public void InitDataStream()
{
// This loads the Task, ensure that the task name matches in robot studio
ABB.Robotics.Controllers.RapidDomain.Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
// this line reads the variable Start on Rapid and passes the value to this app
rd_start = tRob1.GetRapidData("Module1", "Start");
if (rd_start.Value is Num)
{
// We set the process flag to the start variable
processFlag = (Num)rd_start.Value;
}
rd_begin = tRob1.GetRapidData("Module1", "flag");
if (rd_begin.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
position = tRob1.GetRapidData("Module1", "position");
}
}
private void PrintRapidData(string taskName, string moduleName, string varName)
{
try
{
rdt = controller.Rapid.GetRapidDataType(taskName, moduleName, varName);
}
catch (Exception e)
{
Console.WriteLine(e.StackTrace); Thread.Sleep(5000);
}
try
{
if (rd != null)
{
rd.Dispose();
}
rd = controller.Rapid.GetRapidData(taskName, moduleName, varName);
}
catch (Exception e)
{
Console.WriteLine("Could not fetch rapid data");
Console.WriteLine(e.StackTrace);
}
if (!string.IsNullOrWhiteSpace(rd.StringValue))
{
Console.WriteLine("{0} : {1} ", taskName, rd.StringValue);
}
// subscribing to variable change
rd.ValueChanged += RapidVar_ValueChanged;
}
private void btnHome_Click(object sender, EventArgs e)
{
// JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
JointTarget jCurPos = new JointTarget();
jCurPos.FillFromString2("[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]]");
try
{
using (this.master = Mastership.Request(controller.Rapid))
{
RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
rd.Value = jCurPos;
controller.Rapid.Start();
}
if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
{
master.Release();
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
master.Release();
master = Mastership.Request(controller);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public static Dictionary <string, List <string[]> > readProgramData(bool run, string[] controllerData)
{
List <string[]> progData = new List <string[]> {
};
///List<string[]> currData = new List<string[]> { };
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefault();
sProp.Types = SymbolTypes.Data;
RapidSymbol[] progDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
foreach (RapidSymbol rs in progDatas)
{
RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
if ((rd.Value is ToolData) | (rd.Value is WobjData))
{
string[] eachProg = new string[3]
{
rd.RapidType,
rd.Name,
rd.Value.ToString()
};
progData.Add(eachProg);
}
}
/*
* RapidSymbol[] currDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
* foreach (RapidSymbol rs in currDatas)
* {
* RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
* if ((rd.Value is ToolData) | (rd.Value is WobjData))
* {
* string[] eachCurr = new string[3]
* {
* rd.RapidType,
* rd.Name,
* rd.Value.ToString()
* };
* currData.Add(eachCurr);
* }
* }
*/
}
}
return(new Dictionary <string, List <string[]> >
{
{ "programData", progData } /*,{"currentData", currData}*/
});
}
private void button2_Click(object sender, EventArgs e)
{
RapidData aData = controller.Rapid.GetTask("T_ROB1").GetModule(textBox2.Text).GetRapidData(textBox1.Text);
textBox_rapidType.Text = aData.RapidType;
textBox_symbolType.Text = aData.Symbol.ToString();
textBox_varName.Text = aData.Name;
textBox_varValue.Text = aData.StringValue;
}
public void RefreshData(RWSystem rwSystem)
{
RapidData rPipeGrooveModel = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName);
RapidDataType rPipeGrooveModelType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rPipeGrooveModelUserDefine = new UserDefined(rPipeGrooveModelType);
rPipeGrooveModelUserDefine.FillFromString(rPipeGrooveModel.Value.ToString());
int i = 0;
this.numIndex = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numPipeGrooveType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numSeamCenterX = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numSeamNormalAngle = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderDiameter = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderThickness = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numHeaderMaterial = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchDiameter = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchThickness = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchMaterial = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numMultiPassTotal = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numCooperativeRobots = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numPathSource = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numReviseScanBranchType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numReviseScanHeaderType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numWeldLegWidth = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numGrooveGap = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveRoot = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveAngle = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBranchGrooveAngle90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numTopHeight90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numBottomHeight90 = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numProfCosine = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numLayerHeight = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numLayerPassTotalRoundType = decimal.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.numAlgorithmType = int.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.boolContinuous = bool.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.boolUseAlignedSTNbyFixedValue = bool.Parse(rPipeGrooveModelUserDefine.Components[i++].ToString());
this.strID = rPipeGrooveModelUserDefine.Components[i++].ToString();
this.strRemark = rPipeGrooveModelUserDefine.Components[i++].ToString();
rPipeGrooveModelUserDefine.Dispose();
rPipeGrooveModelType.Dispose();
rPipeGrooveModel.Dispose();
}
private void Jogging(string joint, float OffsJointValue)
{
JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
switch (joint)
{
case "J1":
jCurPos.RobAx.Rax_1 += OffsJointValue;
break;
case "J2":
jCurPos.RobAx.Rax_2 += OffsJointValue;
break;
case "J3":
jCurPos.RobAx.Rax_3 += OffsJointValue;
break;
case "J4":
jCurPos.RobAx.Rax_4 += OffsJointValue;
break;
case "J5":
jCurPos.RobAx.Rax_5 += OffsJointValue;
break;
case "J6":
jCurPos.RobAx.Rax_6 += OffsJointValue;
break;
}
try
{
using (this.master = Mastership.Request(controller.Rapid))
{
RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
rd.Value = jCurPos;
controller.Rapid.Start();
}
if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
{
master.Release();
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
master.Release();
master = Mastership.Request(controller);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public void Write_ABB_DataRecord(string Data_Record_Name, string Module_Name, string Task_Name, Controller aController, List <string> Variables, int ArrayIndex)
{
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
string L_Data_Record_Name = Data_Record_Name;
List <string> _Variables = Variables;
Controller L_aController = aController;
int _ArrayIndex = ArrayIndex;
string _info;
try
{
//Get the array with the records
rd_array = aController.Rapid.GetRapidData(Task_Name, Module_Name, "RawIndividuals");
ad = (ArrayData)rd_array.Value;
int aRank = ad.Rank;
//Read the record
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, L_Data_Record_Name);
rdt = L_aController.Rapid.GetRapidDataType(L_Task_Name, L_Module_Name, L_Data_Record_Name);
UserDefined processdata = new UserDefined(rdt);
//Prepare the parameters
for (int i = 0; i < 5; i++)
{
processdata.Components[i].FillFromString(_Variables[i]);
}
//Add the parameters to the array
rd_array.Value = ad;
ad[ArrayIndex] = processdata;
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
_info = "Error: " + ee.Message;
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
_info = "Error: " + ee.Message;
}
catch (ABB.Robotics.GenericControllerException ee)
{
_info = "Error: " + ee.Message;
}
catch (System.Exception ee)
{
_info = "Error: " + ee.Message;
}
finally
{
// Release resources
}
}
public void RefreshData(RWSystem rwSystem, int intGroupIndex, int intIndex)
{
this.intGroupIndex = intGroupIndex;
this.intIndex = intIndex;
RapidData rWeldProcedureArray = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName + this.intGroupIndex);
//RapidDataType rWeldProcedureType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rWeldProcedure = (UserDefined)rWeldProcedureArray.ReadItem(this.intIndex);
int i = 0;
this.strWeldProcedureID = rWeldProcedure.Components[i++].ToString();
this.strWeldProcedureID = this.strWeldProcedureID.Substring(1, this.strWeldProcedureID.Length - 2);
this.numWeldSpeed = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numPreFlow = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numSche = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numTrackCurrent = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numPostFlow = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveShape = int.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveType = int.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveLength = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveWidth = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveHeigth = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numDwellLeft = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numDwellCenter = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numDwellRight = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveDir = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveTilt = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveOri = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveBias = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numTrackType = int.Parse(rWeldProcedure.Components[i++].ToString());
this.numGainY = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numGainZ = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numPenetration = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numTrackBias = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.numWeaveWidth90 = decimal.Parse(rWeldProcedure.Components[i++].ToString());
this.strRemark = rWeldProcedure.Components[i++].ToString();
this.strRemark = this.strRemark.Substring(1, this.strRemark.Length - 2);
//rWeldProcedureType.Dispose();
rWeldProcedure.Dispose();
rWeldProcedureArray.Dispose();
}
private void button_Read_Click(object sender, EventArgs e)
{
#if ROBOT_EXIST
ControllerInfo controllerInfo = main_form.controllers[0]; // 我们很自信，就一个控制器，以后有多个的话，这里肯定需要修改
Controller ctrl = ControllerFactory.CreateFrom(controllerInfo);
ctrl.Logon(UserInfo.DefaultUser);
tRob1 = ctrl.Rapid.GetTask("T_ROB1");
#endif
string module_name = comboBox_Module.SelectedItem.ToString();
string var_type = comboBox_Var.SelectedItem.ToString();
int var_type_no = comboBox_Var.SelectedIndex;
string var_name = textBox_varName.Text;
#if ROBOT_EXIST
string str_read_res = "";
switch (var_type)
{
case "Num":
RD_time = tRob1.GetRapidData(module_name, var_name);
ABB_Num_time = (Num)RD_time.Value;
str_read_res = ABB_Num_time.ToString();
break;
case "RobTarget":
RD_rt = tRob1.GetRapidData(module_name, var_name);
ABB_RT_rt = (RobTarget)RD_rt.Value;
str_read_res = ABB_RT_rt.ToString();
break;
default:
break;
}
textBox1_Result.Text = str_read_res;
textBox1_Result.Update();
ctrl.Logoff();
ctrl.Dispose();
#else
switch (var_type)
{
case "Num":
textBox1_Result.Text = "Num";
break;
case "RobTarget":
textBox1_Result.Text = "RobTarget";
break;
default:
break;
}
textBox1_Result.Update();
#endif
}
/// <summary>
/// 定时器更新机器人状态信息
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void timer1_Tick(object sender, EventArgs e)
{
if (Timer_ON)
{
if (this.comboBox2.Text.Contains("工件坐标"))
{
gripper_Loc = abbcontroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.WorkObject);//读取当前坐标系
}
else if (this.comboBox2.Text.Contains("基坐标"))
{
gripper_Loc = abbcontroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.Base);//读取当前坐标系
}
else if (this.comboBox2.Text.Contains("世界坐标"))
{
gripper_Loc = abbcontroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World);//读取当前坐标系
}
this.x_label.Text = gripper_Loc.Trans.X.ToString();
this.y_label.Text = gripper_Loc.Trans.Y.ToString();
this.z_label.Text = gripper_Loc.Trans.Z.ToString();
this.q1_label.Text = gripper_Loc.Rot.Q1.ToString();
this.q2_label.Text = gripper_Loc.Rot.Q2.ToString();
this.q3_label.Text = gripper_Loc.Rot.Q3.ToString();
this.q4_label.Text = gripper_Loc.Rot.Q4.ToString();
speedData = abbcontroller.Rapid.GetRapidData("T_ROB1", "MainModule", "speeddef");
string[] speedstr = speedData.Value.ToString().Split('[', ',', ']'); //分割字符串
this.speedlabel.Text = speedstr[1] + "mm/s " + this.abbcontroller.MotionSystem.SpeedRatio.ToString() + "%";
this.cyclelabel.Text = this.abbcontroller.Rapid.Cycle.ToString();
this.modelabel.Text = this.abbcontroller.OperatingMode.ToString();
this.motorStatelabel.Text = this.abbcontroller.State.ToString();
if (this.motorStatelabel.Text == "MotorsOn")
{
this.motorStatelabel.ForeColor = Color.Green;
}
else
{
this.motorStatelabel.ForeColor = Color.Red;
}
if (this.modelabel.Text == "Auto")
{
this.modelabel.ForeColor = Color.Green;
}
else
{
this.modelabel.ForeColor = Color.Red;
}
}
else
{
}
}
//Functions
public string Read_ABB_DataRecord(string Data_Record_Name, string Module_Name, string Task_Name, Controller aController, int ArrayIndex)
{
string Data_Records_Time = " ";
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
string L_Data_Record_Name = Data_Record_Name;
Controller L_aController = aController;
string _info;
try
{
//Get the array with the records
rd_array = aController.Rapid.GetRapidData(Task_Name, Module_Name, "RawIndividuals");
ad = (ArrayData)rd_array.Value;
int aRank = ad.Rank;
//Read the record
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, L_Data_Record_Name);
rdt = L_aController.Rapid.GetRapidDataType(L_Task_Name, L_Module_Name, L_Data_Record_Name);
UserDefined processdata = new UserDefined(rdt);
processdata = (UserDefined)ad[ArrayIndex];
//Get the time elapsed using the individual's parameters
Data_Records_Time = processdata.Components[5].ToString();
return(Data_Records_Time);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (ABB.Robotics.GenericControllerException ee)
{
return(_info = "Error: " + ee.Message);
}
catch (System.Exception ee)
{
return(_info = "Error: " + ee.Message);
}
finally
{
//
}
}
public void ApplyData(RWSystem rwSystem)
{
RapidData rWeldProcedureArray = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName + this.intGroupIndex);
//RapidDataType rWeldProcedureType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rWeldProcedure = (UserDefined)rWeldProcedureArray.ReadItem(this.intIndex);
rWeldProcedure.FillFromString(this.ToString());
ErrorHandler.AddErrorMessage("MichaelLog", this.ToString());
rWeldProcedureArray.WriteItem(rWeldProcedure, this.intIndex);
//rWeldProcedureType.Dispose();
rWeldProcedure.Dispose();
rWeldProcedureArray.Dispose();
}
public void InitDataStream()
{
Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
rd_repeat = tRob1.GetRapidData("Module1", "repeat");
if (rd_repeat.Value is Bool)
{
repeatBool = (Bool)rd_repeat.Value;
}
rd_start = tRob1.GetRapidData("Module1", "flag");
if (rd_start.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_targetsNum = tRob1.GetRapidData("Module1", "targetsNum");
if (rd_targetsNum.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_speedLevel = tRob1.GetRapidData("Module1", "speedLevel");
if (rd_speedLevel.Value is Num)
{
speedLevel = (Num)rd_speedLevel.Value;
}
rd_targets = tRob1.GetRapidData("Module1", "tgPos");
if (rd_targets.IsArray)
{
targets = (ArrayData)rd_targets.Value;
int aRank = targets.Rank;
maxLength = targets.GetLength(aRank - 1);
ArrayModes am = targets.Mode;
Debug.WriteLine("ARRAY MODE! ::: " + am.ToString());
targets.Mode = ArrayModes.Dynamic;
}
else
{
MessageBox.Show("'targets' data is not array!");
}
if (rd_targets == null)
{
MessageBox.Show("'targets' data does not exist!");
}
}
}
public void ApplyData(RWSystem rwSystem)
{
RapidData rLayerParameter = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, string.Format("{0}{1:00}", strDataName, this.intLayerNo));
RapidDataType rLayerParameterType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rLayerParameterUserDefine = new UserDefined(rLayerParameterType);
rLayerParameterUserDefine.FillFromString(this.ToString());
ErrorHandler.AddErrorMessage("MichaelLog", this.ToString());
rLayerParameter.Value = rLayerParameterUserDefine;
rLayerParameterUserDefine.Dispose();
rLayerParameterType.Dispose();
rLayerParameter.Dispose();
}
public void ApplyData(RWSystem rwSystem)
{
RapidData rPipeGrooveModel = rwSystem.Controller.Rapid.GetRapidData(strTaskName, strDataModuleName, strDataName);
RapidDataType rPipeGrooveModelType = rwSystem.Controller.Rapid.GetRapidDataType(strTaskName, strDataTypeModuleName, strDataType);
UserDefined rPipeGrooveModelUserDefine = new UserDefined(rPipeGrooveModelType);
rPipeGrooveModelUserDefine.FillFromString(this.ToString());
ErrorHandler.AddErrorMessage("MichaelLog", this.ToString());
rPipeGrooveModel.Value = rPipeGrooveModelUserDefine;
rPipeGrooveModelUserDefine.Dispose();
rPipeGrooveModelType.Dispose();
rPipeGrooveModel.Dispose();
}
public void JudgeColor()
{
crd_SelectAction = RobotClass.con.Rapid.GetRapidData("T_ROB1", "RobotData", "SelectAction");
ArrayData pp = (ArrayData)crd_SelectAction.Value;
switch (((Bool)pp[cPint - 1, 0]).ToString())
{
case "False":
btn_cy1.BackColor = Color.Gainsboro;
break;
case "True":
btn_cy1.BackColor = Color.Red;
break;
default:
btn_cy1.BackColor = Color.Gainsboro;
break;
}
switch (((Bool)pp[cPint - 1, 1]).ToString())
{
case "False":
btn_cy2.BackColor = Color.Gainsboro;
break;
case "True":
btn_cy2.BackColor = Color.Red;
break;
default:
btn_cy2.BackColor = Color.Gainsboro;
break;
}
switch (((Bool)pp[cPint - 1, 2]).ToString())
{
case "False":
btn_cy3.BackColor = Color.Gainsboro;
break;
case "True":
btn_cy3.BackColor = Color.Red;
break;
default:
btn_cy3.BackColor = Color.Gainsboro;
break;
}
}
public Boolean Read_ABB_Bool(string Module_Name, string Task_Name, Controller aController, string Boolean_Name)
{
Boolean Boolean_Value = false;
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
string L_Data_Record_Name = Boolean_Name;
Controller L_aController = aController;
try
{
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, Boolean_Name);
if (rd.Value is Bool)
{
//Write the value
rapid_bool.Value = (Bool)rd.Value;
Boolean_Value = rapid_bool.Value;
}
return(Boolean_Value);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (ABB.Robotics.GenericControllerException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (System.Exception ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
finally
{
// Release resources
}
return(Boolean_Value);
}
private void UpdateGUI(object sender, EventArgs e)
{
try
{
this.pipeGrooveModel.RefreshData(this.rwSystem);
this.comboBox_numPipeGrooveType.SelectedIndex = this.pipeGrooveModel.numPipeGrooveType - 1;
this.numEditor_numSeamCenterX.Value = this.pipeGrooveModel.numSeamCenterX;
this.numEditor_numSeamNormalAngle.Value = this.pipeGrooveModel.numSeamNormalAngle;
RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent");
this.wobjCurrent.FillFromString(rapidData.Value.ToString());
this.numEditor_oframeX.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1);
this.numEditor_oframeY.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1);
this.numEditor_oframeZ.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
if (this.pipeGrooveModel.numPipeGrooveType >= 3)
{
this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
double dSeamNormalAngle = 0 - Math.PI * ((double)this.numEditor_numSeamNormalAngle.Value) / 180;
double doframeX = this.wobjCurrent.Oframe.Trans.X;
double doframeY = this.wobjCurrent.Oframe.Trans.Y;
this.numEditor_WorldYOffset.Value = (decimal)Math.Round(doframeX * Math.Cos(dSeamNormalAngle) + doframeY * Math.Sin(dSeamNormalAngle), 1);
this.numEditor_WorldZOffset.Value = (decimal)Math.Round(0 - doframeX * Math.Sin(dSeamNormalAngle) + doframeY * Math.Cos(dSeamNormalAngle), 1);
}
else
{
this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1);
this.numEditor_WorldYOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1);
this.numEditor_WorldZOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
}
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when reading RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
//public string readLoaderString
public RobotStatus readString(string controller, string modual, string variable, out string result)
{
if (this._controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(this._controller.Rapid))
{
RapidData rd = this._controller.Rapid.GetRapidData(controller, modual, variable);
result = rd.Value.ToString();
}
return(RobotStatus.finish);
}
else
{
result = "fail";
return(RobotStatus.nonAuto);
}
}
private RobotStatus writeString(string controller, string modual, string variableName, string ipValue)
{
if (this._controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(this._controller.Rapid))
{
RapidData rd = this._controller.Rapid.GetRapidData(controller, modual, variableName);
ABB.Robotics.Controllers.RapidDomain.String rapidString;
rapidString.FillFromString(ipValue);
rd.Value = rapidString;
}
return(RobotStatus.finish);
}
else
{
return(RobotStatus.nonAuto);
}
}
public void Write_ABB_Boolean(string Var_Name, string Module_Name, string Task_Name, Controller aController, Boolean Bit)
{
string L_Var_Name = Var_Name;
string L_Module_Name = Module_Name;
string L_Task_Name = Task_Name;
Controller L_aController = aController;
rapid_bool.Value = Bit;
try
{
rd = L_aController.Rapid.GetRapidData(Task_Name, Module_Name, Var_Name);
if (rd.Value is Bool)
{
//Write the value
rd.Value = rapid_bool;
}
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (ABB.Robotics.GenericControllerException ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
catch (System.Exception ee)
{
// TODO: Add error handling
//MessageBox.Show("Error: " + ee.Message);
}
finally
{
// Release resources
}
}
private void DataValueIsChanged(object sender, DataValueChangedEventArgs e)
{
/////////////////////////////////////////////////////////////////////////
///watching data value
////////////////////////////////////////////////////////////////////////
try
{
for (int i = 0; i < varList.Count; i++)
{
this.rd = this.ctl.Rapid.GetTask(taskName).GetModule(moduleName).GetRapidData(varList[i].ToString());
listViewData.Items[i].SubItems[1].Text = rd.Value.ToString();
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
}
private void ConnectToRobotProgram()
{
//method try connect to robot controller and getting data from it (robot speed value, robot zone value, programStart variable and also actual robot position)
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
tasks = controller.Rapid.GetTasks();
using (Mastership m = Mastership.Request(controller.Rapid))
{
rdRobotPosition = tasks[0].GetRapidData("Module1", "position1");
if (rdRobotPosition.Value is Pos)
{
robotPosition = (Pos)rdRobotPosition.Value;
sliderAxisX.Value = robotPosition.X;
lblValueAxisX.Content = robotPosition.X.ToString();
sliderAxisY.Value = robotPosition.Y;
lblValueAxisY.Content = robotPosition.Y.ToString();
sliderAxisZ.Value = robotPosition.Z;
lblValueAxisZ.Content = robotPosition.Z.ToString();
}
rdZone = tasks[0].GetRapidData("Module1", "robotZone");
rdSpeed = tasks[0].GetRapidData("Module1", "robotSpeed");
rdProgramStart = tasks[0].GetRapidData("Module1", "programStart");
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public void InitDataStream()
{
Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
rd_start = tRob1.GetRapidData("Module1", "Start");
if (rd_start.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_begin = tRob1.GetRapidData("Module1", "flag");
if (rd_begin.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
}
}
//初始化数据流（上电时初始化数据流）:
public void InitDataStream(Controller controller)
{
controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
ABB.Robotics.Controllers.RapidDomain.Task[] tasks = controller.Rapid.GetTasks();
if (tasks[0] != null)
{
//单点运动
DstPosQuat = tasks[0].GetRapidData("MainModule", "DstPosQuat");//获取实例
if (DstPosQuat.Value is Pose)
{
posquat = (Pose)DstPosQuat.Value;//获取默认值
}
//产品类型
produceTypeRobot = tasks[0].GetRapidData("MainModule", "produceType");
if (produceTypeRobot.Value is Num)
{
producetypeLocal = (Num)produceTypeRobot.Value;
}
}
}
private void buttonStart_Click(object sender, EventArgs e)
{
///////////////////////////////////////////////////////////////
///starting
///////////////////////////////////////////////////////////////
Signal sig = null;
if (ioList.Count != 0)
{
for (int i = 0; i < ioList.Count; i++)
{
sig = ctl.IOSystem.GetSignal(ioList[i].ToString());
sig.Changed += new EventHandler <SignalChangedEventArgs>(SignalChanged);
}
}
taskName = comboBoxTask.Text.ToString();
moduleName = comboBoxModule.Text.ToString();
if (varList.Count != 0 && taskName != "" && moduleName != "")
{
try
{
for (int i = 0; i < varList.Count; i++)
{
this.rd = this.ctl.Rapid.GetTask(taskName).GetModule(moduleName).GetRapidData(varList[i].ToString());
listViewData.Items[i].SubItems[1].Text = rd.Value.ToString();
this.rd.ValueChanged += new EventHandler <DataValueChangedEventArgs>(DataValueChanged);
this.rd.Subscribe(DataValueChanged, EventPriority.High);
this.rd.Unsubscribe(DataValueChanged);
}
}
catch
{
MessageBox.Show("error，check task name,module name,PERS name");
}
}
}
private void menuItem_Apply_Click(object sender, EventArgs e)
{
try
{
this.wobjCurrent.Oframe.Trans.X = (float)this.numEditor_oframeX.Value;
this.wobjCurrent.Oframe.Trans.Y = (float)this.numEditor_oframeY.Value;
this.wobjCurrent.Oframe.Trans.Z = (float)this.numEditor_oframeZ.Value;
RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent");
rapidData.Value = this.wobjCurrent;
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
private void listViewData_DoubleClick(object sender, EventArgs e)
{
RapidData rdt = null;
string temp = "0";
try
{
MessageBox.Show("Zero clearing? accept in the flexpandent after click OK");
rdt = this.ctl.Rapid.GetTask(taskName).GetModule(moduleName).GetRapidData(listViewData.SelectedItems[0].Text.ToString());
Mastership mas = Mastership.Request(this.ctl.Rapid);
//Change: controller is repaced by aController
rdt.Value = ABB.Robotics.Controllers.RapidDomain.Num.Parse(temp);
mas.Dispose();
MessageBox.Show("zero clearing");
}
catch (Exception ex)
{
MessageBox.Show("Type isn't Num. error: " + ex.ToString());
}
//Release mastership as soon as possible
}
public static Dictionary <string, List <string> > readTargetData(bool run, string[] controllerData)
{
List <string> rTargets = new List <string>();
List <string> jTargets = new List <string>();
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefault();
sProp.Types = SymbolTypes.Data;
RapidSymbol[] datas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
foreach (RapidSymbol rs in datas)
{
RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
if (rd.Value is RobTarget)
{
rTargets.Add(rd.Value.ToString());
}
if (rd.Value is JointTarget)
{
jTargets.Add(rd.Value.ToString());
}
}
}
}
return(new Dictionary <string, List <string> >
{
{ "robTargets", rTargets },
{ "jointTargets", jTargets }
});
}
private void RegisterForEvents()
{
clear_flags();
//controller_101 RHS
RinReadyPosAEvent = controller_101.Rapid.GetRapidData("T_ROB1", "Module1", "isRinReadyPosA");
if (RinReadyPosAEvent != null)
{
RinReadyPosAEvent.ValueChanged += RinReadyPos_EventHandler;
}
RinCrossPosEvent = controller_101.Rapid.GetRapidData("T_ROB1", "Module1", "isRinCrossPos");
if (RinCrossPosEvent != null)
{
RinCrossPosEvent.ValueChanged += RinCrossPos_EventHandler;
}
RGripperOpenedEvent = controller_101.Rapid.GetRapidData("T_ROB1", "Module1", "isRGripperOpened");
if (RGripperOpenedEvent != null)
{
RGripperOpenedEvent.ValueChanged += RGripperOpened_EventHandler;
}
//controller_100 LHS
LinCrossPosEvent = controller_100.Rapid.GetRapidData("T_ROB1", "Module1", "isLinCrossPos");
if (LinCrossPosEvent != null)
{
LinCrossPosEvent.ValueChanged += LinCrossPos_EventHandler;
}
LGripperClosedEvent = controller_100.Rapid.GetRapidData("T_ROB1", "Module1", "isLGripperClosed");
if (LGripperClosedEvent != null)
{
LGripperClosedEvent.ValueChanged += LGripperClosed_EventHandler;
}
//Reverse
//controller_101 RHS
R_RinCrossPosEvent = controller_101.Rapid.GetRapidData("T_ROB1", "Module1", "R_isRinCrossPos");
if (R_RinCrossPosEvent != null)
{
R_RinCrossPosEvent.ValueChanged += R_RinCrossPos_EventHandler;
}
R_RGripperClosedEvent = controller_101.Rapid.GetRapidData("T_ROB1", "Module1", "R_isRGripperClosed");
if (R_RGripperClosedEvent != null)
{
R_RGripperClosedEvent.ValueChanged += R_RinGripperClosed_EventHandler;
}
//controller_100 LHS
R_LinReadyPosAEvent = controller_100.Rapid.GetRapidData("T_ROB1", "Module1", "R_isLinReadyPosA");
if (R_LinReadyPosAEvent != null)
{
R_LinReadyPosAEvent.ValueChanged += R_LinReadyPos_EventHandler;
}
R_LinCrossPosEvent = controller_100.Rapid.GetRapidData("T_ROB1", "Module1", "R_isLinCrossPos");
if (R_LinCrossPosEvent != null)
{
R_LinCrossPosEvent.ValueChanged += R_LinCrossPos_EventHandler;
}
R_LGripperOpenedEvent = controller_100.Rapid.GetRapidData("T_ROB1", "Module1", "R_isLGripperOpened");
if (R_LGripperOpenedEvent != null)
{
R_LGripperOpenedEvent.ValueChanged += R_LGripperOpened_EventHandler;
}
}
