public void NextMission()
{
index++;
if (index < mission_List.Count)
{
//txIndex.text = (index + 1).ToString();
txLog.text = mission_List[index].Log;
//print(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
if (mission_List[index].IOindex == -1)
{
URController.Send_command(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
}
else if (mission_List[index].IOindex == -2)//直线运动命令
{
URController.Send_command(CommandScripts.MissionDodirect(mission_List[index], AccelerationRate, SpeedRate));
}
else if (mission_List[index].IOindex == 2)
{
StartCoroutine(Ning());
}
else
{
StartCoroutine(IOProcess(mission_List[index].IOindex));
}
}
else
{
txLog.text = "任务执行完毕";
btnNext.interactable = false;
}
}
IEnumerator FollowProcess()
{
URController.Send_command(CommandScripts.MoveTCP("X", -1, AccelerationRate, 0.001056));
for (int i = 100; i > 0; i--)
{
txCutTips.text = "剥线中\n";
txCutTips.text += i.ToString() + "s";
TipsColorChange(i);
yield return(new WaitForSeconds(1));
}
//for (int i = 6; i > 0; i--)
//{
// URController.Send_command(CommandScripts.MissionDo(mission_List[index], AccelerationRate, 0.0025));
// for (int j = 0; j < 17; j++)
// {
// txCutTips.text = "剥线中\n";
// txCutTips.text += (i*17-j).ToString() + "s";
// TipsColorChange(i * 17 - j);
// yield return new WaitForSeconds(1);
// }
// index++;
//}
URController.Send_command(CommandScripts.MoveStop());
index++;
StartCoroutine(ReleaseProcess());
}
// Update is called once per frame
void Update()
{
if (!leftIO.Monitor())
{
if (!flag_IOClose)
{
//print(CommandScripts.IO(leftIO.chosenIndex,false));
URController.Send_command(CommandScripts.IO(leftIO.chosenIndex, false));
flag_IOClose = true;
}
}
else
{
flag_IOClose = false;
}
//rightIO.Monitor();
for (int i = 0; i < 6; i++)
{
axises[i].PosSet = temp_Pos[i];
}
Button btnConnect = GameObject.Find("btnConnect").GetComponent <Button>();
if (URController.isConnect)
{
btnConnect.interactable = false;
}
}
IEnumerator IOProcess(int IO_index)
{
URController.Send_command(CommandScripts.IO(IO_index, true));
yield return(new WaitForSeconds(1));
URController.Send_command(CommandScripts.IO(IO_index, false));
}
public void btnAxisMove(int index)
{
if (index % 10 == 0)
{
URController.Send_command(CommandScripts.MoveAxis(index / 10 - 1, -1, AccelerationRate, SpeedRate, current_Pos));
}
else
{
URController.Send_command(CommandScripts.MoveAxis(index / 10 - 1, 1, AccelerationRate, SpeedRate, current_Pos));
}
}
IEnumerator FollowProcess()
{
URController.Send_command(CommandScripts.MoveTCP("X", 1, AccelerationRate, 0.001167));
for (int i = 90; i > 0; i--)
{
txCutTips.text = "剥线中\n";
txCutTips.text += i.ToString() + "s";
TipsColorChange(i);
yield return(new WaitForSeconds(1));
}
URController.Send_command(CommandScripts.MoveStop());
StartCoroutine(ReleaseProcess());
}
IEnumerator Ning()
{
URController.Send_command(CommandScripts.IO(2, true));
yield return(new WaitForSeconds(1));
URController.Send_command(CommandScripts.IO(2, false));
yield return(new WaitForSeconds(3));
URController.Send_command(CommandScripts.IO(3, true));
yield return(new WaitForSeconds(1));
URController.Send_command(CommandScripts.IO(3, false));
}
//下一步任务按钮
public void NextMission()
{
index++;
if (index < mission_List.Count)
{
//显示任务细节文本
//txIndex.text = (index + 1).ToString();
txLog.text = mission_List[index].Log;
//print(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
if (mission_List[index].IOindex == -1)//运动命令
{
URController.Send_command(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
}
else if (mission_List[index].IOindex == -2)//直线运动命令
{
URController.Send_command(CommandScripts.MissionDodirect(mission_List[index], AccelerationRate, SpeedRate));
}
else if (mission_List[index].IOindex == 100)//剥线任务
{
BoMission = mission_List[index];
StartCoroutine(GetReady());
}
else if (mission_List[index].IOindex == 2)//拧螺栓任务
{
StartCoroutine(Ning());
}
else//其余都是普通IO开/关
{
StartCoroutine(IOProcess(mission_List[index].IOindex));
//if (fileName == "ningluoshuan.xml")//抓取工具
// ShowTool(mission_List[index].IOindex, 1);
//else
// ShowTool(mission_List[index].IOindex, 0);
}
}
else
{
txLog.text = "任务执行完毕";
btnNext.interactable = false;
}
}
public void NextMission()
{
index++;
if (index < mission_List.Count)
{
txIndex.text = (index + 1).ToString();
txLog.text = mission_List[index].Log;
//print(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
if (mission_List[index].IOindex == -1)
{
URController.Send_command(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
}
else if (mission_List[index].IOindex == 100)
{
BoMission = mission_List[index];
StartCoroutine(GetReady());
}
else if (mission_List[index].IOindex == 2)
{
StartCoroutine(Ning());
}
else
{
StartCoroutine(IOProcess(mission_List[index].IOindex));
if (fileName == "fangxianjia.xml")
{
ShowTool(mission_List[index].IOindex, 0);
}
else
{
ShowTool(mission_List[index].IOindex, 1);
}
}
}
else
{
txLog.text = "任务执行完毕";
btnNext.interactable = false;
}
}
public void btnNextMission()
{
index++;
if (index < mission_List.Count)
{
txIndex.text = (index + 1).ToString();
txLog.text = mission_List[index].Log;
//print(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
if (mission_List[index].IOindex == -1)
{
URController.Send_command(CommandScripts.MissionDo(mission_List[index], AccelerationRate, SpeedRate));
}
else
{
toggleIO(mission_List[index].IOindex);
}
}
else
{
txLog.text = "任务执行完毕";
Button btnNext = URMissionList.transform.Find("btnNextMission").GetComponent <Button>();
btnNext.interactable = false;
}
}
public static void Initialize()
{
var entryDirectory = GetEntryDirectory() + "\\";
// スクリプト読み込み
System.IO.Directory.CreateDirectory(entryDirectory + "scripts");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/import");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/export");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/command");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/selected");
Script.Compiler.Initialize();
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/command", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.CommandScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.CommandScript>(file, out script, out error))
{
CommandScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/selected", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.SelectedScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.SelectedScript>(file, out script, out error))
{
SelectedScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/export", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ExportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ExportScript>(file, out script, out error))
{
ExportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/import", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ImportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ImportScript>(file, out script, out error))
{
ImportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
LoadOption();
}
public void EndTcpMoveFu(string Axis)
{
URController.Send_Command(CommandScripts.MoveTCP(Axis, -1, AccelerationRate, SpeedRate));
}
public static void Initialize(Language?language = null)
{
var entryDirectory = GetEntryDirectory() + "/";
Command.CommandManager.Changed += new EventHandler(CommandManager_Changed);
FullPath = string.Empty;
option = LoadOption(language);
// Switch the language according to the loaded settings
Language = Option.GuiLanguage;
// Switch the culture according to the set language
switch (Language)
{
case Effekseer.Language.English:
Thread.CurrentThread.CurrentUICulture = new CultureInfo("en-US");
break;
case Effekseer.Language.Japanese:
Thread.CurrentThread.CurrentUICulture = new CultureInfo("ja-JP");
break;
}
New();
// Load scripts
System.IO.Directory.CreateDirectory(entryDirectory + "scripts");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/import");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/export");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/command");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/selected");
Script.Compiler.Initialize();
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/command", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.CommandScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.CommandScript>(file, out script, out error))
{
CommandScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/selected", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.SelectedScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.SelectedScript>(file, out script, out error))
{
SelectedScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/export", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ExportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ExportScript>(file, out script, out error))
{
ExportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
Console.WriteLine(error);
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/import", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ImportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ImportScript>(file, out script, out error))
{
ImportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
}
public void btnHome()
{
//print(CommandScripts.Home(AccelerationRate, SpeedRate));
URController.Send_command(CommandScripts.Home(AccelerationRate, SpeedRate));
}
public void toggleIO(int index)
{
//print(CommandScripts.IO(index,true));
URController.Send_command(CommandScripts.IO(index, true));
}
public void btnAxisStop()
{
URController.Send_command(CommandScripts.MoveStop());
}
static void InitializeScripts(string entryDirectory)
{
#if SCRIPT_ENABLED
// Load scripts
System.IO.Directory.CreateDirectory(entryDirectory + "scripts");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/import");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/export");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/command");
System.IO.Directory.CreateDirectory(entryDirectory + "scripts/selected");
Script.Compiler.Initialize();
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/command", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.CommandScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.CommandScript>(file, out script, out error))
{
CommandScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/selected", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.SelectedScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.SelectedScript>(file, out script, out error))
{
SelectedScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/export", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ExportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ExportScript>(file, out script, out error))
{
ExportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
Console.WriteLine(error);
}
}
}
{
var files = System.IO.Directory.GetFiles(entryDirectory + "scripts/import", "*.*", System.IO.SearchOption.AllDirectories);
foreach (var file in files)
{
var ext = System.IO.Path.GetExtension(file);
if (ext == ".cs" || ext == ".py")
{
Script.ImportScript script = null;
string error = string.Empty;
if (Script.Compiler.CompileScript <Script.ImportScript>(file, out script, out error))
{
ImportScripts.Add(script);
}
else
{
if (OnOutputMessage != null)
{
OnOutputMessage(error);
}
}
}
}
}
#endif
}
public void SingleAxisJogFu(int index)
{
URController.Send_Command(CommandScripts.MoveAxis(index, -1, AccelerationRate, SpeedRate, Axis_Pos));
}
public void JinTing()
{
URController.Send_command(CommandScripts.MoveStop());
}