public static void Invoke(IItem item, Action <IItem> action)
{
using (var roboDkLink = new RoboDK.RoboDKLink(item.RDK()))
{
action.Invoke(item.Clone(roboDkLink.RoboDK));
}
}
public static T Invoke <T>(IItem item, Func <IItem, T> func)
{
using (var roboDkLink = new RoboDK.RoboDKLink(item.RDK()))
{
return(func.Invoke(item.Clone(roboDkLink.RoboDK)));
}
}
public void Test_ParallelRoboDKConnections()
{
var stopAsyncTask = false;
var rdk = new RoboDK
{
RoboDKServerStartPort = 10000,
Logfile = Path.Combine(Directory.GetCurrentDirectory(), "RoboDk.log"),
DefaultSocketTimeoutMilliseconds = 20 * 1000
};
rdk.Connect();
rdk.Render(false);
rdk.Command("AutoRenderDelay", 50);
rdk.Command("AutoRenderDelayMax", 300);
rdk.DefaultSocketTimeoutMilliseconds = 10 * 1000;
List <IItem> AddStaticParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
parts.Add(rdk.AddFile(Path.Combine(cwd, "TableOut.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "robot.robot")));
return(parts);
}
List <IItem> AddDynamicParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
for (var n = 0; n < 10; n++)
{
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Done.sld")));
}
return(parts);
}
// Task which opens a temporary new connection
void DoTemporaryConnectionCalls(IReadOnlyCollection <IItem> staticParts)
{
// ReSharper disable once AccessToModifiedClosure
while (!stopAsyncTask)
{
foreach (var staticPart in staticParts)
{
Thread.Sleep(1);
using (var roboDkLink = new RoboDK.RoboDKLink(staticPart.RDK()))
{
var clonedItem = staticPart.Clone(roboDkLink.RoboDK);
clonedItem.Pose();
}
}
}
}
var p = AddStaticParts();
var task = new Task(() => DoTemporaryConnectionCalls(p));
task.Start();
try
{
for (var i = 0; i < 20; i++)
{
var dynamicParts = AddDynamicParts();
rdk.Command("CollisionMap", "Off");
rdk.SetCollisionActive(CollisionCheckOptions.CollisionCheckOff);
rdk.Delete(dynamicParts);
}
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
stopAsyncTask = true;
}
try
{
task.Wait();
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
rdk.CloseRoboDK();
}
}
