/// <summary>
/// Apply a Push or Pop Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionPushPop action)
{
if (action.push)
{
return(this.settingsBuffer.Push(this));
}
else
{
Settings s = settingsBuffer.Pop(this);
if (s != null)
{
this.acceleration = s.Acceleration;
this.speed = s.Speed;
this.rotationSpeed = s.RotationSpeed;
this.jointSpeed = s.JointSpeed;
this.jointAcceleration = s.JointAcceleration;
this.precision = s.Precision;
this.motionType = s.MotionType;
this.referenceCS = s.RefCS;
this.extrusionRate = s.ExtrusionRate;
return(true);
}
}
return(false);
}
internal bool GenerateInstructionDeclaration(
Action action,
RobotCursor cursor,
Dictionary <double, string> velNames,
Dictionary <double, string> zoneNames,
Dictionary <Tool, string> toolNames,
out string declaration)
{
string dec = null;
switch (action.Type)
{
case ActionType.Acceleration:
bool zero = cursor.acceleration < Geometry.EPSILON;
dec = string.Format(" WorldAccLim {0};",
zero ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M)).ToString(CultureInfo.InvariantCulture);
break;
//case ActionType.JointSpeed:
//case ActionType.JointAcceleration:
// dec = string.Format(" {0} WARNING: {1}() has no effect in ABB robots.",
// commChar,
// action.Type);
// break;
// @TODO: push/pop management should be done PROGRAMMATICALLY, not this CHAPUZa...
case ActionType.PushPop:
// Find if there was a change in acceleration, and set the corresponsing instruction...
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
break; // only necessary for pops
}
if (Math.Abs(cursor.acceleration - cursor.settingsBuffer.SettingsBeforeLastPop.Acceleration) < Geometry.EPSILON)
{
break; // no change
}
// If here, there was a change, so...
bool zeroAcc = cursor.acceleration < Geometry.EPSILON;
dec = string.Format(" WorldAccLim {0};",
zeroAcc
? "\\Off"
: "\\On := " + Math.Round(0.001 * cursor.acceleration,
Geometry.STRING_ROUND_DECIMALS_M)).ToString(CultureInfo.InvariantCulture);
break;
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
dec = string.Format(" {0} {1}, {2}, {3}, {4}\\{5};",
cursor.motionType == MotionType.Joint ? "MoveJ" : "MoveL",
GetRobTargetValue(cursor),
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Axes:
dec = string.Format(" MoveAbsJ {0}, {1}, {2}, {3}\\{4};",
GetJointTargetValue(cursor),
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" TPWrite \"{0}\";",
am.message.Length <= 80 ?
am.message :
am.message.Substring(0, 80)); // ABB strings can only be 80 chars long
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(CultureInfo.InvariantCulture,
" WaitTime {0};",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
CC,
ac.comment);
break;
case ActionType.DefineTool:
ActionDefineTool adt = action as ActionDefineTool;
dec = string.Format(" {0} Tool \"{1}\" defined", // this action has no actual RAPID instruction, just add a comment
CC,
adt.tool.name);
break;
case ActionType.AttachTool:
ActionAttachTool aa = (ActionAttachTool)action;
dec = string.Format(" {0} Tool \"{1}\" attached", // this action has no actual RAPID instruction, just add a comment
CC,
aa.toolName);
break;
case ActionType.DetachTool:
ActionDetachTool ad = (ActionDetachTool)action;
dec = string.Format(" {0} All tools detached", // this action has no actual RAPID instruction, just add a comment
CC);
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
dec = $" SetDO {aiod.pinName}, {(aiod.on ? "1" : "0")};";
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
dec = $" SetAO {aioa.pinName}, {aioa.value};";
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = " " + acc.statement;
}
break;
//default:
// dec = string.Format(" ! ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (addActionString && action.Type != ActionType.Comment)
{
dec = string.Format("{0}{1} {2} [{3}]",
dec,
dec == null ? " " : "", // add indentation to align with code
CC,
action.ToString());
}
else if (addActionID)
{
dec = string.Format("{0}{1} {2} [{3}]",
dec,
dec == null ? " " : "", // add indentation to align with code
CC,
action.Id);
}
declaration = dec;
return(dec != null);
}
internal bool GenerateInstructionDeclarationFromVariable(
Action action,
RobotCursor cursor,
int id,
Dictionary <double, string> velNames,
Dictionary <double, string> zoneNames,
Dictionary <Tool, string> toolNames,
out string declaration)
{
string dec = null;
switch (action.type)
{
case ActionType.Acceleration:
bool zero = cursor.acceleration < Geometry.EPSILON2;
dec = string.Format(" WorldAccLim {0};",
zero ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.JointSpeed:
case ActionType.JointAcceleration:
dec = string.Format(" {0} WARNING: {1}() has no effect in ABB robots.",
commChar,
action.type);
break;
// @TODO: push/pop management should be done PROGRAMMATICALLY, not this CHAPUZA...
case ActionType.PushPop:
// Find if there was a change in acceleration, and set the corresponsing instruction...
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
break; // only necessary for pops
}
if (Math.Abs(cursor.acceleration - cursor.settingsBuffer.SettingsBeforeLastPop.Acceleration) < Geometry.EPSILON2)
{
break; // no change
}
// If here, there was a change, so...
bool zeroAcc = cursor.acceleration < Geometry.EPSILON2;
dec = string.Format(" WorldAccLim {0};",
zeroAcc ? "\\Off" : "\\On := " + Math.Round(0.001 * cursor.acceleration, Geometry.STRING_ROUND_DECIMALS_M));
break;
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
dec = string.Format(" {0} target{1}, {2}, {3}, {4}\\{5};",
cursor.motionType == MotionType.Joint ? "MoveJ" : "MoveL",
id,
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Axes:
dec = string.Format(" MoveAbsJ target{0}, {1}, {2}, {3}\\{4};",
id,
velNames[cursor.speed],
zoneNames[cursor.precision],
cursor.tool == null ? "Tool0" : toolNames[cursor.tool],
"WObj:=WObj0");
break;
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format(" TPWrite \"{0}\";",
am.message.Length <= 80 ?
am.message :
am.message.Substring(0, 80)); // ABB TPWrite messages can only be 80 chars long
break;
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(" WaitTime {0};",
0.001 * aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format(" {0} {1}",
commChar,
ac.comment);
break;
case ActionType.Attach:
ActionAttach aa = (ActionAttach)action;
dec = string.Format(" {0} Tool \"{1}\" attached", // this action has no actual RAPID instruction, just add a comment
commChar,
aa.tool.name);
break;
case ActionType.Detach:
ActionDetach ad = (ActionDetach)action;
dec = string.Format(" {0} Tool detached", // this action has no actual RAPID instruction, just add a comment
commChar);
break;
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (aiod.pin < 0 || aiod.pin >= cursor.digitalOutputs.Length)
{
dec = string.Format(" {0} ERROR on \"{1}\": IO number not available",
commChar,
aiod.ToString());
}
else
{
dec = string.Format(" SetDO {0}, {1};",
cursor.digitalOutputNames[aiod.pin],
aiod.on ? "1" : "0");
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (aioa.pin < 0 || aioa.pin >= cursor.analogOutputs.Length)
{
dec = string.Format(" {0} ERROR on \"{1}\": IO number not available",
commChar,
aioa.ToString());
}
else
{
dec = string.Format(" SetAO {0}, {1};",
cursor.analogOutputNames[aioa.pin],
aioa.value);
}
break;
//default:
// dec = string.Format(" ! ACTION \"{0}\" NOT IMPLEMENTED", action);
// break;
}
if (ADD_ACTION_STRING && action.type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.ToString());
}
else if (ADD_ACTION_ID)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.id);
}
declaration = dec;
return(dec != null);
}
