private void PrepareSimulation()
{
RoboDK RDK = new RoboDK("127.0.0.1");
RoboDK.Item frame_pallet = RDK.GetItem("PalletA", RoboDK.ITEM_TYPE_FRAME);
// 获取参数
string SizeBox = RDK.GetParam("SizeBox"); // 150,200,150 箱子大小
string SizePallet = RDK.GetParam("SizePallet"); // 5,3,3 横纵列
float[] SizeBoxXyz = SizeBox.Split(',').Select((m) => float.Parse(m.Trim())).ToArray(); // [150,200,150]
int[] SizePalletXyz = SizePallet.Split(',').Select((m) => int.Parse(m.Trim())).ToArray(); // [5,3,3]
float SizeBoxZ = SizeBoxXyz[2]; // 箱子的高度很重要，用来计算位置和碰撞检测的
RDK.Render(false);
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_OBJECT), "Part ");
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_TOOL), "TCP ");
RDK.GetItem("box100mm").Copy();
Random random = new Random();
for (int i = 0; i < SizePalletXyz[0]; i++)
{
for (int j = 0; j < SizePalletXyz[1]; j++)
{
for (int k = 0; k < SizePalletXyz[2]; k++)
{
// 计算位置
float location_x = SizeBoxXyz[0] / 2 + i * SizeBoxXyz[0];
float location_y = SizeBoxXyz[1] / 2 + j * SizeBoxXyz[1];
float location_z = SizeBoxXyz[2] / 2 + k * SizeBoxXyz[2];
// 复制新的对象
RoboDK.Item newPart = frame_pallet.Paste();
newPart.Scale(new double[] { SizeBoxXyz[0] / 100, SizeBoxXyz[1] / 100, SizeBoxXyz[2] / 100 });
newPart.SetName("Part " + i.ToString() + j.ToString() + k.ToString());
newPart.SetPose(Matrix.Transl(location_x, location_y, location_z));
newPart.SetVisible(true, 0);
newPart.SetColor(new double[] { random.NextDouble(), random.NextDouble(), random.NextDouble(), 1 });
}
}
}
RDK.SetParam("SENSOR", "0");
RDK.Render(true);
RDK.Disconnect();
PartsClear();
}
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();
}
}