/// <summary>
/// Removes all files and directories in a folder, keeping the folder.
/// From: https://www.techiedelight.com/delete-all-files-sub-directories-csharp/
/// </summary>
/// <param name="folderPath"></param>
/// <returns></returns>
internal static bool EmptyDirectory(string folderPath, RobotLogger logger)
{
DirectoryInfo di = new DirectoryInfo(folderPath);
try
{
foreach (FileInfo file in di.GetFiles())
{
file.Delete();
}
foreach (DirectoryInfo dir in di.GetDirectories())
{
dir.Delete(true);
}
}
catch (Exception ex)
{
logger.Error($"Could not delete files in \"{folderPath}\"");
logger.Debug(ex);
return(false);
}
return(true);
}
// ██████╗ ██╗ ██╗██████╗ ██╗ ██╗ ██████╗
// ██╔══██╗██║ ██║██╔══██╗██║ ██║██╔════╝
// ██████╔╝██║ ██║██████╔╝██║ ██║██║
// ██╔═══╝ ██║ ██║██╔══██╗██║ ██║██║
// ██║ ╚██████╔╝██████╔╝███████╗██║╚██████╗
// ╚═╝ ╚═════╝ ╚═════╝ ╚══════╝╚═╝ ╚═════╝
//
/// <summary>
/// Main constructor
/// </summary>
public DriverABB(Control ctrl) : base(ctrl)
{
if (this.parentControl.connectionMode == ConnectionType.Machina)
{
_rsBridge = new RobotStudioManager(this);
}
logger = this.parentControl.logger;
}
internal TCPCommunicationManagerUR(Driver driver, RobotCursor writeCursor, RobotCursor motionCursor, string robotIP, int robotPort)
{
this._parentDriver = driver;
this.logger = driver.parentControl.logger;
this._issueCursor = writeCursor;
this._motionCursor = motionCursor;
this._robotIP = robotIP;
//this._robotPort = robotPort; // It will always be 30003, user need not care about this
this._translator = Protocols.Factory.GetTranslator(this._parentDriver);
}
internal TCPCommunicationManagerABB(Driver driver, RobotCursor releaseCursor, RobotCursor executionCursor, string ip, int port)
{
this._parentDriver = driver;
this.logger = driver.parentControl.logger;
this._releaseCursor = releaseCursor;
this._executionCursor = executionCursor;
this._motionCursor = driver.parentControl.MotionCursor; // @TODO: homogeinize how the driver picks cursors from parent control: as constructor arguments or directly from the object
this._ip = ip;
this._port = port;
this._monitorIP = ip;
this._monitorPort = port + 1; // these should be configurable...
this._translator = Protocols.Factory.GetTranslator(this._parentDriver);
}
/// <summary>
/// Saves the files in this program to a folder in the system.
/// </summary>
/// <param name="folderPath"></param>
/// <param name="logger"></param>
/// <returns></returns>
internal bool SaveToFolder(string folderPath, RobotLogger logger)
{
return(Utilities.FileIO.SaveProgramToFolder(this, folderPath, logger));
}
public DriverOffline(Control ctrl) : base(ctrl)
{
logger = ctrl.logger;
}
public RobotStudioManager(Driver parent)
{
_parentDriver = parent;
logger = _parentDriver.parentControl.logger;
}
/// <summary>
/// Saves a List of program Files to a folder (creates the folder if needed).
/// </summary>
/// <param name="program"></param>
/// <param name="folderPath"></param>
/// <param name="encoding"></param>
/// <param name="logger"></param>
/// <returns></returns>
internal static bool SaveProgramToFolder(RobotProgram program, string folderPath, RobotLogger logger)
{
// Create a subfolder within folderPath
string programFolderPath = "";
try
{
programFolderPath = Path.Combine(folderPath, Utilities.Strings.SafeProgramName(program.Name + "_Program"));
}
catch (Exception ex)
{
logger.Error("Badly formatted folder path: " + folderPath);
logger.Debug(ex);
return(false);
}
// Check if directory exists, and create it otherwise
try
{
if (Directory.Exists(programFolderPath))
{
logger.Debug("Found existing folder on " + programFolderPath + ", deleting it...");
EmptyDirectory(programFolderPath, logger);
}
else
{
DirectoryInfo di = Directory.CreateDirectory(programFolderPath);
logger.Debug("Created folder " + programFolderPath);
}
}
catch (Exception ex)
{
logger.Error("Could not create folder " + programFolderPath);
logger.Debug(ex);
return(false);
}
// More sanity
if (!IsDirectoryWritable(programFolderPath))
{
logger.Error("Cannot write to folder " + programFolderPath);
return(false);
}
// Write each file
bool success = true;
foreach (var file in program.Files)
{
string fullPath = Path.Combine(programFolderPath, file.Name + "." + file.Extension);
success = success && SaveStringListToFile(file.Lines, fullPath, file.Encoding, logger);
}
return(success);
}
/// <summary>
/// Saves a List of strings to a file.
/// </summary>
/// <param name="lines"></param>
/// <param name="filepath"></param>
/// <param name="encoding"></param>
/// <param name="logger"></param>
/// <returns></returns>
internal static bool SaveStringListToFile(List <string> lines, string filepath, Encoding encoding, RobotLogger logger)
{
try
{
System.IO.File.WriteAllLines(filepath, lines, encoding);
logger.Debug($"Saved content to file \"{filepath}\"");
return(true);
}
catch (Exception ex)
{
logger.Error("Could not save content to file \"{filepath}\"");
logger.Debug(ex);
}
return(false);
}
protected virtual void Awake()
{
_robotLogger = GetComponent <RobotLogger>();
}
