/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Variables
string name = "";
RobotJointPosition robotJointPosition = new RobotJointPosition();
ExternalJointPosition externalJointPosition = new ExternalJointPosition();
// Catch input data
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref robotJointPosition))
{
robotJointPosition = new RobotJointPosition();
}
if (!DA.GetData(2, ref externalJointPosition))
{
externalJointPosition = new ExternalJointPosition();
}
// Replace spaces
name = HelperMethods.ReplaceSpacesAndRemoveNewLines(name);
JointTarget jointTarget = new JointTarget(name, robotJointPosition, externalJointPosition);
// Sets Output
DA.SetData(0, jointTarget);
}
private void btnHome_Click(object sender, EventArgs e)
{
// JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
JointTarget jCurPos = new JointTarget();
jCurPos.FillFromString2("[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]]");
try
{
using (this.master = Mastership.Request(controller.Rapid))
{
RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
rd.Value = jCurPos;
controller.Rapid.Start();
}
if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
{
master.Release();
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
master.Release();
master = Mastership.Request(controller);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
/// <summary>
/// Defines a Forward Kinematic object from a Joint Target with defined Joint Positions obtained from a Joint Target.
/// </summary>
/// <param name="robot"> The Robot. </param>
/// <param name="jointTarget"> The Joint Target. </param>
/// <param name="hideMesh"> Specifies whether the mesh will be supressed. </param>
public ForwardKinematics(Robot robot, JointTarget jointTarget, bool hideMesh = false)
{
_robot = robot;
_hideMesh = hideMesh;
_robotJointPosition = jointTarget.RobotJointPosition;
_externalJointPosition = jointTarget.ExternalJointPosition;
}
// Additional methods
#region additional methods
/// <summary>
/// Get the internal axis values from a defined joint target
/// </summary>
/// <param name="jointTarget"> The joint target to get the internal axis values from. </param>
/// <returns></returns>
private List <double> GetInternalAxisValuesAsList(JointTarget jointTarget)
{
// Initiate the list with internal axis values
List <double> result = new List <double>()
{
};
// Get the axis values from the joint target
result.Add(jointTarget.RobAx.Rax_1);
result.Add(jointTarget.RobAx.Rax_2);
result.Add(jointTarget.RobAx.Rax_3);
result.Add(jointTarget.RobAx.Rax_4);
result.Add(jointTarget.RobAx.Rax_5);
result.Add(jointTarget.RobAx.Rax_6);
// Replace large numbers (the not connected axes) with an axis value equal to zero
for (int i = 0; i < result.Count; i++)
{
if (result[i] > 9.0e+8)
{
result[i] = 0;
}
}
// Return the list with axis values
return(result);
}
/// <summary>
/// Get the external axis values from a defined joint target
/// </summary>
/// <param name="jointTarget"> The joint target to get the external axis values from. </param>
/// <returns></returns>
private List <double> GetExternalAxisValuesAsList(JointTarget jointTarget)
{
// Initiate the list with external axis values
List <double> result = new List <double>()
{
};
// Get the axis values from the joint target
result.Add(jointTarget.ExtAx.Eax_a);
result.Add(jointTarget.ExtAx.Eax_b);
result.Add(jointTarget.ExtAx.Eax_c);
result.Add(jointTarget.ExtAx.Eax_d);
result.Add(jointTarget.ExtAx.Eax_e);
result.Add(jointTarget.ExtAx.Eax_f);
// Replace large numbers (the not connected axes) with an axis value equal to zero
for (int i = 0; i < result.Count; i++)
{
if (result[i] > 9.0e+8)
{
result[i] = 0;
}
}
// Return the list with axis values
return(result);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
GH_Controller controllerGoo = null;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
// Clear output variables
_internalAxisValues.Clear();
_externalAxisValues.Clear();
// Data needed for making the datatree with axis values
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
int internalAxisValuesPath = 0;
int externalAxisValuesPath = 0;
List <double> values;
GH_Path path;
// Make the output datatree with names with a branch for each mechanical unit
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Get the ABB joint target of the mechanical unit
MechanicalUnit mechanicalUnit = mechanicalUnits[i];
JointTarget jointTarget = mechanicalUnit.GetPosition();
// For internal axis values
if (mechanicalUnit.Type == MechanicalUnitType.TcpRobot)
{
values = GetInternalAxisValuesAsList(jointTarget);
path = new GH_Path(internalAxisValuesPath);
_internalAxisValues.AppendRange(values.ConvertAll(val => new GH_Number(val)), path);
internalAxisValuesPath += 1;
}
// For external axis values
else
{
values = GetExternalAxisValuesAsList(jointTarget);
path = new GH_Path(externalAxisValuesPath);
_externalAxisValues.AppendRange(values.GetRange(0, mechanicalUnit.NumberOfAxes).ConvertAll(val => new GH_Number(val)), path);
externalAxisValuesPath += 1;
}
}
// Output
DA.SetDataTree(0, _internalAxisValues);
DA.SetDataTree(1, _externalAxisValues);
}
private void Jogging(string joint, float OffsJointValue)
{
JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
switch (joint)
{
case "J1":
jCurPos.RobAx.Rax_1 += OffsJointValue;
break;
case "J2":
jCurPos.RobAx.Rax_2 += OffsJointValue;
break;
case "J3":
jCurPos.RobAx.Rax_3 += OffsJointValue;
break;
case "J4":
jCurPos.RobAx.Rax_4 += OffsJointValue;
break;
case "J5":
jCurPos.RobAx.Rax_5 += OffsJointValue;
break;
case "J6":
jCurPos.RobAx.Rax_6 += OffsJointValue;
break;
}
try
{
using (this.master = Mastership.Request(controller.Rapid))
{
RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
rd.Value = jCurPos;
controller.Rapid.Start();
}
if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
{
master.Release();
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
master.Release();
master = Mastership.Request(controller);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
Target HomeEnd()
{
var command = new Group()
{
new Message("Se acabó."),
};
var home = new JointTarget(_att.Home, _tool, _att.SafeSpeed, _att.SafeZone, command, _att.Frame);
return(home);
}
/// <summary>
/// Create joint target from list of rotational values.
/// </summary>
/// <param name="joints">List of degrees</param>
/// <returns></returns>
public static JointTarget JointTargetAtList(List<double> joints)
{
var target = new JointTarget();
if (joints != null)
{
target.FillFromString2(
string.Format("[[{0},{1},{2},{3},{4},{5}],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
joints[0], joints[1], joints[2], joints[3], joints[4], joints[5]));
}
return target;
}
Target HomeStart()
{
var command = new Group()
{
new Message("Press play to start milling..."),
new Stop()
};
var home = new JointTarget(_att.Home, _tool, _att.SafeSpeed, _att.SafeZone, command, _att.Frame);
return(home);
}
/// <summary>
/// Checks if the given Joint Positions are within the axis limits of the robot.
/// </summary>
/// <returns> A list with erros messages. When the list is empty, all the joint positions are within the limits. </returns>
public List <string> CheckJointPositionsAxisLimits()
{
List <string> errors = new List <string>();
for (int i = 0; i < _robotJointPositions.Count; i++)
{
JointTarget jointTarget = new JointTarget((i + 1).ToString(), _robotJointPositions[i], _externalJointPositions[i]);
errors.AddRange(jointTarget.CheckAxisLimits(_robot));
}
return(errors);
}
/// <summary>
/// Calculates the interpolated path of a joint movement from a Joint Target.
/// </summary>
/// <param name="movement"> The movement with as Target a Joint Target. </param>
private void JointMovementFromJointTarget(Movement movement)
{
// Set the correct tool for this movement
SetRobotTool(movement);
// Get the joint target
JointTarget jointTarget = movement.Target as JointTarget;
// Get the final joint positions of this movement
RobotJointPosition towardsRobotJointPosition = jointTarget.RobotJointPosition;
ExternalJointPosition towardsExternalJointPosition = jointTarget.ExternalJointPosition;
// Add error text
_errorText.AddRange(jointTarget.CheckAxisLimits(_robot).ConvertAll(item => string.Copy(item)));
// Interpolate
InterpolateJointMovement(towardsRobotJointPosition, towardsExternalJointPosition);
}
public override bool CastFrom(object source)
{
if (source is Target)
{
Value = source as Target;
return(true);
}
if (source is GH_Point)
{
Value = new CartesianTarget(new Plane((source as GH_Point).Value, Vector3d.XAxis, Vector3d.YAxis));
return(true);
}
if (source is GH_Plane)
{
Value = new CartesianTarget((source as GH_Plane).Value);
return(true);
}
if (source is GH_String)
{
string text = (source as GH_String).Value;
string[] jointsText = text.Split(',');
if (jointsText.Length != 6)
{
return(false);
}
var joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return(false);
}
}
Value = new JointTarget(joints);
return(true);
}
return(false);
}
private void UiRefresh() //这种多线程界面更新为直接传递参数给代理函数
{
string returnRapid;
int i;
while (true) //Important
{
if (RBTCtroller != null)
{
MotionSystem modata = RBTCtroller.MotionSystem;
i = modata.SpeedRatio;
JointTarget jt = new JointTarget();
jt = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition();
returnRapid = jt.ToString();
this.BeginInvoke(mydel, new object[] { returnRapid });//这种多线程界面更新为直接传递参数给代理函数
}
Thread.Sleep(1000);
}
}
/// <summary>
/// Get JointTarget Axis Value.
/// </summary>
/// <param name="jtValue">JointTarget with Values</param>
/// <param name="axis">Axis number</param>
/// <param name="mut">MechanicalUnitType to know if robot or other.</param>
/// <returns></returns>
private double GetJointTargetAxis(JointTarget jtValue, int axis, ABB.Robotics.Controllers.MotionDomain.MechanicalUnitType mut = ABB.Robotics.Controllers.MotionDomain.MechanicalUnitType.TcpRobot)
{
switch (axis)
{
case 1:
switch (mut)
{
case ABB.Robotics.Controllers.MotionDomain.MechanicalUnitType.TcpRobot:
return(((double)jtValue.RobAx.Rax_1 / 360) * 2 * Math.PI);
case ABB.Robotics.Controllers.MotionDomain.MechanicalUnitType.SingleAxis:
return((double)jtValue.ExtAx.Eax_a / 1000);
default:
Logger.AddMessage("RSMoveMecha: GetJointTargetAxis for unmanaged MechanicalUnitType. Returns 0.", LogMessageSeverity.Error);
return(0);
}
case 2: return(((double)jtValue.RobAx.Rax_2 / 360) * 2 * Math.PI);
case 3: return(((double)jtValue.RobAx.Rax_3 / 360) * 2 * Math.PI);
case 4: return(((double)jtValue.RobAx.Rax_4 / 360) * 2 * Math.PI);
case 5: return(((double)jtValue.RobAx.Rax_5 / 360) * 2 * Math.PI);
case 6: return(((double)jtValue.RobAx.Rax_6 / 360) * 2 * Math.PI);
case 7: return(((double)jtValue.ExtAx.Eax_a / 360) * 2 * Math.PI);
case 8: return(((double)jtValue.ExtAx.Eax_b / 360) * 2 * Math.PI);
case 9: return(((double)jtValue.ExtAx.Eax_c / 360) * 2 * Math.PI);
case 10: return(((double)jtValue.ExtAx.Eax_d / 360) * 2 * Math.PI);
case 11: return(((double)jtValue.ExtAx.Eax_e / 360) * 2 * Math.PI);
case 12: return(((double)jtValue.ExtAx.Eax_f / 360) * 2 * Math.PI);
default: return(0);
}
}
/// <summary>
/// Returns a Joints object representing the rotations of the 6 axes of this robot.
/// </summary>
/// <returns></returns>
public Joints GetCurrentJoints()
{
if (!_isConnected)
{
logger.Debug("Cannot GetCurrentJoints, not connected to controller");
return(null);
}
try
{
JointTarget jt = controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
return(new Joints(jt.RobAx.Rax_1, jt.RobAx.Rax_2, jt.RobAx.Rax_3, jt.RobAx.Rax_4, jt.RobAx.Rax_5, jt.RobAx.Rax_6));
}
catch (ABB.Robotics.Controllers.ServiceNotSupportedException e)
{
logger.Debug("CANNOT RETRIEVE JOINTS FROM CONTROLLER");
logger.Debug(e);
return(null);
}
}
protected override void SetJoints(Target target, double[]?prevJoints)
{
for (int i = 0; i < _mechanism.Joints.Length; i++)
{
int externalNum = _mechanism.Joints[i].Number - 6;
if (target.External.Length - 1 < externalNum)
{
Errors.Add($"Positioner external axis not configured on this target.");
}
else
{
Joints[i] = target.External[externalNum];
}
}
if (prevJoints is not null)
{
Joints = JointTarget.GetAbsoluteJoints(Joints, prevJoints);
}
}
protected override void SetJoints(Target target, double[]?prevJoints)
{
if (target is JointTarget jointTarget)
{
Joints = jointTarget.Joints;
}
else if (target is CartesianTarget cartesianTarget)
{
Plane tcp = target.Tool.Tcp;
tcp.Rotate(PI, Vector3d.ZAxis, Point3d.Origin);
Plane targetPlane = cartesianTarget.Plane;
targetPlane.Orient(ref target.Frame.Plane);
var transform = Planes[0].ToInverseTransform() * Transform.PlaneToPlane(tcp, targetPlane);
List <string> errors;
double[] joints;
if (cartesianTarget.Configuration is not null || prevJoints is null)
{
Configuration = cartesianTarget.Configuration ?? RobotConfigurations.None;
joints = InverseKinematics(transform, Configuration, out errors);
}
else
{
joints = GetClosestSolution(transform, prevJoints, out var configuration, out errors, out _);
Configuration = configuration;
}
if (prevJoints is not null)
{
Joints = JointTarget.GetAbsoluteJoints(joints, prevJoints);
}
else
{
Joints = joints;
}
Errors.AddRange(errors);
}
private void showRobotPosition()
{
while (true)
{
try
{
JointTarget currentJointPoint = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
tbJ1.Text = Math.Round(currentJointPoint.RobAx.Rax_1, 2).ToString();
tbJ2.Text = Math.Round(currentJointPoint.RobAx.Rax_2, 2).ToString();
tbJ3.Text = Math.Round(currentJointPoint.RobAx.Rax_3, 2).ToString();
tbJ4.Text = Math.Round(currentJointPoint.RobAx.Rax_4, 2).ToString();
tbJ5.Text = Math.Round(currentJointPoint.RobAx.Rax_5, 2).ToString();
tbJ6.Text = Math.Round(currentJointPoint.RobAx.Rax_6, 2).ToString();
RobTarget currentCartesianPoint = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition(ABB.Robotics.Controllers.MotionDomain.CoordinateSystemType.World);
tbX.Text = Math.Round(currentCartesianPoint.Trans.X, 2).ToString();
tbY.Text = Math.Round(currentCartesianPoint.Trans.Y, 2).ToString();
tbZ.Text = Math.Round(currentCartesianPoint.Trans.Z, 2).ToString();
double q0, q1, q2, q3;
//double Rz,Ry,Rx;
q0 = currentCartesianPoint.Rot.Q1;
q1 = currentCartesianPoint.Rot.Q2;
q2 = currentCartesianPoint.Rot.Q3;
q3 = currentCartesianPoint.Rot.Q4;
//Rz = Math.Atan(2 * (q1 * q2 - q0 * q3) / (q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3));
//Ry = Math.Asin(-2*(q0*q2+q1*q3));
//Rx = Math.Atan(2 * (q2 * q3 - q0 * q1) / (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3));
//tbQ1.Text = Rx.ToString();
//tbQ2.Text = Ry.ToString();
//tbQ3.Text = Rz.ToString();
tbQ1.Text = Math.Round(q0, 2).ToString();
tbQ2.Text = Math.Round(q1, 2).ToString();
tbQ3.Text = Math.Round(q2, 2).ToString();
tbQ4.Text = Math.Round(q3, 2).ToString();
}
catch
{ }
}
}
public override bool CastFrom(object source)
{
switch (source)
{
case Target target:
Value = target;
return(true);
case GH_Point point:
Value = new CartesianTarget(new Plane(point.Value, Vector3d.XAxis, Vector3d.YAxis));
return(true);
case GH_Plane plane:
Value = new CartesianTarget(plane.Value);
return(true);
case GH_String text:
{
string[] jointsText = text.Value.Split(',');
if (jointsText.Length != 6)
{
return(false);
}
var joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return(false);
}
}
Value = new JointTarget(joints);
return(true);
}
}
return(false);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
JointTarget jointTarget = null;
// Catch the input data
if (!DA.GetData(0, ref jointTarget))
{
return;
}
// Check if the object is valid
if (!jointTarget.IsValid)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The Joint Target is not valid");
}
// Output
DA.SetData(0, jointTarget.Name);
DA.SetData(1, jointTarget.RobotJointPosition);
DA.SetData(2, jointTarget.ExternalJointPosition);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool hasTarget = Params.Input.Any(x => x.Name == "Target");
bool hasJoints = Params.Input.Any(x => x.Name == "Joints");
bool hasPlane = Params.Input.Any(x => x.Name == "Plane");
bool hasConfig = Params.Input.Any(x => x.Name == "RobConf");
bool hasMotion = Params.Input.Any(x => x.Name == "Motion");
bool hasTool = Params.Input.Any(x => x.Name == "Tool");
bool hasSpeed = Params.Input.Any(x => x.Name == "Speed");
bool hasZone = Params.Input.Any(x => x.Name == "Zone");
bool hasCommand = Params.Input.Any(x => x.Name == "Command");
bool hasFrame = Params.Input.Any(x => x.Name == "Frame");
bool hasExternal = Params.Input.Any(x => x.Name == "External");
GH_Target sourceTarget = null;
if (hasTarget)
{
if (!DA.GetData("Target", ref sourceTarget))
{
return;
}
}
double[] joints = null;
var plane = new Plane();
Target.RobotConfigurations?configuration = null;
Target.Motions motion = Target.Motions.Joint;
Tool tool = null;
Speed speed = null;
Zone zone = null;
Command command = null;
Frame frame = null;
double[] external = null;
if (hasJoints)
{
GH_String jointsGH = null;
if (!DA.GetData("Joints", ref jointsGH))
{
return;
}
string[] jointsText = jointsGH.Value.Split(',');
if (jointsText.Length != 6)
{
return;
}
joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return;
}
}
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is JointTarget)
{
joints = (sourceTarget.Value as JointTarget).Joints;
}
}
if (hasPlane)
{
GH_Plane planeGH = null;
if (hasPlane)
{
if (!DA.GetData("Plane", ref planeGH))
{
return;
}
}
plane = planeGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
plane = (sourceTarget.Value as CartesianTarget).Plane;
}
}
if (hasConfig)
{
GH_Integer configGH = null;
if (hasConfig)
{
DA.GetData("RobConf", ref configGH);
}
configuration = (configGH == null) ? null : (Target.RobotConfigurations?)configGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
configuration = (sourceTarget.Value as CartesianTarget).Configuration;
}
}
if (hasMotion)
{
GH_String motionGH = null;
DA.GetData("Motion", ref motionGH);
motion = (motionGH == null) ? Target.Motions.Joint : (Target.Motions)Enum.Parse(typeof(Target.Motions), motionGH.Value);
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
motion = (sourceTarget.Value as CartesianTarget).Motion;
}
}
if (hasTool)
{
GH_Tool toolGH = null;
DA.GetData("Tool", ref toolGH);
tool = toolGH?.Value;
}
else if (sourceTarget != null)
{
tool = sourceTarget.Value.Tool;
}
if (hasSpeed)
{
GH_Speed speedGH = null;
DA.GetData("Speed", ref speedGH);
speed = speedGH?.Value;
}
else if (sourceTarget != null)
{
speed = sourceTarget.Value.Speed;
}
if (hasZone)
{
GH_Zone zoneGH = null;
DA.GetData("Zone", ref zoneGH);
zone = zoneGH?.Value;
}
else if (sourceTarget != null)
{
zone = sourceTarget.Value.Zone;
}
if (hasCommand)
{
GH_Command commandGH = null;
DA.GetData("Command", ref commandGH);
command = commandGH?.Value;
}
else if (sourceTarget != null)
{
command = sourceTarget.Value.Command;
}
if (hasFrame)
{
GH_Frame frameGH = null;
DA.GetData("Frame", ref frameGH);
frame = frameGH?.Value;
}
else if (sourceTarget != null)
{
frame = sourceTarget.Value.Frame;
}
if (hasExternal)
{
GH_String externalGH = null;
if (!DA.GetData("External", ref externalGH))
{
external = new double[0];
}
else
{
string[] externalText = externalGH.Value.Split(',');
int length = externalText.Length;
external = new double[length];
for (int i = 0; i < length; i++)
{
if (!GH_Convert.ToDouble_Secondary(externalText[i], ref external[i]))
{
return;
}
}
}
}
else if (sourceTarget != null)
{
external = sourceTarget.Value.External;
}
Target target;
bool localCartesian = isCartesian;
if (hasTarget && !hasPlane && !hasJoints)
{
localCartesian = sourceTarget.Value is CartesianTarget;
}
if (localCartesian)
{
target = new CartesianTarget(plane, configuration, motion, tool, speed, zone, command, frame, external);
}
else
{
target = new JointTarget(joints, tool, speed, zone, command, frame, external);
}
if (sourceTarget != null)
{
target.ExternalCustom = sourceTarget.Value.ExternalCustom;
}
DA.SetData(0, new GH_Target(target));
}
/// <summary>
/// Attempt a cast from generic object.
/// </summary>
/// <param name="source"> Reference to source of cast. </param>
/// <returns> True on success, false on failure. </returns>
public override bool CastFrom(object source)
{
if (source == null)
{
return(false);
}
//Cast from Movement
if (typeof(Movement).IsAssignableFrom(source.GetType()))
{
Value = source as Movement;
return(true);
}
//Cast from Target
if (typeof(ITarget).IsAssignableFrom(source.GetType()))
{
Value = new Movement(source as ITarget);
return(true);
}
//Cast from Target Goo
if (typeof(GH_Target).IsAssignableFrom(source.GetType()))
{
GH_Target targetGoo = source as GH_Target;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Robot Target
if (typeof(RobotTarget).IsAssignableFrom(source.GetType()))
{
RobotTarget target = (RobotTarget)source;
Value = new Movement(target);
return(true);
}
//Cast from Robot Target Goo
if (typeof(GH_RobotTarget).IsAssignableFrom(source.GetType()))
{
GH_RobotTarget targetGoo = (GH_RobotTarget)source;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Joint Target
if (typeof(JointTarget).IsAssignableFrom(source.GetType()))
{
JointTarget target = (JointTarget)source;
Value = new Movement(target);
return(true);
}
//Cast from Joint Target Goo
if (typeof(GH_JointTarget).IsAssignableFrom(source.GetType()))
{
GH_JointTarget targetGoo = (GH_JointTarget)source;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Action
if (typeof(Action).IsAssignableFrom(source.GetType()))
{
if (source is Movement action)
{
Value = action;
return(true);
}
}
//Cast from Action Goo
if (typeof(GH_Action).IsAssignableFrom(source.GetType()))
{
GH_Action actionGoo = source as GH_Action;
if (actionGoo.Value is Movement action)
{
Value = action;
return(true);
}
}
//Cast from Instruction
if (typeof(IInstruction).IsAssignableFrom(source.GetType()))
{
if (source is Movement instruction)
{
Value = instruction;
return(true);
}
}
//Cast from Instruction Goo
if (typeof(GH_Instruction).IsAssignableFrom(source.GetType()))
{
GH_Instruction instructionGoo = source as GH_Instruction;
if (instructionGoo.Value is Movement instruction)
{
Value = instruction;
return(true);
}
}
return(false);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool hasTarget = Params.Input.Any(x => x.Name == "Target");
bool hasJoints = Params.Input.Any(x => x.Name == "Joints");
bool hasPlane = Params.Input.Any(x => x.Name == "Plane");
bool hasConfig = Params.Input.Any(x => x.Name == "RobConf");
bool hasMotion = Params.Input.Any(x => x.Name == "Motion");
bool hasTool = Params.Input.Any(x => x.Name == "Tool");
bool hasSpeed = Params.Input.Any(x => x.Name == "Speed");
bool hasZone = Params.Input.Any(x => x.Name == "Zone");
bool hasCommand = Params.Input.Any(x => x.Name == "Command");
bool hasFrame = Params.Input.Any(x => x.Name == "Frame");
bool hasExternal = Params.Input.Any(x => x.Name == "External");
GH_Target sourceTarget = null;
if (hasTarget) if (!DA.GetData("Target", ref sourceTarget)) return;
double[] joints = null;
var plane = new Plane();
Target.RobotConfigurations? configuration = null;
Target.Motions motion = Target.Motions.Joint;
Tool tool = null;
Speed speed = null;
Zone zone = null;
Command command = null;
Frame frame = null;
double[] external = null;
if (hasJoints)
{
GH_String jointsGH = null;
if (!DA.GetData("Joints", ref jointsGH)) return;
string[] jointsText = jointsGH.Value.Split(',');
if (jointsText.Length != 6) return;
joints = new double[6];
for (int i = 0; i < 6; i++)
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i])) return;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is JointTarget) joints = (sourceTarget.Value as JointTarget).Joints;
}
if (hasPlane)
{
GH_Plane planeGH = null;
if (hasPlane) if (!DA.GetData("Plane", ref planeGH)) return;
plane = planeGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget) plane = (sourceTarget.Value as CartesianTarget).Plane;
}
if (hasConfig)
{
GH_Integer configGH = null;
if (hasConfig) DA.GetData("RobConf", ref configGH);
configuration = (configGH == null) ? null : (Target.RobotConfigurations?)configGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget) configuration = (sourceTarget.Value as CartesianTarget).Configuration;
}
if (hasMotion)
{
GH_String motionGH = null;
DA.GetData("Motion", ref motionGH);
motion = (motionGH == null) ? Target.Motions.Joint : (Target.Motions)Enum.Parse(typeof(Target.Motions), motionGH.Value);
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget) motion = (sourceTarget.Value as CartesianTarget).Motion;
}
if (hasTool)
{
GH_Tool toolGH = null;
DA.GetData("Tool", ref toolGH);
tool = toolGH?.Value;
}
else if (sourceTarget != null)
{
tool = sourceTarget.Value.Tool;
}
if (hasSpeed)
{
GH_Speed speedGH = null;
DA.GetData("Speed", ref speedGH);
speed = speedGH?.Value;
}
else if (sourceTarget != null)
{
speed = sourceTarget.Value.Speed;
}
if (hasZone)
{
GH_Zone zoneGH = null;
DA.GetData("Zone", ref zoneGH);
zone = zoneGH?.Value;
}
else if (sourceTarget != null)
{
zone = sourceTarget.Value.Zone;
}
if (hasCommand)
{
GH_Command commandGH = null;
DA.GetData("Command", ref commandGH);
command = commandGH?.Value;
}
else if (sourceTarget != null)
{
command = sourceTarget.Value.Command;
}
if (hasFrame)
{
GH_Frame frameGH = null;
DA.GetData("Frame", ref frameGH);
frame = frameGH?.Value;
}
else if (sourceTarget != null)
{
frame = sourceTarget.Value.Frame;
}
if (hasExternal)
{
GH_String externalGH = null;
if (!DA.GetData("External", ref externalGH))
{
external = new double[0];
}
else
{
string[] externalText = externalGH.Value.Split(',');
int length = externalText.Length;
external = new double[length];
for (int i = 0; i < length; i++)
if (!GH_Convert.ToDouble_Secondary(externalText[i], ref external[i])) return;
}
}
else if (sourceTarget != null)
{
external = sourceTarget.Value.External;
}
Target target;
bool localCartesian = isCartesian;
if (hasTarget && !hasPlane && !hasJoints)
localCartesian = sourceTarget.Value is CartesianTarget;
if (localCartesian)
target = new CartesianTarget(plane, configuration, motion, tool, speed, zone, command, frame, external);
else
target = new JointTarget(joints, tool, speed, zone, command, frame, external);
DA.SetData(0, new GH_Target(target));
}
/// <summary>
/// Create joint target from rotational values per axis.
/// </summary>
/// <param name="j1">Degrees</param>
/// <param name="j2">Degrees</param>
/// <param name="j3">Degrees</param>
/// <param name="j4">Degrees</param>
/// <param name="j5">Degrees</param>
/// <param name="j6">Degrees</param>
/// <returns></returns>
public static JointTarget JointTargetAtVals(double j1, double j2, double j3, double j4, double j5, double j6)
{
var target = new JointTarget();
target.FillFromString2(
string.Format("[[{0},{1},{2},{3},{4},{5}],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
j1, j2, j3, j4, j5, j6));
return target;
}
private void UIshow()
{
ControllerOperatingMode ctrlMode;
ControllerState ctrlState;
ctrlMode = RBTCtroller.OperatingMode;
switch (ctrlMode.ToString())
{
case "0":
btnModel.Text = "Auto"; break;
case "1":
btnModel.Text = "Init"; break;
case "2":
btnModel.Text = "MannualReducedSpeed"; break;
case "3":
btnModel.Text = "ManualFullSpeed"; break;
case "4":
btnModel.Text = "AutoChange"; break;
case "5":
btnModel.Text = "MannualFullSpeedChange"; break;
case "6":
btnModel.Text = "NotApplicable"; break;
default:
btnModel.Text = ctrlMode.ToString();
break;
}
ctrlState = RBTCtroller.State;
switch (ctrlState.ToString())
{
case "0":
lblState.Text = "Init"; break;
case "1":
lblState.Text = "MotorsOff"; break;
case "2":
lblState.Text = "MotorsOn"; break;
case "3":
lblState.Text = "GuardStop"; break;
case "4":
lblState.Text = "EmgStopp"; break;
case "5":
lblState.Text = "EmgStopRest"; break;
case "6":
lblState.Text = "SystemFailure"; break;
case "99":
lblState.Text = "Unknown"; break;
default:
lblState.Text = ctrlState.ToString();
break;
}
//throw new NotImplementedException();
switch (comboBox1.SelectedItem.ToString())
{
case "Base": //注意获取直角坐标的类继承关系，及参数
p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.Base);
break;
case "Tool":
p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.Tool);
break;
case "WorkObject":
p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.WorkObject);
break;
case "World":
p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World);
break;
case "Undefined":
J = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition();
break;
default: break;
}
textBox1Num.Text = p.Trans.X.ToString(); //此次的p要定义到函数外边，否则会提示：有可能未赋值的错误！！！
textBox2Num.Text = p.Trans.Y.ToString();
textBox3Num.Text = p.Trans.Z.ToString();
textBox4Num.Text = p.Rot.Q1.ToString();
textBox5Num.Text = p.Rot.Q2.ToString();
textBox6Num.Text = p.Rot.Q3.ToString(); //此次还有个Q4不知道用来做什么
}
public static Dictionary<string, string> WZLimJointDef(string varName, string Inside_Outside, JointTarget loJointVal, JointTarget hiJointVal)
{
string cnst = string.Format("\n\tVAR wzstationary wl{0};" +
"\n\tVAR shapedata js{0};" +
"\n\tCONST jointtarget lo{0}:={1};" +
"\n\tCONST jointtarget hi{0}:={2};",
varName, loJointVal, hiJointVal);
string inst = string.Format("WZLimJointDef \\{0},js{1},lo{1},hi{1};" +
"WzLimSup \\Stat, wl{1},js{1};",
Inside_Outside, varName);
return new Dictionary<string, string>
{
{"cnst", cnst},
{"inst", inst},
};
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Variables
List <string> names = new List <string>();
List <RobotJointPosition> robotJointPositions = new List <RobotJointPosition>();
List <ExternalJointPosition> externalJointPositions = new List <ExternalJointPosition>();
// Catch input data
if (!DA.GetDataList(0, names))
{
return;
}
if (!DA.GetDataList(1, robotJointPositions))
{
robotJointPositions = new List <RobotJointPosition>()
{
new RobotJointPosition()
};
}
if (!DA.GetDataList(2, externalJointPositions))
{
externalJointPositions = new List <ExternalJointPosition>()
{
new ExternalJointPosition()
};
}
// Replace spaces
names = HelperMethods.ReplaceSpacesAndRemoveNewLines(names);
// Get longest input List
int[] sizeValues = new int[3];
sizeValues[0] = names.Count;
sizeValues[1] = robotJointPositions.Count;
sizeValues[2] = externalJointPositions.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int nameCounter = -1;
int robPosCounter = -1;
int extPosCounter = -1;
// Clear list
_jointTargets.Clear();
// Creates the joint targets
for (int i = 0; i < biggestSize; i++)
{
string name;
RobotJointPosition robotJointPosition;
ExternalJointPosition externalJointPosition;
// Names counter
if (i < sizeValues[0])
{
name = names[i];
nameCounter++;
}
else
{
name = names[nameCounter] + "_" + (i - nameCounter);
}
// Robot Joint Position counter
if (i < sizeValues[1])
{
robotJointPosition = robotJointPositions[i];
robPosCounter++;
}
else
{
robotJointPosition = robotJointPositions[robPosCounter];
}
// External Joint Position counter
if (i < sizeValues[2])
{
externalJointPosition = externalJointPositions[i];
extPosCounter++;
}
else
{
externalJointPosition = externalJointPositions[extPosCounter];
}
JointTarget jointTarget = new JointTarget(name, robotJointPosition, externalJointPosition);
_jointTargets.Add(jointTarget);
}
// Sets Output
DA.SetDataList(0, _jointTargets);
#region Object manager
// Gets ObjectManager of this document
_objectManager = DocumentManager.GetDocumentObjectManager(this.OnPingDocument());
// Clears targetNames
for (int i = 0; i < _targetNames.Count; i++)
{
_objectManager.TargetNames.Remove(_targetNames[i]);
}
_targetNames.Clear();
// Removes lastName from targetNameList
if (_objectManager.TargetNames.Contains(_lastName))
{
_objectManager.TargetNames.Remove(_lastName);
}
// Adds Component to TargetByGuid Dictionary
if (!_objectManager.OldJointTargetsByGuid3.ContainsKey(this.InstanceGuid))
{
_objectManager.OldJointTargetsByGuid3.Add(this.InstanceGuid, this);
}
// Checks if target name is already in use and counts duplicates
#region Check name in object manager
_namesUnique = true;
for (int i = 0; i < names.Count; i++)
{
if (_objectManager.TargetNames.Contains(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name already in use.");
_namesUnique = false;
_lastName = "";
break;
}
else
{
// Adds Target Name to list
_targetNames.Add(names[i]);
_objectManager.TargetNames.Add(names[i]);
// Run SolveInstance on other Targets with no unique Name to check if their name is now available
_objectManager.UpdateTargets();
_lastName = names[i];
}
// Checks if variable name exceeds max character limit for RAPID Code
if (HelperMethods.VariableExeedsCharacterLimit32(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name exceeds character limit of 32 characters.");
break;
}
// Checks if variable name starts with a number
if (HelperMethods.VariableStartsWithNumber(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name starts with a number which is not allowed in RAPID Code.");
break;
}
}
#endregion
// Recognizes if Component is Deleted and removes it from Object Managers target and name list
GH_Document doc = this.OnPingDocument();
if (doc != null)
{
doc.ObjectsDeleted += DocumentObjectsDeleted;
}
#endregion
}
void CreateTargets(List <List <SimpleTarget> > paths)
{
double totalDistance = 0;
var externalCustom = new[] { "motorValue" };
_targets.Add(HomeStart());
foreach (var path in paths)
{
var first = path[0].Location;
var last = path[path.Count - 1].Location;
var firstSafe = first; firstSafe.Origin += firstSafe.Normal * _att.SafeZOffset;
_targets.Add(CreateTarget(firstSafe, _att.SafeSpeed, _att.SafeZone, 0));
_targets.Add(CreateTarget(first, _att.ApproachSpeed, _att.ApproachZone, 0));
_targets.Add(CreateTarget(first, _att.ApproachSpeed, _att.ApproachZone, _startDistance));
for (int i = 1; i < path.Count; i++)
{
//double segmentLength = path[i - 1].DistanceTo(path[i]);
Plane position = path[i].Location;
double segmentLength = path[i].Length;
var zone = i != path.Count - 1 ? _att.ExtrusionZone : _att.ApproachZone;
_targets.Add(CreateTarget(position, _att.ExtrusionSpeed, zone, segmentLength));
}
_targets.Add(CreateTarget(last, _att.ExtrusionSpeed, _att.ApproachZone, _suckBack));
var lastOffset = last; lastOffset.Origin += lastOffset.Normal * (_att.SafeZOffset + _att.LayerHeight);
_targets.Add(CreateTarget(lastOffset, _att.ApproachSpeed, _att.SafeZone, 0));
SubPrograms.Add(_targets.Count);
}
_targets.Add(HomeEnd());
SubPrograms.RemoveAt(SubPrograms.Count - 1);
Target CreateTarget(Plane location, Speed speed, Zone zone, double externalDistance)
{
var frame = _att.Frame;
var tool = _att.Tool;
totalDistance += externalDistance * _extrusionFactor;
Command command = null;
if (externalDistance != 0)
{
string sign = externalDistance < 0 ? "+" : "-";
string code = $"motorValue:=motorValue{sign}{Abs(externalDistance):0.000}*extrusionFactor;";
var externalCommand = new Robots.Commands.Custom($"SetExternal{_targets.Count}", command: code);
externalCommand.RunBefore = true;
command = externalCommand;
}
var target = new CartesianTarget(location, null, Motions.Linear, tool, speed, zone, command, frame, new[] { totalDistance });
target.ExternalCustom = externalCustom;
return(target);
}
Target HomeStart()
{
var externalValue = ExternalValue(_loopDistance);
string declaration = $@"VAR num motorValue:= 0;
PERS num extrusionFactor:={_extrusionFactor: 0.000};
VAR robtarget current;
VAR num choice:=0;
";
string initCode = $@"current:= CRobT(\Tool:= {_att.Tool.Name} \WObj:= {_att.Frame.Name});
EOffsSet current.extax;";
string testCode = $@"TPReadFK choice,""Choose mode"",stEmpty,stEmpty,stEmpty,""Program"",""Test"";
current:= CRobT(\Tool:= {_att.Tool.Name} \WObj:= {_att.Frame.Name});
WHILE choice = 5 DO
motorValue:= motorValue - {externalValue:0.00}*extrusionFactor;
current.extax.eax_a:= motorValue;
MoveL Offs(current,0,{_loopDistance},0),{_att.ExtrusionSpeed.Name},{_att.ExtrusionZone.Name},{_att.Tool.Name} \WObj:= {_att.Frame.Name};
motorValue:= motorValue - {externalValue:0.00}*extrusionFactor;
current.extax.eax_a:= motorValue;
MoveL Offs(current,0,0,0),{_att.ExtrusionSpeed.Name},{_att.ExtrusionZone.Name},{_att.Tool.Name} \WObj:= {_att.Frame.Name};
ENDWHILE";
var initCommand = new Robots.Commands.Custom("Init", declaration: declaration, command: initCode);
initCommand.RunBefore = true;
var testCommand = new Robots.Commands.Custom("Test", command: testCode);
var command = new Group(new[] { initCommand, testCommand });
var home = new JointTarget(_att.Home, _att.Tool, _att.SafeSpeed, _att.SafeZone, command, _att.Frame, new[] { totalDistance });
home.ExternalCustom = externalCustom;
return(home);
}
Target HomeEnd()
{
var command = new Group()
{
new Message("Se acabó."),
new Stop()
};
var home = new JointTarget(_att.Home, _att.Tool, _att.SafeSpeed, _att.SafeZone, command, _att.Frame, new[] { totalDistance });
home.ExternalCustom = externalCustom;
return(home);
}
}
/// <summary>
/// Update Mechanism axes values
/// </summary>
/// <param name="component">Component that owns signals. </param>
/// <param name="jtValue">JointTarget Value</param>
private void UpdateAxis(SmartComponent component, Controller controller)
{
int iCtrlMechanismIndex = (int)component.Properties["CtrlMechanism"].Value;
if ((iCtrlMechanismIndex < 1) || (iCtrlMechanismIndex > controller.MotionSystem.MechanicalUnits.Count))
{
component.Properties["CtrlMechanism"].Value = iCtrlMechanismIndex = 1;
}
//Get Controller Values
ABB.Robotics.Controllers.MotionDomain.MechanicalUnit mu = controller.MotionSystem.MechanicalUnits[iCtrlMechanismIndex - 1];
int iCtrlNumberOfAxes = mu.NumberOfAxes;
JointTarget jtValue = mu.GetPosition();
component.Properties["CtrlSpecAxis"].Attributes["MaxValue"] = iCtrlNumberOfAxes.ToString();
int iCtrlSpecAxis = (int)component.Properties["CtrlSpecAxis"].Value;
if (iCtrlSpecAxis > iCtrlNumberOfAxes)
{
component.Properties["CtrlSpecAxis"].Value = iCtrlSpecAxis = iCtrlNumberOfAxes;
}
if (iCtrlSpecAxis < 0)
{
component.Properties["CtrlSpecAxis"].Value = iCtrlSpecAxis = 0;
}
//Get Mechanism Values
Mechanism mecha = (Mechanism)component.Properties["Mechanism"].Value;
if (mecha == null)
{
return;
}
int[] mechaAxes = mecha.GetActiveJoints();
int iMechNumberOfAxes = mechaAxes.Length;
double[] mechaValues = mecha.GetJointValues();
component.Properties["MechSpecAxis"].Attributes["MaxValue"] = iMechNumberOfAxes.ToString();
int iMechSpecAxis = (int)component.Properties["MechSpecAxis"].Value;
if (iMechSpecAxis > iCtrlNumberOfAxes)
{
component.Properties["MechSpecAxis"].Value = iMechSpecAxis = iMechNumberOfAxes;
}
if (iMechSpecAxis < 0)
{
component.Properties["MechSpecAxis"].Value = iMechSpecAxis = 0;
}
//Start Updating
int iAxesUpdated = 0;
if (iCtrlSpecAxis == 0)
{
if (iMechSpecAxis == 0)
{ //Take all Controller axes to update all Mechanism
for (int iAxis = 1; (iAxis <= iCtrlNumberOfAxes) && (iAxis <= iMechNumberOfAxes); ++iAxis)
{
mechaValues[iAxis - 1] = GetJointTargetAxis(jtValue, iAxis, mu.Type);
}
}
else
{ //Only Take Mechanism Specific axis from controller to update it
if ((iMechSpecAxis <= iCtrlNumberOfAxes) && (iMechSpecAxis <= iMechNumberOfAxes))
{
mechaValues[iMechSpecAxis - 1] = GetJointTargetAxis(jtValue, iMechSpecAxis, mu.Type);
}
}
}
else
{
if (iMechSpecAxis == 0)
{ //Only Take Controller Specific axis to update same in Mechanism
if ((iCtrlSpecAxis <= iCtrlNumberOfAxes) && (iCtrlSpecAxis <= iMechNumberOfAxes))
{
mechaValues[iCtrlSpecAxis - 1] = GetJointTargetAxis(jtValue, iCtrlSpecAxis, mu.Type);
}
}
else
{ //Only Take Controller Specific axis to update Mechanism Specific axis
if ((iCtrlSpecAxis <= iCtrlNumberOfAxes) && (iMechSpecAxis <= iMechNumberOfAxes))
{
mechaValues[iMechSpecAxis - 1] = GetJointTargetAxis(jtValue, iCtrlSpecAxis, mu.Type);
}
}
}
iAxesUpdated = ((iCtrlSpecAxis == 0) && (iMechSpecAxis == 0)) ? Math.Min(iCtrlNumberOfAxes, iMechNumberOfAxes) : 1;
//Updating
if (!mecha.SetJointValues(mechaValues, true))
{
component.Properties["Status"].Value = "Error";
Logger.AddMessage("RSMoveMecha: Component " + component.Name + " can't update " + mecha.Name + ".", LogMessageSeverity.Error);
}
else
{
string sNumberOfAxesStatus = iAxesUpdated.ToString() + "/" + iMechNumberOfAxes.ToString() + " Mechanism axes updated from " + iCtrlNumberOfAxes.ToString() + " Controller axes.";
component.Properties["NumberOfAxesStatus"].Value = sNumberOfAxesStatus;
}
}