コード例 #1
0
ファイル: URMissionControl1.cs プロジェクト: llinshui/UR110
 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;
     }
 }
コード例 #2
0
 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());
 }
コード例 #3
0
    // 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;
        }
    }
コード例 #4
0
    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));
    }
コード例 #5
0
 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));
     }
 }
コード例 #6
0
 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());
 }
コード例 #7
0
    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));
    }
コード例 #8
0
 //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;
     }
 }
コード例 #9
0
 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;
     }
 }
コード例 #10
0
 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;
     }
 }
コード例 #11
0
ファイル: Core.cs プロジェクト: ariessanchezsulit/Effekseer
        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();
        }
コード例 #12
0
ファイル: URMissionControl1.cs プロジェクト: llinshui/UR110
 public void EndTcpMoveFu(string Axis)
 {
     URController.Send_Command(CommandScripts.MoveTCP(Axis, -1, AccelerationRate, SpeedRate));
 }
コード例 #13
0
        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);
                            }
                        }
                    }
                }
            }
        }
コード例 #14
0
 public void btnHome()
 {
     //print(CommandScripts.Home(AccelerationRate, SpeedRate));
     URController.Send_command(CommandScripts.Home(AccelerationRate, SpeedRate));
 }
コード例 #15
0
 public void toggleIO(int index)
 {
     //print(CommandScripts.IO(index,true));
     URController.Send_command(CommandScripts.IO(index, true));
 }
コード例 #16
0
 public void btnAxisStop()
 {
     URController.Send_command(CommandScripts.MoveStop());
 }
コード例 #17
0
ファイル: Core.cs プロジェクト: yczxf/Effekseer
        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
        }
コード例 #18
0
 public void SingleAxisJogFu(int index)
 {
     URController.Send_Command(CommandScripts.MoveAxis(index, -1, AccelerationRate, SpeedRate, Axis_Pos));
 }
コード例 #19
0
 public void JinTing()
 {
     URController.Send_command(CommandScripts.MoveStop());
 }