name="progressBar"></param>
/// <param name="CreateCable"></param>
public void ClearRobotHomeList(Form FM, DataType.Dsystem DSystem, Product product, String RobotName, ProgressBar progressBar, bool CreateCable = false)
{
//Workbench TheKinWorkbench = DSystem.CDSActiveDocument.GetWorkbench("KinematicsWorkbench");
Mechanisms cTheMechanisms = null;
ProductDocument partDocument = GetProductPath(product, DSystem, false);
Selection selection = partDocument.Selection;
selection.Clear();
try
{
BasicDevice basicDevice = (BasicDevice)product.GetTechnologicalObject("BasicDevice");
System.Array homePositions = null;
//for (int i = 0; i < 100; i++) // add New Robot Home Position
//{
// object[] HomePos = { 0, 0, 0, 0, 0, 0 };
// basicDevice.SetHomePosition("RobotHome_" + i, HomePos);
//}
basicDevice.GetHomePositions(out homePositions);
int HomePosNum = homePositions.Length;
if (HomePosNum > 1) //当对象运动机构数量>1时 清除全部机构对象
{
foreach (HomePosition homePosition in homePositions)
{
selection.Add(homePosition);
//Array AtoolTip = null;
//homePosition.GetAssociatedToolTip(out AtoolTip);
//selection.Add(homePosition);
}
selection.Delete();
}
}
catch (Exception e)
{
MessageBox.Show(e.Message + ";请在帮助-》问题反馈与建议中反馈该问题，谢谢!");
//选定的对象不存在任何运动机构
}
//Mechanisms TheMechanismsList = TheKinWorkbench.Mechanisms;
RobGenericController Rgcr = (RobGenericController)product.GetTechnologicalObject("RobGenericController");
RobControllerFactory CRM = (RobControllerFactory)product.GetTechnologicalObject("RobControllerFactory");
GenericMotionProfile genericMotion = null;
int ProfileCount = 0;
Rgcr.GetMotionProfileCount(out ProfileCount);
if (ProfileCount > 0)
{
string ProfileName = "DNBRobController";
Rgcr.GetMotionProfile(ProfileName, out genericMotion);
}
InitController(Rgcr, CRM, 10, progressBar);
Mechanism mechanism = cTheMechanisms.Add();
//mechanism.FixedPart=
///RefDocument//mk:@MSITStore:F:\02%20我的知识库\05%20学习&总结资料\01%20CAA开发资料\V5Automation.chm::/online/CAAScdDmuUseCases/CAAKiiMechanismCreationSource.htm
//string GetName = CRM.get_Name();
}
public ProductDocument GetProductPath(Product Tproduct, DataType.Dsystem DStype, bool Value = false)
{
Documents CatDocuments = DStype.DSDocument;
String Path = string.Empty;
String SPath = string.Empty;
String Name = Tproduct.get_PartNumber();
//String NwProductName = Name + "_Fixture";
try
{
ProductDocument DSPD = (ProductDocument)CatDocuments.Item(Name + ".CATProduct");
return(DSPD);
}
catch (Exception)
{
//
}
return(null);
}
private void reSelectRobotTask_Click(object sender, EventArgs e)
{
tagList.Clear();
viatagList.Clear();
processtagList.Clear();
ProcessTaskAddress.Items.Clear();
Pbar.Value = 0;
Pbar.Step = 10;
GloalForDelmia GFD = new GloalForDelmia();
DStype = GFD.InitCatEnv(this);
if (DStype.Revalue == -1)
{
return;
}
this.TopMost = false;
this.WindowState = FormWindowState.Minimized;
Selection Uselect = GFD.GetIRobotMotion(this, DStype, 12, "请选择即将操作的Taglist对象");
RobotTask robotTask = null;
if (Uselect != null && Uselect.Count > 0)
{
try
{
String GetName = string.Empty;
robotTask = (RobotTask)Uselect.Item2(1).Value;
GetName = robotTask.get_Name();
selectedrobotTaskName.Text = GetName;
//GFD.ClearRobotHomeList(this, DStype, Usp, "Test", Pbar);
GFD.ReadTaskTagList(this, robotTask, TaskListA, TaskListB, Pbar, ref tagList, ref viatagList, ref processtagList);
}
catch
{
MessageBox.Show("操作目标过程中发生未知错误，编号：0029874，在入口的帮助选项卡中反馈该问题!");
}
}
//this.TopMost = true;
//this.WindowState = FormWindowState.Maximized;
this.WindowState = FormWindowState.Normal;
this.StartPosition = FormStartPosition.CenterScreen;
this.TopMost = false;
}
private void ProcessTaskAddress_SelectedIndexChanged(object sender, EventArgs e)
{
if (robotTasks.Count < 1)
{
return;
}
String GetName = string.Empty;
int SelectIndex = ProcessTaskAddress.SelectedIndex;
RobotTask srobotTask = robotTasks[SelectIndex];
GetName = srobotTask.get_Name();
//selectedrobotTaskName.Text = GetName;
//GFD.ClearRobotHomeList(this, DStype, Usp, "Test", Pbar);
GloalForDelmia GFD = new GloalForDelmia();
DStype = GFD.InitCatEnv(this);
GFD.ReadTaskTagList(this, srobotTask, TaskListA, TaskListB, Pbar, ref tagList, ref viatagList, ref processtagList);
this.WindowState = FormWindowState.Normal;
this.StartPosition = FormStartPosition.CenterScreen;
this.TopMost = true;
}
public void CreateRobotMoto(Form FM, DataType.Dsystem DSystem, Product product, String RobotName, ProgressBar progressBar, bool CreateCable = false)
{
Workbench TheKinWorkbench = DSystem.CDSActiveDocument.GetWorkbench("KinematicsWorkbench");
Mechanisms cTheMechanisms = null;
try
{
cTheMechanisms = (Mechanisms)product.GetTechnologicalObject("Mechanisms");
if (cTheMechanisms.Count > 1) //当对象运动机构数量>1时 清除全部机构对象
{
foreach (Mechanism item in cTheMechanisms)
{
cTheMechanisms.Remove(item); //Clear All Mechanisms
}
}
}
catch (Exception)
{
//选定的对象不存在任何运动机构
}
//BasicDevice basicDevice = (BasicDevice)product.GetTechnologicalObject("BasicDevice");
//Mechanisms TheMechanismsList = TheKinWorkbench.Mechanisms;
RobGenericController Rgcr = (RobGenericController)product.GetTechnologicalObject("RobGenericController");
RobControllerFactory CRM = (RobControllerFactory)product.GetTechnologicalObject("RobControllerFactory");
GenericMotionProfile genericMotion = null;
int ProfileCount = 0;
Rgcr.GetMotionProfileCount(out ProfileCount);
if (ProfileCount > 0)
{
string ProfileName = "DNBRobController";
Rgcr.GetMotionProfile(ProfileName, out genericMotion);
}
InitController(Rgcr, CRM, 10, progressBar);
Mechanism mechanism = cTheMechanisms.Add();
//mechanism.FixedPart=
///RefDocument//mk:@MSITStore:F:\02%20我的知识库\05%20学习&总结资料\01%20CAA开发资料\V5Automation.chm::/online/CAAScdDmuUseCases/CAAKiiMechanismCreationSource.htm
//string GetName = CRM.get_Name();
}
/// <summary>
/// 初始化软件环境及全局变量
/// </summary>
/// <param name="FM">当前From</param>
/// <param name="SoftTarget">Catia/Delmia</param>
/// <returns></returns>
public DataType.Dsystem InitCatEnv(Form FM)
{
DataType.Dsystem Dsvalue = new DataType.Dsystem();
INFITF.Application DSApplication;
Documents DSDocument;
INFITF.Document CDSActiveDocument;
ProcessDocument DSActiveDocument;
Process[] AllProcess = Process.GetProcessesByName("DELMIA");
#region Vision Selection Model
//if (AllProcess.Length > 1)
//{
// try
// {
// // MessageBox.Show("当前打开超过1个Delmia,可能操控的Delmia非您需要的对象，请核实！");
// // IntPtr Ptr = AllProcess[2].MainWindowHandle;
// // string Pname = AllProcess[2].MainWindowTitle;
// // int progid= AllProcess[2].;
// // object Pobj = Marshal.GetActiveObject("Delmia.Application");
// //// object Tobj = Marshal.GetObjectForIUnknown(ptr2);
// // object Pobj0 = Marshal.GetActiveObject(progid.ToString());
// // DSApplication = (INFITF.Application)Pobj;
// // String tn = DSApplication.get_Caption();
// }
// catch (Exception)
// {
// throw;
// }
//}
#endregion
try
{
DSApplication = (INFITF.Application)Marshal.GetActiveObject("Delmia.Application");
}
catch (Exception)
{
FM.WindowState = FormWindowState.Normal;
FM.StartPosition = FormStartPosition.CenterScreen;
MessageBox.Show("未检测到打开的Delmia!,请重新运行Delmia!_" + AllProcess.Length);
Dsvalue.Revalue = -1;
return(Dsvalue);
//throw;
}
try
{
DSApplication.set_Caption("正在运行锐锋快速建模工具！");
}
catch (Exception)
{
// throw;
}
// 获取当前活动ProductDocument
try
{
DSDocument = (Documents)DSApplication.Documents;
CDSActiveDocument = DSApplication.ActiveDocument;
try
{
DSActiveDocument = (ProcessDocument)CDSActiveDocument;
}
catch (Exception)
{
DSActiveDocument = null;
//throw;
}
}
catch (Exception)
{
MessageBox.Show("未检测到活动Product,正在为您创建，请手动辅助完成！");
Dsvalue.Revalue = -1;
return(Dsvalue);
//MessageBox.Show("未检测到活动Product,已自动为您创建对象！");
}
// 添加一个新零件
Dsvalue.DSApplication = DSApplication;
Dsvalue.DSDocument = DSDocument;
Dsvalue.DSActiveDocument = DSActiveDocument;
Dsvalue.CDSActiveDocument = CDSActiveDocument;
Dsvalue.Revalue = 0;
return(Dsvalue);
}
