private void button7_Click(object sender, EventArgs e)
{
ITxRoboticLocationOperation ro = txObjEditBoxCtrl1.Object as ITxRoboticLocationOperation;
ITxTypeFilter objFilter = new TxTypeFilter(typeof(ITxRoboticLocationOperation));
TxObjectList obj = ro.ParentRoboticOperation.GetAllDescendants(objFilter);
try
{
for (int i = 0; i < obj.Count; i++)
{
if (obj[i + 1] is TxWeldLocationOperation)
{
string str = ";-- " + obj[i + 1].Name + " --";
ITxRoboticOperation rop = obj[i] as ITxRoboticOperation;
if (rop.Commands.Count == 0)
{
rop.CreateCommand(new TxRoboticCommandCreationData(str));
}
else
{
TxRoboticCommand rc = rop.Commands[rop.Commands.Count - 1] as TxRoboticCommand;
if (!rc.Text.Contains("_ps_"))
{
rop.CreateCommand(new TxRoboticCommandCreationData(str));
}
}
}
}
}
catch (System.Exception ex)
{
}
}
/// <summary>
/// Get the joint values of the robot assigned to a location
/// </summary>
/// <param name="location">The location from which to get the joint values</param>
/// <returns>The joint values</returns>
private ArrayList GetRobotPoseDataFromLocation(ITxRoboticLocationOperation location)
{
ITxRobot robot = location.ParentRoboticOperation.Robot;
if (robot != null)
{
TxPoseData pose = robot.GetPoseAtLocation(location);
if (pose != null)
{
return(pose.JointValues);
}
}
return(null);
}