/// <summary>
/// 获取机器人当前位置。姿态使用XYZ欧拉角表示
/// </summary>
/// <param name="arr"></param>
/// <returns></returns>
public int getCurrentLoc(out double[] arr)
{
int ret = 0;
arr = new double[6];
if (controller == null)
{
ret = (int)ErrorCode.err_no_controller;
return(ret);
}
controller.Logon(UserInfo.DefaultUser);
ABB.Robotics.Controllers.RapidDomain.Task motion_task = controller.Rapid.GetTask("T_ROB1");
if (motion_task == null)
{
ret = (int)ErrorCode.err_no_such_task;
return(ret);
}
RobTarget current_loc = motion_task.GetRobTarget();
arr[0] = current_loc.Trans.X;
arr[1] = current_loc.Trans.Y;
arr[2] = current_loc.Trans.Z;
current_loc.Rot.ToEulerAngles(out arr[3], out arr[4], out arr[5]);
return(ret);
}
public void InitDataStream()
{
// This loads the Task, ensure that the task name matches in robot studio
ABB.Robotics.Controllers.RapidDomain.Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
// this line reads the variable Start on Rapid and passes the value to this app
rd_start = tRob1.GetRapidData("Module1", "Start");
if (rd_start.Value is Num)
{
// We set the process flag to the start variable
processFlag = (Num)rd_start.Value;
}
rd_begin = tRob1.GetRapidData("Module1", "flag");
if (rd_begin.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
position = tRob1.GetRapidData("Module1", "position");
}
}
/// <summary>
/// Retrieves the main task from the ABB controller, typically 't_rob1'.
/// </summary>
/// <returns></returns>
private bool LoadMainTask()
{
if (controller == null)
{
Console.WriteLine("Cannot retreive main task: no controller available");
return(false);
}
try
{
ABB.Robotics.Controllers.RapidDomain.Task[] tasks = controller.Rapid.GetTasks();
if (tasks.Length > 0)
{
tRob1Task = tasks[0];
Console.WriteLine("Retrieved task " + tRob1Task.Name);
return(true);
}
else
{
tRob1Task = null;
Console.WriteLine("Could not retrieve any task from the controller");
}
}
catch (Exception ex)
{
Console.WriteLine("Could not retrieve main task from controller");
Console.WriteLine(ex);
}
return(false);
}
/// <summary>
/// Loads a module to the device from a text resource in the assembly, with a target name on the controller.
/// </summary>
/// <param name="resourceName"></param>
/// <param name="targetName"></param>
/// <returns></returns>
public bool LoadModuleToTask(ABBTask task, string module, string targetName)
{
if (!_isConnected)
{
throw new Exception("Cannot load program, not connected to controller");
}
string path = Path.Combine(Path.GetTempPath(), targetName);
if (!IO.SaveStringToFile(path, module, Encoding.ASCII))
{
throw new Exception("Could not save module to temp file");
}
else
{
logger.Debug("Saved module to " + path);
}
if (!UploadFileToController(path))
{
throw new Exception($"Could not upload module {path} to controller");
}
if (!LoadModuleFromControllerToTask(task, targetName))
{
throw new Exception($"Could not load module {targetName} from controller to task {task.Name}");
}
return(true);
}
private void button_checkProgramm_Click(object sender, EventArgs e)
{
try
{
tRob1 = controller.Rapid.GetTask("T_ROB1");
ReadOnlyCollection <ProgramError> errors = tRob1.CheckProgram().Errors;
if (errors == null)
{
MessageBox.Show("可以···未检查到程序错误！");
}
else
{
foreach (ProgramError programError in errors)
{
string taskName = programError.TaskName;
string moduleName = programError.ModuleName;
int Line = programError.Line;
int column = programError.Column;
MessageBox.Show($"(っ °Д °;)っ发现程序错误！\n Task:{taskName} \n 模块:{moduleName} \n 出现在第 {Line} 行 \n 第 {column} 列");
}
}
}
catch (Exception ex)
{ MessageBox.Show(ex.Message, "错误"); }
}
/// <summary>
/// 等待机器人运行
/// </summary>
private void WaitForRoutineFinish()
{
ABB.Robotics.Controllers.RapidDomain.Task task = AbbCtrl.Rapid.GetTask("T_ROB1");//获得机器人正在执行的任务
while (IsStart == false || task.ExecutionStatus == TaskExecutionStatus.Running || task.ExecutionStatus != TaskExecutionStatus.Ready || task.ExecutionStatus == TaskExecutionStatus.UnInitiated || task.ExecutionStatus == TaskExecutionStatus.Unknown)
{
Thread.Sleep(100);
}
}
private void TraceTask(ABB.Robotics.Controllers.RapidDomain.Task t)
{
Console.WriteLine("\t Task: {0}", t.Name);
Module[] modules = t.GetModules();
foreach (Module m in modules)
{
TraceModule(m);
}
}
/// <summary>
/// Disposes the task object. This has to be done manually, since COM objects are not
/// automatically garbage collected.
/// </summary>
/// <returns></returns>
private bool ReleaseMainTask()
{
if (tMainTask != null)
{
tMainTask.Dispose();
tMainTask = null;
return(true);
}
return(false);
}
private void refreshModuleList()
{
listBox_moduleList.Items.Clear();
tRob1 = controller.Rapid.GetTask("T_ROB1");
Module[] module = tRob1.GetModules();
foreach (Module modFiles in module)
{
listBox_moduleList.Items.Add(modFiles);
}
}
private void button_Read_Click(object sender, EventArgs e)
{
#if ROBOT_EXIST
ControllerInfo controllerInfo = main_form.controllers[0]; // 我们很自信，就一个控制器，以后有多个的话，这里肯定需要修改
Controller ctrl = ControllerFactory.CreateFrom(controllerInfo);
ctrl.Logon(UserInfo.DefaultUser);
tRob1 = ctrl.Rapid.GetTask("T_ROB1");
#endif
string module_name = comboBox_Module.SelectedItem.ToString();
string var_type = comboBox_Var.SelectedItem.ToString();
int var_type_no = comboBox_Var.SelectedIndex;
string var_name = textBox_varName.Text;
#if ROBOT_EXIST
string str_read_res = "";
switch (var_type)
{
case "Num":
RD_time = tRob1.GetRapidData(module_name, var_name);
ABB_Num_time = (Num)RD_time.Value;
str_read_res = ABB_Num_time.ToString();
break;
case "RobTarget":
RD_rt = tRob1.GetRapidData(module_name, var_name);
ABB_RT_rt = (RobTarget)RD_rt.Value;
str_read_res = ABB_RT_rt.ToString();
break;
default:
break;
}
textBox1_Result.Text = str_read_res;
textBox1_Result.Update();
ctrl.Logoff();
ctrl.Dispose();
#else
switch (var_type)
{
case "Num":
textBox1_Result.Text = "Num";
break;
case "RobTarget":
textBox1_Result.Text = "RobTarget";
break;
default:
break;
}
textBox1_Result.Update();
#endif
}
private bool LoadFirstTask()
{
var tasks = controller.Rapid.GetTasks();
if (tasks.Length == 0)
{
logger.Error("No tasks available on the controller");
return(false);
}
tMainTask = tasks[0];
return(true);
}
public static string LoadModuleFromFile(string moduleFilePath)
{
//Get Station object
Station station = Project.ActiveProject as Station;
//Check for existance of Module
if (System.IO.File.Exists(moduleFilePath))
{
try
{
RsTask task = station.ActiveTask;
if (task != null)
{
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
if (controller != null)
{
//Request Mastership
using (ABB.Robotics.Controllers.Mastership m =
ABB.Robotics.Controllers.Mastership.Request(controller.Rapid))
{
if (controller.Rapid.ExecutionStatus ==
ABB.Robotics.Controllers.RapidDomain.ExecutionStatus.Stopped)
{
//Load Module if Rapid Execution State is stopped
ABB.Robotics.Controllers.RapidDomain.Task vTask = controller.Rapid.GetTask(task.Name);
bool loadResult = vTask.LoadModuleFromFile(moduleFilePath,
ABB.Robotics.Controllers.RapidDomain.RapidLoadMode.Replace);
Thread.Sleep(1000);
}
}
}
}
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
}
return("Loading module: " + moduleFilePath);
}
/// <summary>
/// 加载控制器上的rapid程序
/// </summary>
void loadModule()
{
try
{
tRob1 = controller.Rapid.GetTask("T_ROB1");
string filePath = controller.FileSystem.GetRemotePath(listBox2_fileStore.SelectedItem.ToString());
Console.WriteLine("目录：" + filePath);
string ProgramFileName = Path.ChangeExtension(filePath, ".mod");
using (Mastership m = Mastership.Request(controller))
{
tRob1.LoadModuleFromFile(Path.GetFileName(filePath), RapidLoadMode.Replace);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "错误");
}
}
/// <summary>
/// Loads a module on a task from the controllers filesystem.
/// </summary>
/// <param name="task"></param>
/// <param name="filename"></param>
/// <param name="wipeout"></param>
/// <returns></returns>
internal bool LoadModuleFromControllerToTask(ABBTask task, string filename, bool wipeout = true)
{
// For the time being, we will always wipe out previous modules on load
if (wipeout)
{
if (ClearAllModules(task) < 0)
{
throw new Exception($"Error clearing modules on task {task.Name}");
}
}
// Load the module
bool success = false;
try
{
using (Mastership.Request(controller.Rapid))
{
FileSystem fs = controller.FileSystem;
string remotePath = fs.RemoteDirectory + "/" + REMOTE_BUFFER_DIR;
bool dirExists = fs.DirectoryExists(REMOTE_BUFFER_DIR);
if (!dirExists)
{
logger.Error($"No directory named {remotePath} found on controller");
return(false);
}
// Loads a Rapid module to the task in the robot controller
success = task.LoadModuleFromFile($"{remotePath}/{filename}", RapidLoadMode.Replace);
}
}
catch (Exception ex)
{
logger.Debug(ex);
throw new Exception("ERROR: Could not LoadModuleFromControllerToTask");
}
if (success)
{
logger.Debug($"Sucessfully loaded {filename} to {task.Name}");
}
return(success);
}
/// <summary>
/// Retrieves the main task from the ABB controller, typically 'T_ROB1'.
/// </summary>
/// <returns></returns>
private bool LoadMainTask()
{
if (controller == null)
{
logger.Debug("Cannot retrieve main task: no controller available");
return(false);
}
tMainTask = controller.Rapid.GetTask("T_ROB1");
if (tMainTask == null)
{
logger.Error("Could not retrieve task T_ROB1 from the controller");
// Quick workaround for Yumis to get the left hand
if (!LoadFirstTask())
{
return(false);
}
}
logger.Debug("Retrieved task " + tMainTask.Name);
return(true);
}
/// <summary>
/// Deletes all existing modules from main task in the controller.
/// </summary>
/// <returns></returns>
private int ClearAllModules(ABBTask task)
{
if (controller == null)
{
logger.Debug("Cannot clear modules: not connected to controller");
return(-1);
}
if (task == null)
{
logger.Debug("Cannot clear modules: task not avaliable");
return(-1);
}
int count = 0;
try
{
using (Mastership.Request(controller.Rapid))
{
ABB.Robotics.Controllers.RapidDomain.Module[] modules = task.GetModules();
foreach (ABB.Robotics.Controllers.RapidDomain.Module m in modules)
{
logger.Verbose($"Deleting module {m.Name} from {task.Name}");
m.Delete();
count++;
}
}
}
catch (Exception ex)
{
logger.Debug($"CLEAR MODULES ERROR: {ex}");
}
logger.Debug($"Cleared {count} modules from main task");
return(count);
}
/// <summary>
/// 连接控制器
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void connectBtn_Click(object sender, EventArgs e)
{
if (this.connectBtn.Text == "连接")
{
if (this.controllerscomboBox.SelectedItem == null)
{
Data.LogString = "[msg] 请选择一个控制器";
return;
}
//字符串分割
string[] controllerString = ((string)this.controllerscomboBox.SelectedItem).Split('/');
//找到控制器
ListViewItem item = this.listView1.FindItemWithText(controllerString[0]);
if (item.Tag != null)
{
try
{
ControllerInfo controllerInfo = (ControllerInfo)item.Tag;
if (this.abbcontroller != null)
{
this.abbcontroller.Logoff();
this.abbcontroller.Dispose();
this.abbcontroller = null;
}
this.abbcontroller = ControllerFactory.CreateFrom(controllerInfo);
this.abbcontroller.Logon(UserInfo.DefaultUser); //连接到控制器
this.abbtask = this.abbcontroller.Rapid.GetTask("T_ROB1"); //初始化abbTask
this.abblog = this.abbcontroller.EventLog; //初始化abblog
this.logcomboBox.SelectedIndex = 0;
this.abblog.MessageWritten += Abblog_MessageWritten; //给abblog添加订阅事件
this.connectBtn.Text = "断开连接";
this.connectBtn.BackColor = Color.Green;
Timer_ON = true; //启动定时器更新状态信息
Data.LogString = "ABB 机器人控制器连接成功";
}
catch (Exception exception)
{
Data.LogString = exception.Message;
}
}
else
{
this.abblog.MessageWritten -= Abblog_MessageWritten; //取消订阅
Data.LogString = "选择的控制器无效";
}
}
else if (this.connectBtn.Text == "断开连接")
{
if (this.abbcontroller != null) //断开控制器连接
{
this.abbcontroller.Logoff();
this.abbcontroller.Dispose();
this.abbcontroller = null;
}
//更新控件
this.connectBtn.Text = "连接";
this.connectBtn.BackColor = Color.Transparent;
Timer_ON = false; //停止机器人状态更新
Data.LogString = "ABB机器人连接断开";
}
}
public static bool LoadProgramFromFile(string filePath)
{
bool result = false;
Project.UndoContext.BeginUndoStep("LoadProgramFromFile");
//Get Station object
#region LoadProgramFromFileStep1
Station station = Project.ActiveProject as Station;
#endregion
//Check for existance of Program
if (System.IO.File.Exists(filePath))
{
try
{
RsTask task = station.ActiveTask;
if (task != null)
{
//Get RsIrc5Controller instance
#region LoadProgramFromFileStep2
RsIrc5Controller rsIrc5Controller = (RsIrc5Controller)task.Parent;
//Get virtual controller instance from RsIrc5Controller
ABB.Robotics.Controllers.Controller controller =
new ABB.Robotics.Controllers.Controller(new Guid(rsIrc5Controller.SystemId.ToString()));
//get task
ABB.Robotics.Controllers.RapidDomain.Task vTask = controller.Rapid.GetTask(task.Name);
#endregion
//Request Mastership
#region LoadProgramFromFileStep3
using (ABB.Robotics.Controllers.Mastership m =
ABB.Robotics.Controllers.Mastership.Request(controller.Rapid))
#endregion
{
if (controller.Rapid.ExecutionStatus ==
ABB.Robotics.Controllers.RapidDomain.ExecutionStatus.Stopped)
{
//Load Program if Rapid Execution is stopped
#region LoadProgramFromFileStep4
vTask.LoadProgramFromFile(filePath,
ABB.Robotics.Controllers.RapidDomain.RapidLoadMode.Replace);
#endregion
System.Threading.Thread.Sleep(1000);
result = true;
}
}
}
}
catch (ABB.Robotics.GeneralException gex)
{
Logger.AddMessage(new LogMessage(gex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
catch (Exception ex)
{
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
result = false;
}
finally
{
Project.UndoContext.EndUndoStep();
}
}
return(result);
}
