public void TestRobotPathSerialize()
{
var robotPath = new HalRobotPath()
{
Name = "Test",
Remark = "Test",
};
var robotMotion = new HalRobotMotion()
{
X = 1.1f,
Y = 2.2f,
Z = 3.3f,
W = 4.4f,
P = 5.5f,
R = 6.6f,
E1 = 7.7f,
UserFrame = 1,
UserTool = 1,
Speed = 60,
MotionType = HalRobotEnumMotionType.Position,
};
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
MvUtil.SaveToXmlFile(robotPath, robotPath.Name + ".xml");
var loadPath = MvUtil.LoadFromXmlFile <HalRobotPath>(robotPath.Name + ".xml");
var loadMotion = loadPath.Motions.LastOrDefault();
Assert.AreEqual(robotMotion.X, loadMotion.X);
Assert.AreEqual(robotMotion.Z, loadMotion.Z);
Assert.AreEqual(robotMotion.Y, loadMotion.Y);
Assert.AreEqual(robotMotion.W, loadMotion.W);
Assert.AreEqual(robotMotion.P, loadMotion.P);
Assert.AreEqual(robotMotion.R, loadMotion.R);
Assert.AreEqual(robotMotion.E1, loadMotion.E1);
Assert.AreEqual(robotMotion.J1, loadMotion.J1);
Assert.AreEqual(robotMotion.J2, loadMotion.J2);
Assert.AreEqual(robotMotion.J3, loadMotion.J3);
Assert.AreEqual(robotMotion.J4, loadMotion.J4);
Assert.AreEqual(robotMotion.J5, loadMotion.J5);
Assert.AreEqual(robotMotion.J6, loadMotion.J6);
Assert.AreEqual(robotMotion.J7, loadMotion.J7);
Assert.AreEqual(robotMotion.UserFrame, loadMotion.UserFrame);
Assert.AreEqual(robotMotion.UserTool, loadMotion.UserTool);
Assert.AreEqual(robotMotion.Speed, loadMotion.Speed);
}
public void SaveToXmlFile(string fn)
{
MvUtil.SaveToXmlFile(this, fn);
}
/// <summary>
/// serialize (序列化) manifest object, and save as xml file
/// </summary>
/// <param name="cfg">MachineManifest object</param>
/// <param name="filePath">xml file path for saving</param>
public static void SaveToXmlFile(MacMachineMgrCfg cfg, string filePath)
{
MvUtil.SaveToXmlFile <MacMachineMgrCfg>(cfg, filePath);
}
/// <summary>
/// serialize (序列化) manifest object, and save as xml file
/// </summary>
/// <param name="manifest">MachineManifest object</param>
/// <param name="filePath">xml file path for saving</param>
public static void SaveToXmlFile(MacManifestCfg manifest, string filePath)
{
MvUtil.SaveToXmlFile <MacManifestCfg>(manifest, filePath);
}