/// <summary>
/// 取放电池线路,分组收料机专用
/// </summary>
/// <param name="model">
/// 取电池运动模式:
/// 1.正常流程:待机位->抓取位->抓电池->摆放位->放下电池->待机位
/// 2.取电池遇到换料盘的情况=>取电池到待机位等待
/// 3.避让位的情况暂不考虑
/// </param>
/// <param name="zAxisSafePosition">为0时使用默认安全位</param>
/// <returns></returns>
public int ROBOT_CatchAndPutBattery(int model, SixAxisPose sourcePosition, SixAxisPose targetPosition, double zAxisSafePosition = 0)
{
if (_simulate)
{
return(0);
}
try
{
string sendMessage = string.Format("CatchAndPutBattery,{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18}",
model, //0
sourcePosition.xAxis, //1
sourcePosition.yAxis, //2
sourcePosition.zAxis, //3
sourcePosition.rxAxis, //4
sourcePosition.ryAxis, //5
sourcePosition.rzAxis, //6
sourcePosition.fig, //7
sourcePosition.remark, //8
targetPosition.xAxis, //9
targetPosition.yAxis, //10
targetPosition.zAxis, //11
targetPosition.rxAxis, //12
targetPosition.ryAxis, //13
targetPosition.rzAxis, //14
targetPosition.fig, //15
targetPosition.remark, //16
zAxisSafePosition, //17
",\r\n"); //18
byte[] ReceiveData = new byte[1024];
var mut = new Mutex(false, "CatchAndPutBattery");
mut.WaitOne();
_clientSocket.Send(Encoding.UTF8.GetBytes(sendMessage));
int receiveLength = _clientSocket.Receive(ReceiveData);
mut.ReleaseMutex();
//TODO:处理异常
if (0 == receiveLength)
{
return(1);
}
return(0);
}
catch (Exception ex)
{
//TODO:保存日志
Console.WriteLine("CatchAndPutBattery()异常" + ex);
throw ex;
}
}
public int ROBOT_MoveToPos1(int moveType, SixAxisPose sixAxisPose, double zAxisSafePosition = 0)
{
if (_simulate)
{
return(0);
}
try
{
string sendMessage = string.Format("MoveToPos,{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10}",
moveType, //0
sixAxisPose.xAxis, //1
sixAxisPose.yAxis, //2
sixAxisPose.zAxis, //3
sixAxisPose.rxAxis, //4
sixAxisPose.ryAxis, //5
sixAxisPose.rzAxis, //6
sixAxisPose.fig, //7
sixAxisPose.remark, //8
zAxisSafePosition, //9
",\r\n"); //10
byte[] ReceiveData = new byte[1024];
int receiveLength;
lock (obj)
{
_clientSocket.Send(Encoding.UTF8.GetBytes(sendMessage));
receiveLength = _clientSocket.Receive(ReceiveData);
}
//TODO:处理异常
if (0 == receiveLength)
{
return(1);
}
return(0);
}
catch (Exception ex)
{
//TODO:保存日志
Console.WriteLine("MoveToPos()异常" + ex);
throw ex;
}
}
/// <summary>
/// 获取机械手位置
/// </summary>
/// <returns></returns>
public SixAxisPose ROBOT_GetRobotPosition()
{
if (_simulate)
{
return(new SixAxisPose());
}
try
{
string sendMessage = "GetRobotPosition," + ",\r\n";
byte[] ReceiveData = new byte[1024];
var mut = new Mutex(false, "GetRobotPosition");
mut.WaitOne();
_clientSocket.Send(Encoding.UTF8.GetBytes(sendMessage));
int receiveLength = _clientSocket.Receive(ReceiveData);
mut.ReleaseMutex();
//TODO:处理异常
if (0 == receiveLength)
{
return(null);
}
string recData = Encoding.UTF8.GetString(ReceiveData).Trim('\0', ' ');
//TODO:解析数据返回
SixAxisPose sixAxisPose = new SixAxisPose();
//TODO
var data = recData.Split(',');
sixAxisPose.xAxis = Convert.ToDouble(data[0]);
sixAxisPose.yAxis = Convert.ToDouble(data[1]);
sixAxisPose.zAxis = Convert.ToDouble(data[2]);
sixAxisPose.rxAxis = Convert.ToDouble(data[3]);
sixAxisPose.ryAxis = Convert.ToDouble(data[4]);
sixAxisPose.rzAxis = Convert.ToDouble(data[0]);
sixAxisPose.fig = data[6];
return(sixAxisPose);
}
catch (Exception ex)
{
//TODO
Console.WriteLine("GetRobotPosition()异常" + ex);
throw ex;
}
}
/// <summary>
/// 将特殊位置变量存到机械手
/// </summary>
/// <param name="poseType">
/// 1=>待机位1;
/// 2=>待机位2;
/// 3=>NG位;
/// 4=>默认Z轴安全位
/// 5=>避让位1
/// 6=>避让位2
/// 等等
/// </param>
/// <param name="sixAxisPose">位姿</param>
/// <returns></returns>
public int ROBOT_SetPositionParam(int poseType, SixAxisPose sixAxisPose, double zAxisSafePosition)
{
if (_simulate)
{
return(0);
}
try
{
string sendMessage = string.Format("SetPositionParam,{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10}",
poseType, //0
sixAxisPose.xAxis, //1
sixAxisPose.yAxis, //2
sixAxisPose.zAxis, //3
sixAxisPose.rxAxis, //4
sixAxisPose.ryAxis, //5
sixAxisPose.rzAxis, //6
sixAxisPose.fig, //7
sixAxisPose.remark, //8
zAxisSafePosition, //9
",\r\n"); //10
byte[] ReceiveData = new byte[1024];
var mut = new Mutex(false, "SetPositionParam");
mut.WaitOne();
_clientSocket.Send(Encoding.UTF8.GetBytes(sendMessage));
int receiveLength = _clientSocket.Receive(ReceiveData);
mut.ReleaseMutex();
//TODO:处理异常
if (0 == receiveLength)
{
return(1);
}
return(0);
}
catch (Exception ex)
{
//TODO:保存日志
Console.WriteLine("SetPositionParam()异常" + ex);
throw ex;
}
}