public HalRobotMotion Clone()
{
var buffer = MvUtil.SerializeBinary(this);
var rtn = MvUtil.DeserializeBinary <HalRobotMotion>(buffer);
return(rtn);
}
public int MvCfInit()
{
this.Mediater = new MacMachineMediater();
this.Mediater.MachineMgr = this;
this.Config = MacMachineMgrCfg.LoadFromXmlFile(); //先載入整機的Config
this.HalContext = new MacHalContext(this.Config.ManifestCfgPath); //將Manifest路徑交給HalContext載入
this.HalContext.MvCfInit();
foreach (var row in this.Config.MachineCtrls)
{
//Create machine controller
var machine = Activator.CreateInstance(row.MachineCtrlType.Type) as MacMachineCtrlBase;
this.CtrlMachines[row.ID] = machine;
//Initial machine controller
machine.Mediater = this.Mediater;
//Assign HAL to machine controller
var hal = this.HalContext.HalDevices.Where(x => x.Value.ID == row.HalId).FirstOrDefault();
machine.halAssembly = hal.Value as MacHalAssemblyBase;
machine.halAssembly.HalConnect();
}
MvUtil.Foreach(this.CtrlMachines.Values, m => m.MvCfInit());
return(0);
}
public int MvCfFree()
{
this.MvCfFree();
MvUtil.Foreach(this.CtrlMachines.Values, m => m.MvCfFree());
this.DisposeSelf();
return(0);
}
public int MvCfUnload()
{
this.HalContext.MvCfUnload();
MvUtil.Foreach(this.CtrlMachines.Values, m => m.MvCfUnload());
return(0);
}
protected virtual void DisposeSelf()
{
MvUtil.DisposeObjTry(this.CtrlMachines.Values);
}
public void TestRobotPathSerialize()
{
var robotPath = new HalRobotPath()
{
Name = "Test",
Remark = "Test",
};
var robotMotion = new HalRobotMotion()
{
X = 1.1f,
Y = 2.2f,
Z = 3.3f,
W = 4.4f,
P = 5.5f,
R = 6.6f,
E1 = 7.7f,
UserFrame = 1,
UserTool = 1,
Speed = 60,
MotionType = HalRobotEnumMotionType.Position,
};
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
MvUtil.SaveToXmlFile(robotPath, robotPath.Name + ".xml");
var loadPath = MvUtil.LoadFromXmlFile <HalRobotPath>(robotPath.Name + ".xml");
var loadMotion = loadPath.Motions.LastOrDefault();
Assert.AreEqual(robotMotion.X, loadMotion.X);
Assert.AreEqual(robotMotion.Z, loadMotion.Z);
Assert.AreEqual(robotMotion.Y, loadMotion.Y);
Assert.AreEqual(robotMotion.W, loadMotion.W);
Assert.AreEqual(robotMotion.P, loadMotion.P);
Assert.AreEqual(robotMotion.R, loadMotion.R);
Assert.AreEqual(robotMotion.E1, loadMotion.E1);
Assert.AreEqual(robotMotion.J1, loadMotion.J1);
Assert.AreEqual(robotMotion.J2, loadMotion.J2);
Assert.AreEqual(robotMotion.J3, loadMotion.J3);
Assert.AreEqual(robotMotion.J4, loadMotion.J4);
Assert.AreEqual(robotMotion.J5, loadMotion.J5);
Assert.AreEqual(robotMotion.J6, loadMotion.J6);
Assert.AreEqual(robotMotion.J7, loadMotion.J7);
Assert.AreEqual(robotMotion.UserFrame, loadMotion.UserFrame);
Assert.AreEqual(robotMotion.UserTool, loadMotion.UserTool);
Assert.AreEqual(robotMotion.Speed, loadMotion.Speed);
}
public T GetDevConnStrEnum <T>(string key)
{
return(MvUtil.EnumParse <T>(this.DevSettings[key] as string));
}
/// <summary>
/// serialize (序列化) manifest object, and save as xml file
/// </summary>
/// <param name="cfg">MachineManifest object</param>
/// <param name="filePath">xml file path for saving</param>
public static void SaveToXmlFile(MacMachineMgrCfg cfg, string filePath)
{
MvUtil.SaveToXmlFile <MacMachineMgrCfg>(cfg, filePath);
}
/// <summary>
/// deserialize (反序列化) MachineManifest object from xml file
/// </summary>
/// <param name="filePath">xml file path for loading</param>
/// <returns></returns>
public static MacMachineMgrCfg LoadFromXmlFile(string filePath = "../../UserData/MachineMgr.config")
{
return(MvUtil.LoadFromXmlFile <MacMachineMgrCfg>(filePath));
}
public void SaveToXmlFile(string fn)
{
MvUtil.SaveToXmlFile(this, fn);
}
/// <summary>
/// serialize (序列化) manifest object, and save as xml file
/// </summary>
/// <param name="manifest">MachineManifest object</param>
/// <param name="filePath">xml file path for saving</param>
public static void SaveToXmlFile(MacManifestCfg manifest, string filePath)
{
MvUtil.SaveToXmlFile <MacManifestCfg>(manifest, filePath);
}
/// <summary>
/// deserialize (反序列化) MachineManifest object from xml file
/// </summary>
/// <param name="filePath">xml file path for loading</param>
/// <returns></returns>
public static MacManifestCfg LoadFromXmlFile(string filePath)
{
return(MvUtil.LoadFromXmlFile <MacManifestCfg>(filePath));
}
