/// <summary>
/// Ajoute une action du gripper
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="action">Action de gripper</param>
/// <param name="robot">Controller du robot</param>
/// <returns>Indicateur de succès</returns>
public static bool AddGripperAction(string processName, GripperAction.Action action, RobotController robot)
{
var process = new RobotProcess(processName);
process.Commands.Add(new GripperAction()
{
Name = action == GripperAction.Action.Open ? "Open gripper" : "Close gripper",
Command = action
});
process.SaveProcess();
try
{
robot.StopRelativeMovement();
if (action == GripperAction.Action.Open)
{
robot.OpenGripper();
}
else
{
robot.CloseGripper();
}
robot.StartRelativeMovement();
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public static bool AddTrayAction(string processName, TrayAction.Action action, RobotController robot)
{
var process = new RobotProcess(processName);
process.Commands.Add(new TrayAction()
{
Name = action == TrayAction.Action.Depose ? "Depose item" : "Withdraw item",
Command = action
});
process.SaveProcess();
return(true);
}
/// <summary>
/// Permet l'ajout d'un mouvement dans un processus
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="movementName">Nom du mouvement à créer</param>
/// <returns>Indicateur de succès</returns>
public static bool AddMovement(string processName, string movementName)
{
try
{
var process = new RobotProcess(processName);
process.Commands.Add(new Movement()
{
Name = movementName, Positions = new List <RobotPosition>()
});
process.SaveProcess();
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// Permet l'ajout de la position courante du robot dans un mouvement
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="robot">Controller du robot</param>
/// <returns>Indicateur de succès</returns>
public static bool AddCurrentPosition(string processName, Guid idMovement, RobotController robot)
{
try
{
var process = new RobotProcess(processName);
var mvt = (from cmd in process.Commands
where cmd.Id.Equals(idMovement)
select cmd).First() as Movement;
mvt.Positions.Add(new RobotPosition(robot));
process.SaveProcess();
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// Supprime une commande d'un processus
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="idCommand">Guid de la commande à supprimer</param>
/// <returns>Indicateur de succès</returns>
public static bool DeleteCommand(string processName, Guid idCommand)
{
try
{
var process = new RobotProcess(processName);
var commands = (from cmd in process.Commands
where cmd.Id.Equals(idCommand)
select cmd);
if (commands.Count() > 0)
{
process.Commands.Remove(commands.First());
process.SaveProcess();
return(true);
}
else
{
foreach (var command in process.Commands)
{
if (command is Movement)
{
var mvt = command as Movement;
var positions = (from pos in mvt.Positions
where pos.Id.Equals(idCommand)
select pos);
if (positions.Count() > 0)
{
mvt.Positions.Remove(positions.First());
process.SaveProcess();
return(true);
}
}
}
}
return(false);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// Permet d'inverser l'ordre d'execution de deux commandes
/// </summary>
/// <param name="processName">Nom du processus</param>
/// <param name="guidCommandA">Id de la commande A</param>
/// <param name="guidCommandB">Id de la commande B</param>
/// <returns>Indicateur de succès</returns>
public static bool SwitchCommand(string processName, Guid guidCommandA, Guid guidCommandB)
{
try
{
var process = new RobotProcess(processName);
var commandA = (from cmd in process.Commands
where cmd.Id.Equals(guidCommandA)
select cmd).First();
var commandB = (from cmd in process.Commands
where cmd.Id.Equals(guidCommandB)
select cmd).First();
if (commandA == null || commandB == null)
{
return(false);
}
var indexCommandA = process.Commands.IndexOf(commandA);
var indexCommandB = process.Commands.IndexOf(commandB);
if (!(indexCommandA >= 0 && indexCommandB >= 0))
{
return(false);
}
process.Commands[indexCommandA] = commandB;
process.Commands[indexCommandB] = commandA;
process.SaveProcess();
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public static bool ExecuteProcess(RobotController robot, string processName, Tray tray = null, LogManager log = null)
{
var process = new RobotProcess(processName);
return(ExecuteProcess(robot, process.Commands, tray, log));
}
