// Ensures we have an active path to edit
internal static void EnsurePath()
{
if (Station.ActiveStation.ActiveTask.ActivePathProcedure != null)
{
return;
}
string pathName = Station.ActiveStation.ActiveTask.GetValidRapidName("VrPath", "_", 1);
var path = new RsPathProcedure(pathName);
Station.ActiveStation.ActiveTask.PathProcedures.Add(path);
Station.ActiveStation.ActiveTask.ActivePathProcedure = path;
}
public static string CreatePath(string procedureName)
{
Project.UndoContext.BeginUndoStep("RsPathProcedure Create");
try
{
//Get the active Station
Station station = Project.ActiveProject as Station;
// Create a PathProcedure.
RsPathProcedure myPath = new RsPathProcedure(procedureName);
// Add the path to the ActiveTask.
station.ActiveTask.PathProcedures.Add(myPath);
myPath.ModuleName = "module1";
myPath.ShowName = true;
myPath.Synchronize = true;
myPath.Visible = true;
//Make the path procedure as active path procedure
station.ActiveTask.ActivePathProcedure = myPath;
//Create Path
foreach (RsTarget target in targets)
{
RsMoveInstruction moveInstruction =
new RsMoveInstruction(station.ActiveTask, "Move", "Default",
MotionType.Linear, target.WorkObject.Name,
target.Name, station.ActiveTask.ActiveTool.Name);
myPath.Instructions.Add(moveInstruction);
}
ArrayList messages = new ArrayList();
station.ActiveTask.SyncPathProcedure(myPath.ModuleName + "/" + myPath.Name,
SyncDirection.ToController,
messages);
targets.Clear();
}
catch (Exception ex)
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
finally
{
Project.UndoContext.EndUndoStep();
}
return("Path " + procedureName + " created");
}
public void Finish()
{
WithUndo("VR Paint", () =>
{
_path = _stn.ActiveTask.ActivePathProcedure;
var transforms = ReduceTransforms(_transforms);
foreach (var tf in transforms)
{
string instrName = _stn.ActiveTask.GetValidRapidName("VrTarget", "_", 1);
CreateMoveInstruction(tf, instrName);
}
_stn.ActiveTask.ActivePathProcedure = _path;
});
}
private static void CreatePath(RsToolData SelectedToolData, RsWorkObject SelectedWorkObject, string speed, string zone)
{
Project.UndoContext.BeginUndoStep("RsPathProcedure Create");
try
{
//Get the active Station
Station station = Project.ActiveProject as Station;
// Create a PathProcedure.
RsPathProcedure myPath = new RsPathProcedure("AutoPath" + pathnumber);
// Add the path to the ActiveTask.
station.ActiveTask.PathProcedures.Add(myPath);
myPath.ModuleName = "module1";
myPath.ShowName = true;
myPath.Synchronize = true;
myPath.Visible = true;
//Make the path procedure as active path procedure
station.ActiveTask.ActivePathProcedure = myPath;
int i = 0;
//Create Path
foreach (RsTarget target in station.ActiveTask.Targets)
{
if (i == 0)
{
// new RsMoveInstruction(station.ActiveTask, "Move", "Default",
//MotionType.Joint, station.ActiveTask.ActiveWorkObject.Name, target.Name, station.ActiveTask.ActiveTool.Name);
RsMoveInstruction moveInstruction =
new RsMoveInstruction(station.ActiveTask, "Move", "Default",
MotionType.Joint, SelectedWorkObject.Name, target.Name, SelectedToolData.Name);
moveInstruction.InstructionArguments["Speed"].Value = speed;
moveInstruction.InstructionArguments["Zone"].Value = zone;
myPath.Instructions.Add(moveInstruction);
}
else
{
RsMoveInstruction moveInstruction =
new RsMoveInstruction(station.ActiveTask, "Move", "Default", MotionType.Linear, SelectedWorkObject.Name,
target.Name, SelectedToolData.Name);
moveInstruction.InstructionArguments["Speed"].Value = speed;
moveInstruction.InstructionArguments["Zone"].Value = zone;
myPath.Instructions.Add(moveInstruction);
}
i++;
pathnumber++;
}
}
catch (Exception ex)
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
finally
{
Project.UndoContext.EndUndoStep();
}
}
