private static bool PropertyBoolCompare(GOP v, bool b, Func <bool, bool, bool> comparer)
{
if (v.type != GOP.ValueType.Bool)
{
return(false);
}
return(comparer(v.b, b));
}
private static bool PropertyStringCompare(GOP v, string s, Func <string, string, bool> comparer)
{
if (v.type != GOP.ValueType.Text || String.IsNullOrEmpty(v.text))
{
return(false);
}
return(comparer(v.text, s));
}
private static bool PropertyFloatCompare(GOP v, float value, Func <float, float, bool> comparer)
{
if (v.type != GOP.ValueType.Number)
{
return(false);
}
return(comparer(v.number, value));
}
private static bool PropertyRangeCompare(GOP v, PropertyRange range, Func <float, PropertyRange, bool> comparer)
{
if (v.type != GOP.ValueType.Number)
{
return(false);
}
return(comparer(v.number, range));
}
private void DumpGOPFiles(string gopDir, string xlsxDir)
{
foreach (string gopFile in Directory.EnumerateFiles(gopDir, "*.gop", SearchOption.AllDirectories))
{
Console.WriteLine("Dumping " + gopFile);
using (Stream stream = File.OpenRead(gopFile)) {
GOP gop = new GOP(stream);
File.WriteAllBytes(gopFile.Replace(gopDir, xlsxDir) + ".xlsx", GOPToXLSX(gop));
}
}
}
private void XLSXToGOP(GOP gop, string file)
{
ExcelPackage.LicenseContext = LicenseContext.NonCommercial;
using (ExcelPackage pkg = new ExcelPackage(new FileInfo(file))) {
ExcelWorksheet wksht = pkg.Workbook.Worksheets["Sheet1"];
for (int row = 0; row < gop.Records.GetLength(0); row++)
{
for (int col = 0; col < gop.Records.GetLength(1); col++)
{
gop.Records[row, col] = wksht.Cells[row + 2, col + 1].Value.ToString();
}
}
}
}
public void TraverseGameObjectDirectory(string basePath)
{
var path = Path.Combine(basePath, Path.Combine(rootPath, name));
if (!Directory.Exists(path))
{
hasChildren = false;
return;
}
// check if it has files
foreach (string file in Directory.GetFiles(path))
{
string filename = Path.GetFileName(file);
//Log(filename);
if (filename.EndsWith(".png"))
{
string objectName = filename.Replace(".png", "");
GameObjectProxy GOP = new GameObjectProxy()
{
name = objectName,
hasTexture = true,
rootPath = Path.Combine(rootPath, name),
hasChildren = false
};
hasChildren = true;
children[objectName] = GOP;
}
}
// check if it has directories
foreach (string directory in Directory.GetDirectories(path))
{
string directoryName = new DirectoryInfo(directory).Name;
//Log(directoryName);
GameObjectProxy GOP;
if (!children.TryGetValue(directoryName, out GOP))
{
GOP = new GameObjectProxy()
{
name = directoryName,
hasTexture = false,
rootPath = Path.Combine(rootPath, name),
hasChildren = true
};
}
hasChildren = true;
children[directoryName] = GOP;
GOP.TraverseGameObjectDirectory(basePath);
}
}
public void TraverseGameObjectPath(string path, string rootPath, string name)
{
Modding.Logger.LogDebug($"{path}:{rootPath}:{name}");
var pathSplit = path.Split(new Char[] { '/' }, 3);
GameObjectProxy GOP = null;
hasChildren = false;
if (pathSplit.Length > 1)
{
hasChildren = true;
if (!children.TryGetValue(pathSplit[1], out GOP))
{
GOP = new GameObjectProxy()
{
name = pathSplit[1],
hasTexture = false,
};
}
children[pathSplit[1]] = GOP;
}
if (GOP != null)
{
if (pathSplit.Length > 2)
{
GOP.TraverseGameObjectPath($"{pathSplit[1]}/{pathSplit[2]}", rootPath, name);
}
else
{
if (!GOP.hasTexture) // do not over ride existing texture
{
GOP.hasTexture = true;
GOP.rootPath = rootPath;
GOP.name = name;
}
}
}
else
{
if (!this.hasTexture)
{
this.hasTexture = true;
this.rootPath = rootPath;
this.name = name;
}
}
Modding.Logger.LogDebug($"{this.hasTexture}:{this.rootPath}:{this.name}");
}
private void RewriteGOPFiles(string gopDir, string xlsxDir)
{
foreach (string gopFile in Directory.EnumerateFiles(gopDir, "*.gop", SearchOption.AllDirectories))
{
string xlsxFile = gopFile.Replace(gopDir, xlsxDir) + ".xlsx";
if (File.Exists(xlsxFile))
{
Console.WriteLine("Rewriting " + gopFile);
using (Stream stream = File.Open(gopFile, FileMode.Open, FileAccess.ReadWrite)) {
GOP gop = new GOP(stream);
XLSXToGOP(gop, xlsxFile);
stream.Seek(0, SeekOrigin.Begin);
gop.Write(stream);
}
}
}
}
private byte[] GOPToXLSX(GOP gop)
{
ExcelPackage.LicenseContext = LicenseContext.NonCommercial;
using (ExcelPackage pkg = new ExcelPackage()) {
ExcelWorksheet wksht = pkg.Workbook.Worksheets.Add("Sheet1");
for (int col = 0; col < gop.Elements.Count; col++)
{
wksht.Cells[1, col + 2].Value = gop.Elements[col].Name;
}
for (int row = 0; row < gop.Records.GetLength(0); row++)
{
for (int col = 0; col < gop.Records.GetLength(1); col++)
{
wksht.Cells[row + 2, col + 1].Value = gop.Records[row, col];
}
}
return(pkg.GetAsByteArray());
}
}
private void InitController(RobGenericController Rgcr, RobControllerFactory CRM, int RobotCtrlNum, ProgressBar Pbar)
{
#region 机器人基本TCP Motion初始化
// Rgcr.moti
String GetName = string.Empty;
GetName = CRM.get_Name();
for (int i = 1; i <= RobotCtrlNum; i++)
{
GenericAccuracyProfile GP;
GenericMotionProfile GMP;
GenericToolProfile GTP;
GenericObjFrameProfile GOP;
bool ExistsObject;
CRM.CreateGenericAccuracyProfile(out GP);
GP.GetName(ref GetName);
GetName = CRM.get_Name();
GP.SetAccuracyValue(i * 0.1);
GP.SetName(i * 10 + "%");
GP.SetAccuracyType(AccuracyType.ACCURACY_TYPE_SPEED);
GP.SetFlyByMode(false);
Rgcr.HasAccuracyProfile((i * 10 + "%"), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddAccuracyProfile(GP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
CRM.CreateGenericObjFrameProfile(out GOP);
GOP.SetObjectFrame(0, 0, 0, 0, 0, 0);
GOP.SetName("Object_0" + i);
Rgcr.HasObjFrameProfile(("Object_0" + i), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddObjFrameProfile(GOP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
CRM.CreateGenericMotionProfile(out GMP);
GMP.SetSpeedValue(i * 0.1);
GMP.SetName(i * 10 + "%");
GMP.SetMotionBasis(MotionBasis.MOTION_PERCENT);
Rgcr.HasMotionProfile((i * 10 + "%"), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddMotionProfile(GMP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
// NwName = i < 9 ? ("Tool_0" + i) : ("Tool_" + i);
string NwName = "Tool_0" + i;
Rgcr.HasToolProfile(NwName, out ExistsObject);
if (!ExistsObject)
{
try
{
int ToolNum = 0;
Rgcr.GetToolProfileCount(out ToolNum);
string Ctname = string.Empty;
if (ToolNum < 16)
{
CRM.CreateGenericToolProfile(out GTP);
Rgcr.AddToolProfile(GTP);
//Object[] ToolLists = new object[ToolNum];
//Rgcr.GetToolProfiles(ToolLists);
//for (int j = 1; j <= ToolNum; j++)
//{
// Ctname = ((GenericToolProfile)ToolLists[i]).get_Name();
// ((GenericToolProfile)ToolLists[i]).set_Name(NwName);
//}
//GTP.GetName(Ctname);
//GTP.SetToolMobility(true);
//GTP.set_Name(NwName);
}
}
catch (Exception)
{
throw;
}
//Object[] TooList = new object[99];
//Rgcr.GetToolProfiles(TooList);
//int TotalTool;
//Rgcr.GetToolProfileCount(out TotalTool);
//GenericToolProfile ToolProfile =(GenericToolProfile)TooList[TotalTool-1];
//NwName = ToolProfile.get_Name();
//ToolProfile.set_Name(NwName);
}
Pbar.PerformStep();
}
#endregion
#region 机器人默认值设置
//Init Current Motion Profile \accuracy \ Tool Profile \Object
bool ExistsObj;
Rgcr.HasAccuracyProfile((100 + "%"), out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentAccuracyProfile((100 + "%"));
}
Rgcr.HasObjFrameProfile("Object_01", out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentObjFrameProfile("Object_01");
}
Rgcr.HasMotionProfile((100 + "%"), out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentMotionProfile((100 + "%"));
}
Rgcr.HasToolProfile("Tool_01", out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentToolProfile("Tool_01");
}
#endregion
#region 机器日Taglist目录及RobotTask批量设置
//RobotTaskFactory Rtf = (RobotTaskFactory)Usp.GetTechnologicalObject("RobotTaskFactory");
object[] RobotTaskLists = new object[99];
//try
//{
// Rtf.GetAllRobotTasks(RobotTaskLists);
//}
//catch (Exception)
//{
// RobotTaskLists = null;
//}
//GetName = Rtf.get_Name();
Pbar.PerformStep();
#endregion
object[] RTask = new object[50];
// Rtf.GetAllRobotTasks(RTask);
foreach (RobotTask item in RTask)
{
if (item != null)
{
item.set_Description("安徽锐锋科技自动化产品，机器人轨迹,创建于:" + DateTime.Now);
}
}
}
