public override RobotProgram UNSAFEFullProgramFromBuffer(string programName, RobotCursor writer, bool block, bool inlineTargets, bool humanComments)
{
// The program files to be returned
RobotProgram robotProgram = new RobotProgram(programName, CC);
// Which pending Actions are used for this program?
// Copy them without flushing the buffer.
List <Action> actions = block ?
writer.actionBuffer.GetBlockPending(false) :
writer.actionBuffer.GetAllPending(false);
// ACTION LINES GENERATION
List <string> actionLines = new List <string>();
// DATA GENERATION
// Use the write RobotCursor to generate the data
int it = 0;
string line = null;
foreach (Action a in actions)
{
// Move writerCursor to this action state
writer.ApplyNextAction(); // for the buffer to correctly manage them
line = string.Format("[{0}] {1}", it, a.ToString());
actionLines.Add(line);
// Move on
it++;
}
// PROGRAM ASSEMBLY
// Initialize a module list
List <string> module = new List <string>();
// Banner
module.AddRange(GenerateDisclaimerHeader(programName));
module.Add("");
// Code lines
module.AddRange(actionLines);
// MAIN file
RobotProgramFile pFile = new RobotProgramFile(programName, "txt", Encoding, CC);
pFile.SetContent(module);
robotProgram.Add(pFile);
return(robotProgram);
}
/// <summary>
/// Creates a textual program representation of a set of Actions using native RAPID Laguage.
/// WARNING: this method is EXTREMELY UNSAFE; it performs no IK calculations, assigns default [0,0,0,0]
/// robot configuration and assumes the robot controller will figure out the correct one.
/// </summary>
/// <param name="programName"></param>
/// <param name="writePointer"></param>
/// <param name="block">Use actions in waiting queue or buffer?</param>
/// <returns></returns>
//public override List<string> UNSAFEProgramFromBuffer(string programName, RobotCursor writePointer, bool block)
public override RobotProgram UNSAFEFullProgramFromBuffer(string programName, RobotCursor writer, bool block, bool inlineTargets, bool humanComments)
{
// The program files to be returned
RobotProgram robotProgram = new RobotProgram(programName, CC);
// HEADER file
RobotProgramFile pgfFile = new RobotProgramFile(programName, "pgf", Encoding, CC);
List <string> header = new List <string>();
header.Add("<?xml version=\"1.0\" encoding=\"ISO-8859-1\" ?>");
header.Add("<Program>");
header.Add($" <Module>{programName}.mod</Module>");
header.Add("</Program>");
pgfFile.SetContent(header);
robotProgram.Add(pgfFile);
// PROGRAM FILE
addActionString = humanComments;
// Which pending Actions are used for this program?
// Copy them without flushing the buffer.
List <Action> actions = block ?
writer.actionBuffer.GetBlockPending(false) :
writer.actionBuffer.GetAllPending(false);
// CODE LINES GENERATION
// VELOCITY & ZONE DECLARATIONS
// Amount of different VZ types
var velNames = new Dictionary <double, string>();
var velDecs = new Dictionary <double, string>();
var zoneNames = new Dictionary <double, string>();
var zoneDecs = new Dictionary <double, string>();
var zonePredef = new Dictionary <double, bool>();
// TOOL DECLARATIONS
Dictionary <Tool, string> toolNames = new Dictionary <Tool, string>();
Dictionary <Tool, string> toolDecs = new Dictionary <Tool, string>();
// Intro
List <string> introLines = new List <string>();
// Declarations
List <string> velocityLines = new List <string>();
List <string> zoneLines = new List <string>();
List <string> toolLines = new List <string>();
List <string> customLines = new List <string>();
// TARGETS AND INSTRUCTIONS
List <string> variableLines = new List <string>();
List <string> instructionLines = new List <string>();
// DATA GENERATION
// Use the write robot pointer to generate the data
int it = 0;
string line = null;
bool usesIO = false;
foreach (Action a in actions)
{
// Move writerCursor to this action state
writer.ApplyNextAction(); // for the buffer to correctly manage them
// For ABB robots, check if any IO command is issued, and display a warning about configuring their names in the controller.
if (!usesIO && (writer.lastAction.Type == ActionType.IODigital || writer.lastAction.Type == ActionType.IOAnalog))
{
usesIO = true;
}
// Check velocity + zone and generate data accordingly
if (!velNames.ContainsKey(writer.speed))
{
velNames.Add(writer.speed, "vel" + SafeDoubleName(writer.speed));
velDecs.Add(writer.speed, GetSpeedValue(writer));
}
if (!zoneNames.ContainsKey(writer.precision))
{
// If precision is very close to an integer, make it integer and/or use predefined zones
bool predef = false;
int roundZone = 0;
if (Math.Abs(writer.precision - Math.Round(writer.precision)) < Geometry.EPSILON)
{
roundZone = (int)Math.Round(writer.precision);
predef = PredefinedZones.Contains(roundZone);
}
zonePredef.Add(writer.precision, predef);
zoneNames.Add(writer.precision, predef ? "z" + roundZone : "zone" + SafeDoubleName(writer.precision)); // use predef syntax or clean new one
zoneDecs.Add(writer.precision, predef ? "" : GetZoneValue(writer));
}
if (writer.tool != null && !toolNames.ContainsKey(writer.tool))
{
toolNames.Add(writer.tool, writer.tool.name);
toolDecs.Add(writer.tool, GetToolValue(writer));
}
if (a.Type == ActionType.CustomCode && (a as ActionCustomCode).isDeclaration)
{
customLines.Add($" {(a as ActionCustomCode).statement}");
}
// Generate program
if (inlineTargets)
{
// Generate lines of code
if (GenerateInstructionDeclaration(a, writer, velNames, zoneNames, toolNames, out line))
{
instructionLines.Add(line);
}
}
else
{
// Generate lines of code
if (GenerateVariableDeclaration(a, writer, it, out line)) // there will be a number jump on target-less instructions, but oh well...
{
variableLines.Add(line);
}
if (GenerateInstructionDeclarationFromVariable(a, writer, it, velNames, zoneNames, toolNames, out line)) // there will be a number jump on target-less instructions, but oh well...
{
instructionLines.Add(line);
}
}
// Move on
it++;
}
// Generate V+Z+T
foreach (Tool t in toolNames.Keys)
{
toolLines.Add(string.Format(CultureInfo.InvariantCulture, " PERS tooldata {0} := {1};", toolNames[t], toolDecs[t]));
}
foreach (var v in velNames.Keys)
{
velocityLines.Add(string.Format(CultureInfo.InvariantCulture, " CONST speeddata {0} := {1};", velNames[v], velDecs[v]));
}
foreach (var z in zoneNames.Keys)
{
if (!zonePredef[z]) // no need to add declarations for predefined zones
{
zoneLines.Add(string.Format(CultureInfo.InvariantCulture, " CONST zonedata {0} := {1};", zoneNames[z], zoneDecs[z]));
}
}
// Generate IO warning
if (usesIO)
{
introLines.Add(string.Format(" {0} NOTE: your program is interfacing with the robot's IOs. Make sure to properly configure their names/properties through system preferences in the ABB robot controller.",
CC));
}
// PROGRAM ASSEMBLY
// Initialize a module list
List <string> module = new List <string>();
// MODULE HEADER
module.Add("MODULE " + programName);
module.Add("");
// Banner (must go after MODULE, or will yield RAPID syntax errors)
module.AddRange(GenerateDisclaimerHeader(programName));
module.Add("");
// INTRO LINES
if (introLines.Count != 0)
{
module.AddRange(introLines);
module.Add("");
}
// VARIABLE DECLARATIONS
// Tools
if (toolLines.Count != 0)
{
module.AddRange(toolLines);
module.Add("");
}
// Velocities
if (velocityLines.Count != 0)
{
module.AddRange(velocityLines);
module.Add("");
}
// Zones
if (zoneLines.Count != 0)
{
module.AddRange(zoneLines);
module.Add("");
}
// Custom code
if (customLines.Count != 0)
{
module.AddRange(customLines);
module.Add("");
}
// Targets
if (variableLines.Count != 0)
{
module.AddRange(variableLines);
module.Add("");
}
// MAIN PROCEDURE
module.Add(" PROC main()");
module.Add(@" ConfJ \Off;");
module.Add(@" ConfL \Off;");
module.Add("");
// Instructions
if (instructionLines.Count != 0)
{
module.AddRange(instructionLines);
module.Add("");
}
module.Add(" ENDPROC");
module.Add("");
// MODULE FOOTER
module.Add("ENDMODULE");
RobotProgramFile modFile = new RobotProgramFile(programName, "mod", Encoding, CC);
modFile.SetContent(module);
robotProgram.Add(modFile);
return(robotProgram);
}
/// <summary>
/// Creates a textual program representation of a set of Actions using native GCode Laguage.
/// </summary>
/// <param name="programName"></param>
/// <param name="writePointer"></param>
/// <param name="block">Use actions in waiting queue or buffer?</param>
/// <returns></returns>
public override RobotProgram UNSAFEFullProgramFromBuffer(string programName, RobotCursor writer, bool block, bool inlineTargets, bool humanComments)
{
// The program files to be returned
RobotProgram robotProgram = new RobotProgram(programName, CC);
addActionString = humanComments;
// Which pending Actions are used for this program?
// Copy them without flushing the buffer.
List <Action> actions = block ?
writer.actionBuffer.GetBlockPending(false) :
writer.actionBuffer.GetAllPending(false);
// CODE LINES GENERATION
// TARGETS AND INSTRUCTIONS
this.initializationLines = new List <string>();
this.customDeclarationLines = new List <string>();
this.instructionLines = new List <string>();
this.closingLines = new List <string>();
// --> MOVED TO CUSTOM ACTION `Initialize()`
//// SOME INITIAL BOILERPLATE TO HEAT UP THE PRINTER, CALIBRATE IT, ETC.
//// ZMorph boilerplate
//// HEATUP -> For the user, may not want to use the printer as printer...
//initializationLines.Add("M140 S60"); // set bed temp and move on to next inst
//initializationLines.Add("M109 S200"); // set extruder bed temp and wait till heat up
//initializationLines.Add("M190 S60"); // set bed temp and wait till heat up
//// HOMING
//this.initializationLines.Add("G91"); // set rel motion
//this.initializationLines.Add("G1 Z1.000 F200.000"); // move up 1mm and accelerate printhead to 200 mm/min
//this.initializationLines.Add("G90"); // set absolute positioning
//this.initializationLines.Add("G28 X0.000 Y0.00"); // home XY axes
//this.initializationLines.Add("G1 X117.500 Y125.000 F8000.000"); // move to bed center for Z homing
//this.initializationLines.Add("G28 Z0.000"); // home Z
//this.initializationLines.Add("G92 E0.00000"); // set filament position to zero
//// Machina bolierplate
//this.initializationLines.Add("M82"); // set extruder to absolute mode (this is actually ZMorph, but useful here
//this.initializationLines.Add($"G1 F{Math.Round(writer.speed * 60.0, Geometry.STRING_ROUND_DECIMALS_MM)}"); // initialize feed speed to the writer's state
this.initializationLines.AddRange(GenerateDisclaimerHeader(programName));
// DATA GENERATION
// Use the write RobotCursor to generate the data
//int it = 0;
string line = null;
foreach (Action a in actions)
{
// Move writerCursor to this action state
writer.ApplyNextAction(); // for the buffer to correctly manage them
if (a.Type == ActionType.CustomCode && (a as ActionCustomCode).isDeclaration)
{
customDeclarationLines.Add((a as ActionCustomCode).statement);
}
// GCode is super straightforward, so no need to pre-declare anything
if (GenerateInstructionDeclaration(a, writer, out line))
{
this.instructionLines.Add(line);
}
//// Move on
//it++;
}
// --> MOVED TO CUSTOM ACTION `Terminate()`
//// END THE PROGRAM AND LEAVE THE PRINTER READY
//// ZMorph boilerplate
//this.closingLines.Add("G92 E0.0000");
//this.closingLines.Add("G91");
//this.closingLines.Add("G1 E-3.00000 F1800.000");
//this.closingLines.Add("G90");
//this.closingLines.Add("G92 E0.00000");
//this.closingLines.Add("G1 X117.500 Y220.000 Z30.581 F300.000");
//this.closingLines.Add("T0"); // choose tool 0: is this for multihead?
//this.closingLines.Add("M104 S0"); // set extruder temp and move on
//this.closingLines.Add("T1"); // choose tool 1
//this.closingLines.Add("M104 S0"); // ibid
//this.closingLines.Add("M140 S0"); // set bed temp and move on
//this.closingLines.Add("M106 S0"); // fan speed 0 (off)
//this.closingLines.Add("M84"); // stop idle hold (?)
//this.closingLines.Add("M220 S100"); // set speed factor override percentage
// PROGRAM ASSEMBLY
// Initialize a module list
List <string> module = new List <string>();
// Initializations
if (this.initializationLines.Count != 0)
{
module.AddRange(this.initializationLines);
module.Add("");
}
// Custom declarations
if (this.customDeclarationLines.Count != 0)
{
module.AddRange(this.customDeclarationLines);
module.Add("");
}
// MAIN PROCEDURE
// Instructions
if (this.instructionLines.Count != 0)
{
module.AddRange(this.instructionLines);
module.Add("");
}
// Wrapping up
if (this.closingLines.Count != 0)
{
module.AddRange(this.closingLines);
module.Add("");
}
RobotProgramFile mainFile = new RobotProgramFile(programName, "gcode", Encoding, CC);
mainFile.SetContent(module);
robotProgram.Add(mainFile);
return(robotProgram);
}
/// <summary>
/// Creates a textual program representation of a set of Actions using native UR Script.
/// </summary>
/// <param name="programName"></param>
/// <param name="writePointer"></param>
/// <param name="block">Use actions in waiting queue or buffer?</param>
/// <returns></returns>
public override RobotProgram UNSAFEFullProgramFromBuffer(string programName, RobotCursor writer, bool block, bool inlineTargets, bool humanComments)
{
// The program files to be returned
RobotProgram robotProgram = new RobotProgram(programName, CC);
// Which pending Actions are used for this program?
// Copy them without flushing the buffer.
List <Action> actions = block ?
writer.actionBuffer.GetBlockPending(false) :
writer.actionBuffer.GetAllPending(false);
// CODE LINES GENERATION
// TARGETS AND INSTRUCTIONS
List <string> customDeclarationLines = new List <string>();
List <string> variableLines = new List <string>();
List <string> instructionLines = new List <string>();
// DATA GENERATION
// Use the write RobotCursor to generate the data
int it = 0;
string line = null;
foreach (Action a in actions)
{
// Move writerCursor to this action state
writer.ApplyNextAction(); // for the buffer to correctly manage them
if (a.Type == ActionType.CustomCode && (a as ActionCustomCode).isDeclaration)
{
customDeclarationLines.Add(" " + (a as ActionCustomCode).statement);
}
if (inlineTargets)
{
if (GenerateInstructionDeclaration(a, writer, humanComments, out line)) // there will be a number jump on target-less instructions, but oh well...
{
instructionLines.Add(line);
}
}
else
{
// Generate lines of code
if (GenerateVariableDeclaration(a, writer, it, out line)) // there will be a number jump on target-less instructions, but oh well...
{
variableLines.Add(line);
}
if (GenerateInstructionDeclarationFromVariable(a, writer, it, humanComments, out line)) // there will be a number jump on target-less instructions, but oh well...
{
instructionLines.Add(line);
}
}
// Move on
it++;
}
// PROGRAM ASSEMBLY
// Initialize a module list
List <string> module = new List <string>();
// Banner
module.AddRange(GenerateDisclaimerHeader(programName));
module.Add("");
// MODULE HEADER
module.Add("def " + programName + "():");
module.Add("");
// Custom declarations
if (customDeclarationLines.Count != 0)
{
module.AddRange(customDeclarationLines);
module.Add("");
}
// Targets
if (variableLines.Count != 0)
{
module.AddRange(variableLines);
module.Add("");
}
// MAIN PROCEDURE
// Instructions
if (instructionLines.Count != 0)
{
module.AddRange(instructionLines);
module.Add("");
}
module.Add("end");
module.Add("");
// MODULE KICKOFF
module.Add(programName + "()");
RobotProgramFile mainFile = new RobotProgramFile(programName, "script", Encoding, CC);
mainFile.SetContent(module);
robotProgram.Add(mainFile);
return(robotProgram);
}
/// <summary>
/// Creates a textual program representation of a set of Actions using native KUKA Robot Language.
/// </summary>
/// <param name="programName"></param>
/// <param name="writePointer"></param>
/// <param name="block">Use actions in waiting queue or buffer?</param>
/// <returns></returns>
public override RobotProgram UNSAFEFullProgramFromBuffer(string programName, RobotCursor writer, bool block, bool inlineTargets, bool humanComments)
{
// The program files to be returned
RobotProgram robotProgram = new RobotProgram(programName, CC);
// HEADER file
RobotProgramFile datFile = new RobotProgramFile(programName, "dat", Encoding, CC);
List <string> header = new List <string>();
header.AddRange(GenerateDisclaimerHeader(programName));
header.Add("&ACCESS RVP");
header.Add("& REL 1");
header.Add("& PARAM EDITMASK = *");
header.Add(@"&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe");
header.Add(@"& PARAM DISKPATH = KRC:\R1\Program"); // @TODO: this path should be programmatically generated...
header.Add(string.Format("DEFDAT {0}", programName));
header.Add("EXT BAS (BAS_COMMAND: IN, REAL: IN)");
header.Add("DECL INT SUCCESS");
header.Add("ENDDAT");
datFile.SetContent(header);
robotProgram.Add(datFile);
// PROGRAM FILE
addActionString = humanComments;
// Which pending Actions are used for this program?
// Copy them without flushing the buffer.
List <Action> actions = block ?
writer.actionBuffer.GetBlockPending(false) :
writer.actionBuffer.GetAllPending(false);
// CODE LINES GENERATION
// TARGETS AND INSTRUCTIONS
List <string> declarationLines = new List <string>();
List <string> customDeclarationLines = new List <string>();
List <string> initializationLines = new List <string>();
List <string> instructionLines = new List <string>();
//KUKA INITIALIZATION BOILERPLATE
//declarationLines.Add(" ; @TODO: consolidate all same datatypes into single inline declarations...");
//declarationLines.Add(" EXT BAS (BAS_COMMAND :IN, REAL :IN)"); // import BAS sys function --> This needs to move to `.dat` file
initializationLines.Add(" GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM()"); // legacy support for user-programming safety
initializationLines.Add(" INTERRUPT ON 3");
initializationLines.Add(" BAS (#INITMOV, 0)"); // use base function to initialize sys vars to defaults
initializationLines.Add("");
// This was reported not to work
//initializationLines.Add(" $TOOL = {X 0, Y 0, Z 0, A 0, B 0, C 0}"); // no tool
//initializationLines.Add(" $LOAD.M = 0"); // no mass
//initializationLines.Add(" $LOAD.CM = {X 0, Y 0, Z 0, A 0, B 0, C 0}"); // no CoG
// This was reported to be needed
initializationLines.Add(" BASE_DATA[1] = {X 0, Y 0, Z 0, A 0, B 0, C 0}");
// DATA GENERATION
// Use the write RobotCursor to generate the data
int it = 0;
string line = null;
foreach (Action a in actions)
{
// Move writerCursor to this action state
writer.ApplyNextAction(); // for the buffer to correctly manage them
if (a.Type == ActionType.CustomCode && (a as ActionCustomCode).isDeclaration)
{
customDeclarationLines.Add(" " + (a as ActionCustomCode).statement);
}
if (inlineTargets)
{
if (GenerateInstructionDeclaration(a, writer, out line))
{
instructionLines.Add(line);
}
}
else
{
if (GenerateVariableDeclaration(a, writer, it, out line)) // there will be a number jump on target-less instructions, but oh well...
{
declarationLines.Add(line);
}
if (GenerateVariableInitialization(a, writer, it, out line))
{
initializationLines.Add(line);
}
if (GenerateInstructionDeclarationFromVariable(a, writer, it, out line)) // there will be a number jump on target-less instructions, but oh well...
{
instructionLines.Add(line);
}
}
// Move on
it++;
}
// PROGRAM ASSEMBLY
// Initialize a module list
List <string> module = new List <string>();
// Banner
module.AddRange(GenerateDisclaimerHeader(programName));
// SOME INTERFACE INITIALIZATION
// These are all for interface handling, ignored by the compiler (?)
module.Add(@"&ACCESS RVP"); // read-write permissions
module.Add(@"&REL 1"); // release number (increments on file changes)
//module.Add(@"&COMMENT MACHINA PROGRAM"); // This was reported to not work
module.Add(@"&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe");
module.Add(@"&PARAM EDITMASK = *");
module.Add("");
// MODULE HEADER
module.Add("DEF " + programName + "()");
module.Add("");
// Declarations
if (declarationLines.Count != 0)
{
module.AddRange(declarationLines);
module.Add("");
}
// Custom declarations
if (customDeclarationLines.Count != 0)
{
module.AddRange(customDeclarationLines);
module.Add("");
}
// Initializations
if (initializationLines.Count != 0)
{
module.AddRange(initializationLines);
module.Add("");
}
// MAIN PROCEDURE
// Instructions
if (instructionLines.Count != 0)
{
module.AddRange(instructionLines);
module.Add("");
}
module.Add("END");
module.Add("");
RobotProgramFile srcFile = new RobotProgramFile(programName, "src", Encoding, CC);
srcFile.SetContent(module);
robotProgram.Add(srcFile);
return(robotProgram);
}
