/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
if (_type == CodeType.Declaration)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + _code);
}
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
for (int i = 0; i < _actions.Count; i++)
{
_actions[i].ToRAPIDDeclaration(RAPIDGenerator);
}
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// Only adds target code if target is not already defined
if (!RAPIDGenerator.Targets.ContainsKey(_name))
{
// Add to dictionary
RAPIDGenerator.Targets.Add(_name, this);
// Generate code
string code = Enum.GetName(typeof(ReferenceType), _referenceType);
code += " robtarget ";
code += _name;
code += " := [";
code += "[" + _plane.Origin.X.ToString("0.##") + ", ";
code += _plane.Origin.Y.ToString("0.##") + ", ";
code += _plane.Origin.Z.ToString("0.##") + "]";
code += ", ";
code += "[" + _quat.A.ToString("0.######") + ", ";
code += _quat.B.ToString("0.######") + ", ";
code += _quat.C.ToString("0.######") + ", ";
code += _quat.D.ToString("0.######") + "]";
code += ", ";
code += "[0,0,0," + _axisConfig + "]";
code += ", ";
code += RAPIDGenerator.Robot.InverseKinematics.ExternalJointPosition.ToRAPID();
code += "];";
// Add to stringbuilder
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t" + code);
}
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
if (_type == CodeType.Instruction)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + "! " + _comment);
}
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
if (!RAPIDGenerator.Targets.ContainsKey(_name))
{
RAPIDGenerator.Targets.Add(_name, this);
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t" + this.ToRAPIDDeclaration(RAPIDGenerator.Robot));
}
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// Generate the code for the zone and speeddata
_speedData.ToRAPIDDeclaration(RAPIDGenerator);
_zoneData.ToRAPIDDeclaration(RAPIDGenerator);
// Generate code from robot targets
if (_target is RobotTarget robotTarget)
{
// Update the movement of the inverse kinematics
RAPIDGenerator.Robot.InverseKinematics.Movement = this;
// Generates the robot target variable for a MoveL or MoveJ instruction
if (_movementType == MovementType.MoveL || _movementType == MovementType.MoveJ)
{
RAPIDGenerator.Robot.InverseKinematics.CalculateExternalJointPosition();
robotTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
// Generates the joint target variable from a robot target for a MoveAbsJ instruction
else
{
if (!RAPIDGenerator.Targets.ContainsKey(robotTarget.Name + "_jt"))
{
// Calculate the axis values from the robot target
RAPIDGenerator.Robot.InverseKinematics.Calculate();
RAPIDGenerator.ErrorText.AddRange(new List <string>(RAPIDGenerator.Robot.InverseKinematics.ErrorText));
// Create a joint target from the axis values
RobotJointPosition robJointPosition = RAPIDGenerator.Robot.InverseKinematics.RobotJointPosition.Duplicate();
ExternalJointPosition extJointPosition = RAPIDGenerator.Robot.InverseKinematics.ExternalJointPosition.Duplicate();
JointTarget jointTarget = new JointTarget(robotTarget.Name + "_jt", robJointPosition, extJointPosition);
jointTarget.ReferenceType = _target.ReferenceType;
// Create the RAPID code
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
}
}
// Generate code from joint targets
else if (_target is JointTarget jointTarget)
{
// JointTarget with MoveAbsJ
if (_movementType == MovementType.MoveAbsJ)
{
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
RAPIDGenerator.ErrorText.AddRange(jointTarget.CheckAxisLimits(RAPIDGenerator.Robot));
}
// Joint Target combined with MoveL or MoveJ
else
{
throw new InvalidOperationException("Invalid Move instruction: A Joint Target cannot be combined with a MoveL or MoveJ instruction.");
}
}
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + this.ToRAPIDInstruction(RAPIDGenerator.Robot));
// Collect unique robot tools
if (!RAPIDGenerator.RobotTools.ContainsKey(_robotTool.Name))
{
RAPIDGenerator.RobotTools.Add(_robotTool.Name, _robotTool);
}
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
if (_isActive == true)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + "ConfJ\\on;");
}
else
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + "ConfJ\\off;");
}
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + "! Start of group: " + _name);
for (int i = 0; i < _actions.Count; i++)
{
_actions[i].ToRAPIDInstruction(RAPIDGenerator);
}
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + "! End of group: " + _name);
}
/// <summary>
/// Initializes a new instance of the RAPDI Generator class by duplicating an existing RAPID Generator instance.
/// </summary>
/// <param name="generator"> The RAPID Generator instance to duplicate. </param>
public RAPIDGenerator(RAPIDGenerator generator)
{
_programModuleName = generator.ProgramModuleName;
_systemModuleName = generator.SystemModuleName;
_robot = generator.Robot.Duplicate();
_actions = generator.Actions.ConvertAll(action => action.DuplicateAction());
_filePath = generator.FilePath;
_saveToFile = generator.SaveToFile;
_programCode = generator.ProgramCode;
_systemCode = generator.SystemCode;
_firstMovementIsMoveAbsJ = generator.FirstMovementIsMoveAbsJ;
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
if (_predefined == false)
{
// Only adds speedData Variable if not already in RAPID Code
if (!RAPIDGenerator.SpeedDatas.ContainsKey(this.Name))
{
RAPIDGenerator.SpeedDatas.Add(this.Name, this);
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t" + this.ToRAPIDDeclaration(RAPIDGenerator.Robot));
}
}
}
/// <summary>
/// Used to create variable definitions in the RAPID Code. It is typically called inside the CreateRAPIDCode() method of the RAPIDGenerator class.
/// </summary>
/// <param name="RAPIDGenerator"> Defines the RAPIDGenerator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// Creates SpeedData Variable Code
_speedData.ToRAPIDDeclaration(RAPIDGenerator);
// Creates ZoneData Variable Code
_zoneData.ToRAPIDDeclaration(RAPIDGenerator);
// Only adds target code if target is not already defined
if (!RAPIDGenerator.Targets.ContainsKey(_name))
{
RAPIDGenerator.Targets.Add(_name, this.ConvertToJointTarget());
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t" + this.ToRAPIDDeclaration(RAPIDGenerator.Robot));
RAPIDGenerator.ErrorText.AddRange(this.CheckForAxisLimits(RAPIDGenerator.Robot));
}
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// We don't write a comment between our declarations.
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
RAPIDGenerator.StringBuilder.Append(Environment.NewLine + "\t\t" + this.ToRAPIDInstruction(RAPIDGenerator.Robot));
}
/// <summary>
/// Creates instructions in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator)
{
}
/// <summary> /// Creates declarations in the RAPID program module inside the RAPID Generator. /// This method is called inside the RAPID generator. /// </summary> /// <param name="RAPIDGenerator"> The RAPID Generator. </param> public abstract void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator);
/// <summary> /// Creates instructions in the RAPID program module inside the RAPID Generator. /// This method is called inside the RAPID generator. /// </summary> /// <param name="RAPIDGenerator"> The RAPID Generator. </param> public abstract void ToRAPIDInstruction(RAPIDGenerator RAPIDGenerator);
