public void Test_WhenConnectingOnUsedActiveSocketThenNoConnectionAndRoboDkNotStarted()
{
var port = 56252;
while (!RoboDK.IsTcpPortFree(port))
{
port++;
}
using (var s = new SocketHelper())
{
s.OpenServerAndClient(port);
RoboDK.IsTcpPortFree(s.ServerPort).Should().BeFalse();
RoboDK.IsTcpPortFree(s.ClientPort).Should().BeFalse();
var rdk = new RoboDK
{
RoboDKServerStartPort = port,
};
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().BeNull();
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().BeNull();
rdk.Invoking(r => r.CloseRoboDK())
.Should().Throw <RdkException>();
}
}
public void Test_RoboDkThrowsObjectDisposedExceptionWhenCallingConnectAfterDispose()
{
// Given
var rdk = new RoboDK();
rdk.Connect().Should().BeTrue();
// When
rdk.Dispose();
// Then
var whenAction = new Action(() => rdk.Connect());
whenAction.Should().Throw <ObjectDisposedException>();
}
public void Test_ConnectDisconnectWhenRoboDKIsAlreadyRunning()
{
var rdk = new RoboDK();
for (var i = 0; i < 10; i++)
{
rdk.Connected().Should().BeFalse();
rdk.Connect().Should().BeTrue();
// RoboDK is already running. It is not expected that connect will start a new process
rdk.Process.Should().BeNull();
rdk.Connected().Should().BeTrue();
// Test some properties
rdk.Version().Should().StartWith("5");
rdk.ApiVersion.Should().BeGreaterThan(0);
rdk.RoboDKBuild.Should().BeGreaterThan(0);
rdk.RoboDKServerPort.Should().BeGreaterThan(0);
rdk.RoboDKClientPort.Should().BeGreaterThan(0);
rdk.RoboDKServerIpAddress.Length.Should().BeGreaterThan(0);
rdk.DefaultSocketTimeoutMilliseconds.Should().BeGreaterThan(1000);
rdk.Disconnect();
rdk.Connected().Should().BeFalse();
}
}
public void Test_CommandLineParameter()
{
var rdk = new RoboDK
{
ApplicationDir = "C:\\zBuilds\\Bystronic\\repository\\ByRobotManager-2\\ByRobotManager\\bin\\Debug\\RoboDK\\RoboDK.exe",
RoboDKServerStartPort = 56252,
//CustomCommandLineArgumentString = "-NOSPLASH -NOSHOW -HIDDEN -PORT=56252 -NOSTDOUT -SKIPINIRECENT -SKIPINI -SKIPCOM -EXIT_LAST_COM -NOUI",
CustomCommandLineArgumentString = "-PORT=56252 -NOSTDOUT -SKIPINIRECENT -SKIPINI -SKIPCOM -EXIT_LAST_COM -NOUI -TREE_STATE=-1",
//CustomCommandLineArgumentString = "/NOSPLASH /NOSHOW /HIDDEN /PORT=56252 /NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI /TREE_STATE=-1",
//CustomCommandLineArgumentString = "/NOSPLASH /NOSHOW /HIDDEN /NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI /TREE_STATE=-1"
//CustomCommandLineArgumentString = "/NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI"
};
rdk.Connect();
// Thread.Sleep(5000);
var mainWindow = rdk.Command("MainWindow_ID");
var item = rdk.AddFile(@"C:\Users\mth\AppData\Local\Temp\ByRobotManager_Geometries\Regrip lower arm NS2+NS3_collision.sld");
item.SetParam("FilterMesh", "0,0.0001,0.005");
var mainWindowId = int.Parse(mainWindow);
rdk.CloseRoboDK();
}
// ReSharper disable once UnusedParameter.Local
static void Main(string[] args)
{
var rdk = new RoboDK();
var status = false;
//The first connect opens roboDK
status = rdk.Connect();
Console.WriteLine($"Connect status: {status}");
//rdk.CloseStation();
}
static void Main(string[] args)
{
RoboDK RDK = new RoboDK();
bool status = false;
//The first connect opens roboDK
status = RDK.Connect();
Console.WriteLine("Connect status: " + status.ToString());
int b = 1;
}
static void Main(string[] args)
{
var rdk = new RoboDK();
// Connect to existing RoboDK or start a new one if RoboDK is not running
var status = rdk.Connect();
Console.WriteLine($"Connect status: {status}");
// close RoboDK
rdk.CloseRoboDK();
}
public void Test_WhenStartingOnUsedActiveSocketThenNoConnectionAndRoboDkNotStarted()
{
var port = 56252;
while (!RoboDK.IsTcpPortFree(port))
{
port++;
}
using (var s = new SocketHelper())
{
s.OpenServerAndClient(port);
RoboDK.IsTcpPortFree(s.ServerPort).Should().BeFalse();
RoboDK.IsTcpPortFree(s.ClientPort).Should().BeFalse();
var rdk = new RoboDK
{
StartNewInstance = true,
RoboDKServerStartPort = port,
};
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().NotBeNull();
rdk.Process.HasExited.Should().BeTrue();
Process.GetProcessesByName("RoboDK").Should().BeEmpty();
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().NotBeNull();
rdk.Process.HasExited.Should().BeTrue();
Process.GetProcessesByName("RoboDK").Should().BeEmpty();
rdk.Invoking(r => r.CloseRoboDK())
.Should().Throw <RdkException>();
}
}
public void Test_WhenEndServerPortSmallerThenStartServerPortThenThrowRdkException()
{
var rdk = new RoboDK
{
RoboDKServerStartPort = 10000,
RoboDKServerEndPort = 9000
};
rdk.RoboDKServerStartPort.Should().Be(10000);
rdk.RoboDKServerEndPort.Should().Be(9000);
Action act = () => rdk.Connect();
act.Should().Throw <RdkException>();
}
static void Main(string[] args)
{
RoboDK RDK = new RoboDK
{
RoboDKServerStartPort = 20500,
RoboDKServerEndPort = 20500
};
bool status = RDK.Connect();
Console.WriteLine("Connect status: " + status.ToString());
Console.WriteLine("Last status message: " + RDK.LastStatusMessage);
var robot = RDK.GetItemByName("", RoboDk.API.Model.ItemType.Robot);
robot.Connect();
//robot.;
int b = 1;
}
public void Test_BasicEventListenerApi()
{
var rdk = new RoboDK();
rdk.Connect();
// Open Event Channel
var eventListener = rdk.OpenRoboDkEventChannel();
var noEvent = eventListener.WaitForEvent();
noEvent.EventType.Should().Be(EventType.NoEvent);
// Test Simple Event
var frame1 = rdk.AddFrame("Frame1");
var itemMovedEvent = eventListener.WaitForEvent();
itemMovedEvent.EventType.Should().Be(EventType.ItemMovedPose);
itemMovedEvent.Item.Name().Should().Be("Frame1");
// The RoboDK link must be set to the RoboDK API instance
itemMovedEvent.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// Open a second event channel
var eventListener2 = rdk.OpenRoboDkEventChannel();
var frame2 = rdk.AddFrame("Frame2");
var eventOnChannel1 = eventListener.WaitForEvent();
var eventOnChannel2 = eventListener2.WaitForEvent();
eventOnChannel1.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel1.Item.Name().Should().Be("Frame2");
eventOnChannel2.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel2.Item.Name().Should().Be("Frame2");
eventOnChannel1.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
eventOnChannel2.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// After closing an event channel we should get an exception when calling WaitForEvent
eventListener.Close();
var whenAction = new Action(() => eventListener.WaitForEvent());
whenAction.Should().Throw <ObjectDisposedException>();
}
public void Test_ParallelRoboDKConnections()
{
var stopAsyncTask = false;
var rdk = new RoboDK
{
RoboDKServerStartPort = 10000,
Logfile = Path.Combine(Directory.GetCurrentDirectory(), "RoboDk.log"),
DefaultSocketTimeoutMilliseconds = 20 * 1000
};
rdk.Connect();
rdk.Render(false);
rdk.Command("AutoRenderDelay", 50);
rdk.Command("AutoRenderDelayMax", 300);
rdk.DefaultSocketTimeoutMilliseconds = 10 * 1000;
List <IItem> AddStaticParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
parts.Add(rdk.AddFile(Path.Combine(cwd, "TableOut.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "robot.robot")));
return(parts);
}
List <IItem> AddDynamicParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
for (var n = 0; n < 10; n++)
{
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Done.sld")));
}
return(parts);
}
// Task which opens a temporary new connection
void DoTemporaryConnectionCalls(IReadOnlyCollection <IItem> staticParts)
{
// ReSharper disable once AccessToModifiedClosure
while (!stopAsyncTask)
{
foreach (var staticPart in staticParts)
{
Thread.Sleep(1);
using (var roboDkLink = new RoboDK.RoboDKLink(staticPart.RDK()))
{
var clonedItem = staticPart.Clone(roboDkLink.RoboDK);
clonedItem.Pose();
}
}
}
}
var p = AddStaticParts();
var task = new Task(() => DoTemporaryConnectionCalls(p));
task.Start();
try
{
for (var i = 0; i < 20; i++)
{
var dynamicParts = AddDynamicParts();
rdk.Command("CollisionMap", "Off");
rdk.SetCollisionActive(CollisionCheckOptions.CollisionCheckOff);
rdk.Delete(dynamicParts);
}
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
stopAsyncTask = true;
}
try
{
task.Wait();
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
rdk.CloseRoboDK();
}
}
/// <inheritdoc />
public void NewLink()
{
Link = new RoboDK();
Link.Connect();
}