/// <summary>
/// 读入Rapid中robtarget数据至ListView
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void readPointsBtn_Click(object sender, EventArgs e)
{
if (abbtask == null)
{
Data.LogString = "[error] abbtask is null";
return;
}
//获得RobTarget数据
rd_p1 = (RobTarget)abbtask.GetRapidData("MainModule", "p1").Value;
rd_p2 = (RobTarget)abbtask.GetRapidData("MainModule", "p2").Value;
rd_p3 = (RobTarget)abbtask.GetRapidData("MainModule", "p3").Value;
rd_p4 = (RobTarget)abbtask.GetRapidData("MainModule", "p4").Value;
string[] rd_p_strings = new string[] { rd_p1.ToString(), rd_p2.ToString(), rd_p3.ToString(), rd_p4.ToString() };
string[] points = new string[] { "p1", "p2", "p3", "p4" };
ListViewItem item = null;
this.pointslistView.BeginUpdate();
for (int i = 0; i < points.Length; i++)
{
item = new ListViewItem(points[i]);
item.SubItems.Add(rd_p_strings[i]);
this.pointslistView.Items.Add(item); //添加元素
}
this.pointslistView.EndUpdate(); //更新控件
Data.LogString = "坐标点数据读入完毕`";
}
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 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
}