private void TraceTask(ABB.Robotics.Controllers.RapidDomain.Task t)
{
Console.WriteLine("\t Task: {0}", t.Name);
Module[] modules = t.GetModules();
foreach (Module m in modules)
{
TraceModule(m);
}
}
private void refreshModuleList()
{
listBox_moduleList.Items.Clear();
tRob1 = controller.Rapid.GetTask("T_ROB1");
Module[] module = tRob1.GetModules();
foreach (Module modFiles in module)
{
listBox_moduleList.Items.Add(modFiles);
}
}
/// <summary>
/// Deletes all existing modules from main task in the controller.
/// </summary>
/// <returns></returns>
private int ClearAllModules(ABBTask task)
{
if (controller == null)
{
logger.Debug("Cannot clear modules: not connected to controller");
return(-1);
}
if (task == null)
{
logger.Debug("Cannot clear modules: task not avaliable");
return(-1);
}
int count = 0;
try
{
using (Mastership.Request(controller.Rapid))
{
ABB.Robotics.Controllers.RapidDomain.Module[] modules = task.GetModules();
foreach (ABB.Robotics.Controllers.RapidDomain.Module m in modules)
{
logger.Verbose($"Deleting module {m.Name} from {task.Name}");
m.Delete();
count++;
}
}
}
catch (Exception ex)
{
logger.Debug($"CLEAR MODULES ERROR: {ex}");
}
logger.Debug($"Cleared {count} modules from main task");
return(count);
}
/// <summary>
/// Deletes all existing modules from main task in the controller.
/// </summary>
/// <returns></returns>
private int ClearAllModules()
{
if (controller == null)
{
Console.WriteLine("Cannot clear modules: not connected to controller");
return(-1);
}
if (tRob1Task == null)
{
Console.WriteLine("Cannot clear modules: main task not retrieved");
return(-1);
}
int count = 0;
try
{
using (Mastership.Request(controller.Rapid))
{
ABB.Robotics.Controllers.RapidDomain.Module[] modules = tRob1Task.GetModules();
foreach (ABB.Robotics.Controllers.RapidDomain.Module m in modules)
{
Console.WriteLine("Deleting module: {0}", m.Name);
m.Delete();
count++;
}
}
}
catch (Exception ex)
{
Console.WriteLine("CLEAR MODULES ERROR: {0}", ex);
}
Console.WriteLine("Cleared {0} modules from main task", count);
return(count);
}