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);
}
public static bool LoadProgramFromFile(string filePath)
{
bool result = false;
Project.UndoContext.BeginUndoStep("LoadProgramFromFile");
//Get Station object
#region LoadProgramFromFileStep1
Station station = Project.ActiveProject as Station;
#endregion
//Check for existance of Program
if (System.IO.File.Exists(filePath))
{
try
{
RsTask task = station.ActiveTask;
if (task != null)
{
//Get RsIrc5Controller instance
#region LoadProgramFromFileStep2
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
//Get virtual controller instance from RsIrc5Controller
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
//get task
ABB.Robotics.Controllers.RapidDomain.Task vTask = controller.Rapid.GetTask(task.Name);
#endregion
//Request Mastership
#region LoadProgramFromFileStep3
using (ABB.Robotics.Controllers.Mastership m =
ABB.Robotics.Controllers.Mastership.Request(controller.Rapid))
#endregion
{
if (controller.Rapid.ExecutionStatus ==
ABB.Robotics.Controllers.RapidDomain.ExecutionStatus.Stopped)
{
//Load Program if Rapid Execution is stopped
#region LoadProgramFromFileStep4
vTask.LoadProgramFromFile(filePath,
ABB.Robotics.Controllers.RapidDomain.RapidLoadMode.Replace);
#endregion
System.Threading.Thread.Sleep(1000);
result = true;
}
}
}
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
finally
{
Project.UndoContext.EndUndoStep();
}
}
return(result);
}
