public TpsViewEbaraV2()
{
//
// Required for Windows Form Designer support
//
try
{
//_tpsRm = new TpsResourceManager();
_tpsRm = new ABB.Robotics.Tps.Resources.TpsResourceManager("TpsViewEbaraV2NameSpace.strings", ABB.Robotics.Taf.Base.TafAssembly.Load("TpsViewEbaraV2Texts.dll"));
InitializeComponent();
InitializeTexts();
// The Install method, which runs after the constructor, creates the robot controller instance and
// starts the controller subscriptions needed in this view.
}
catch (System.Exception ex)
{
// If initialization of application fails a message box is shown
GTPUMessageBox.Show(this.Parent
, null
, string.Format("An unexpected error occurred while starting up Sample Application. \n\n{0}", ex.Message)
, "Sample Application Start-up Error"
, MessageBoxIcon.Hand, MessageBoxButtons.OK);
}
//
// ToDo: Add any constructor code after InitializeComponent call
//
}
private void menuItem_Apply_Click(object sender, EventArgs e)
{
try
{
ABB.Robotics.Controllers.RapidDomain.RapidData boolBlocksiFr1ArcStable = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "boolBlocksiFr1ArcStable");
ABB.Robotics.Controllers.RapidDomain.Bool bBlocksiFr1ArcStable = new ABB.Robotics.Controllers.RapidDomain.Bool(this.checkBox_boolBlocksiFr1ArcStable.Checked);
boolBlocksiFr1ArcStable.Value = bBlocksiFr1ArcStable;
boolBlocksiFr1ArcStable.Dispose();
ABB.Robotics.Controllers.RapidDomain.RapidData numBlocksiArcStableLength = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "numBlocksiArcStableLength");
ABB.Robotics.Controllers.RapidDomain.Num nBlocksiArcStableLength = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(this.numEditor_numBlocksiArcStableLength.Value));
numBlocksiArcStableLength.Value = nBlocksiArcStableLength;
numBlocksiArcStableLength.Dispose();
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numIsometricalSaddleCoefficient", this.numEditor_numIsometricalSaddleCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numShoulderGrooveCoefficient", this.numEditor_numShoulderGrooveCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numTorchCleanIntervalCount", this.numEditor_numTorchCleanIntervalCount);
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
private void DisplayErrorMessage(string message)
{
// Show GTPUMessageBox on exception
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("Unable to open {0} view. \n\nDo the preparations described in 'Prepare signals and RAPID data.doc' and try open the view again.\n\nError message: {1}", "", message)
, string.Format("{0}Start-up Error", "")
, System.Windows.Forms.MessageBoxIcon.Hand, System.Windows.Forms.MessageBoxButtons.OK);
}
private void button_unLimitSTN1Axis1_Click(object sender, EventArgs e)
{
this.rwSystem.Controller.Configuration.Write("3.159", "MOC", "Arm", "M8DM2", "upper_joint_bound");
this.rwSystem.Controller.Configuration.Write("-3.159", "MOC", "Arm", "M8DM2", "lower_joint_bound");
GTPUMessageBox.Show(this.Parent
, RestartController
, "The changes will not take effect until the controller is restarted.\n\nDo you want to restart now?"
, "Restart"
, MessageBoxIcon.Asterisk, MessageBoxButtons.YesNo);
//this.rwSystem.Controller.Restart();
}
private void UpdateGUI(object sender, EventArgs e)
{
try
{
this.pipeGrooveModel.RefreshData(this.rwSystem);
this.comboBox_numPipeGrooveType.SelectedIndex = this.pipeGrooveModel.numPipeGrooveType - 1;
this.numEditor_numSeamCenterX.Value = this.pipeGrooveModel.numSeamCenterX;
this.numEditor_numSeamNormalAngle.Value = this.pipeGrooveModel.numSeamNormalAngle;
RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent");
this.wobjCurrent.FillFromString(rapidData.Value.ToString());
this.numEditor_oframeX.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1);
this.numEditor_oframeY.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1);
this.numEditor_oframeZ.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
if (this.pipeGrooveModel.numPipeGrooveType >= 3)
{
this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
double dSeamNormalAngle = 0 - Math.PI * ((double)this.numEditor_numSeamNormalAngle.Value) / 180;
double doframeX = this.wobjCurrent.Oframe.Trans.X;
double doframeY = this.wobjCurrent.Oframe.Trans.Y;
this.numEditor_WorldYOffset.Value = (decimal)Math.Round(doframeX * Math.Cos(dSeamNormalAngle) + doframeY * Math.Sin(dSeamNormalAngle), 1);
this.numEditor_WorldZOffset.Value = (decimal)Math.Round(0 - doframeX * Math.Sin(dSeamNormalAngle) + doframeY * Math.Cos(dSeamNormalAngle), 1);
}
else
{
this.numEditor_WorldXOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.X, 1);
this.numEditor_WorldYOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Y, 1);
this.numEditor_WorldZOffset.Value = (Decimal)Math.Round(this.wobjCurrent.Oframe.Trans.Z, 1);
}
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when reading RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
public TpsFormSetting(TpsResourceManager rM, RWSystem rwSystem)
{
try
{
InitializeComponent();
this._tpsRm = rM;
this.rwSystem = rwSystem;
InitializeTexts();
}
catch (System.Exception ex)
{
// If initialization of application fails a message box is shown
GTPUMessageBox.Show(this.Parent
, null
, string.Format("An unexpected error occurred while starting up Sample Application. \n\n{0}", ex.Message)
, "Sample Application Start-up Error"
, MessageBoxIcon.Hand, MessageBoxButtons.OK);
}
}
private void menuItem_Apply_Click(object sender, EventArgs e)
{
try
{
this.wobjCurrent.Oframe.Trans.X = (float)this.numEditor_oframeX.Value;
this.wobjCurrent.Oframe.Trans.Y = (float)this.numEditor_oframeY.Value;
this.wobjCurrent.Oframe.Trans.Z = (float)this.numEditor_oframeZ.Value;
RapidData rapidData = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "CalibDataModule", "wobjCurrent");
rapidData.Value = this.wobjCurrent;
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
/// <summary>
/// This is where you clean up any remaining resources used by your application before
/// the application itself is disposed of by the host (TAF - TeachPendant Application Framework).
/// The method is called by the host when the application is closed down.
/// </summary>
protected override void Dispose(bool disposing)
{
if (!IsDisposed)
{
try
{
if (disposing)
{
//ToDo: Call the Dispose method of all FP SDK instances that may otherwise cause memory leak
if (this.rwSystem != null)
{
this.rwSystem.Dispose();
this.rwSystem = null;
}
if (this._viewPipeGrooveModel != null)
{
this._viewPipeGrooveModel.Dispose();
this._viewPipeGrooveModel = null;
}
if (this._viewSetting != null)
{
this._viewSetting.Dispose();
this._viewSetting = null;
}
if (this._viewWeldingParameter != null)
{
this._viewWeldingParameter.Dispose();
this._viewWeldingParameter = null;
}
if (this._viewWobjCurrent != null)
{
this._viewWobjCurrent.Dispose();
this._viewWobjCurrent = null;
}
if (this._viewLayerParameter != null)
{
this._viewLayerParameter.Dispose();
this._viewLayerParameter = null;
}
if (this.pipeGrooveModel != null)
{
this.pipeGrooveModel.Dispose();
this.pipeGrooveModel = null;
}
if (this.weldProcedure != null)
{
this.weldProcedure.Dispose();
this.weldProcedure = null;
}
if (this.layerParameter != null)
{
this.layerParameter.Dispose();
this.layerParameter = null;
}
if (this._tpsRm != null)
{
this._tpsRm = null;
}
}
}
catch (System.Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, "An unexpected error occurred while closing down the application.\n\nError message: " + ex.Message
, "Application Error"
, MessageBoxIcon.Hand, MessageBoxButtons.OK);
}
finally
{
base.Dispose(disposing);
}
}
}
