public void SetPath(List <BrushStatus> nativTargets, ProgressBar pb)
{
if (nativTargets.Count > maxLength)
{
targetsNum = maxLength;
}
else
{
targetsNum = nativTargets.Count;
}
rd_tgNumValue.FillFromString2(targetsNum.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targetsNum.Value = rd_tgNumValue;
}
Pos rt;
for (int i = 0; i < targetsNum; i++)
{
rt = new Pos();
rt.FillFromString2("[" + nativTargets[i].X + "," + nativTargets[i].Y + "," + nativTargets[i].Z + "]");
Debug.WriteLine(rt.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targets.WriteItem(rt, i);
}
pb.Increment(1);
}
pb.Value = 0;
}
private void btn_cy1_Click(object sender, EventArgs e)
{
try
{
// MyRobot. MasterConytol();
if (crd_SelectAction.IsArray)
{
ArrayData pp = (ArrayData)crd_SelectAction.Value;
if (((Bool)pp[cPint - 1, 0]).ToString() == "True")
{
btn_cy1.BackColor = Color.Gainsboro;;
Bool r_pp = new Bool();
r_pp.FillFromString2("False");
crd_SelectAction.WriteItem(r_pp, cPint - 1, 0);
}
if (((Bool)pp[cPint - 1, 0]).ToString() == "False")
{
btn_cy1.BackColor = Color.Red;
Bool r_pp = new Bool();
r_pp.FillFromString2("True");
crd_SelectAction.WriteItem(r_pp, cPint - 1, 0);
}
}
}
catch (Exception re)
{
MyRobot.JudgeMaster();
MessageBox.Show("没有获得相应权限" + re.Message);
}
}
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 TestSpeedDataArray()
{
RapidData rapidData = this.controller.Rapid.GetRapidData("T_ROB1", "MainModule", "speed1");
RapidDataType rapidDataType = controller.Rapid.GetRapidDataType("T_ROB1", "MainModule", "speed1");
if (rapidData.IsArray)
{
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
ArrayData arrayData = (ArrayData)rapidData.Value;
arrayData.Mode = ArrayModes.Snapshot;
for (int i = 0; i < arrayData.Length; i++)
{
SpeedData speedData = new SpeedData(rapidDataType, arrayData[i].ToStructure());
//SpeedData speedData =new SpeedData(rapidDataType,rapidData.ReadItem(i).ToStructure());
speedData.Tcp += i;
rapidData.WriteItem(speedData, i);
}
stopwatch.Stop();
logger.Debug(stopwatch.ElapsedMilliseconds.ToString());
}
}
public void WriteData(RapidData RapidName, object WriteData, int Index = 1, int Llndex = 1)
{
switch (RapidName.RapidType)
{
case "num":
Num NumData = new Num();
NumData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(NumData, Index, Llndex);
}
else
{
RapidName.WriteItem(NumData, Index);
}
}
else
{
RapidName.Value = NumData;
}
break;
case "bool":
Bool BoolData = new Bool();
BoolData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(BoolData, Index, Llndex);
}
else
{
RapidName.WriteItem(BoolData, Index);
}
}
else
{
RapidName.Value = BoolData;
}
break;
case "string":
ABB.Robotics.Controllers.RapidDomain.String StrData = new ABB.Robotics.Controllers.RapidDomain.String();
StrData.FillFromString(WriteData.ToString());
if (RapidName.IsArray)
{
if (ArrayRank(RapidName) > 1)
{
RapidName.WriteItem(StrData, Index, Llndex);
}
else
{
RapidName.WriteItem(StrData, Index);
}
}
else
{
RapidName.Value = StrData;
}
break;
default:
break;
}
}