/// <summary> /// 读入Rapid中robtarget数据至ListView /// </summary> /// <param name="sender"></param> /// <param name="e"></param> private void readPointsBtn_Click(object sender, EventArgs e) { if (abbtask == null) { Data.LogString = "[error] abbtask is null"; return; } //获得RobTarget数据 rd_p1 = (RobTarget)abbtask.GetRapidData("MainModule", "p1").Value; rd_p2 = (RobTarget)abbtask.GetRapidData("MainModule", "p2").Value; rd_p3 = (RobTarget)abbtask.GetRapidData("MainModule", "p3").Value; rd_p4 = (RobTarget)abbtask.GetRapidData("MainModule", "p4").Value; string[] rd_p_strings = new string[] { rd_p1.ToString(), rd_p2.ToString(), rd_p3.ToString(), rd_p4.ToString() }; string[] points = new string[] { "p1", "p2", "p3", "p4" }; ListViewItem item = null; this.pointslistView.BeginUpdate(); for (int i = 0; i < points.Length; i++) { item = new ListViewItem(points[i]); item.SubItems.Add(rd_p_strings[i]); this.pointslistView.Items.Add(item); //添加元素 } this.pointslistView.EndUpdate(); //更新控件 Data.LogString = "坐标点数据读入完毕`"; }
public void InitDataStream() { // This loads the Task, ensure that the task name matches in robot studio ABB.Robotics.Controllers.RapidDomain.Task tRob1 = controller.Rapid.GetTask("T_ROB1"); if (tRob1 != null) { // this line reads the variable Start on Rapid and passes the value to this app rd_start = tRob1.GetRapidData("Module1", "Start"); if (rd_start.Value is Num) { // We set the process flag to the start variable processFlag = (Num)rd_start.Value; } rd_begin = tRob1.GetRapidData("Module1", "flag"); if (rd_begin.Value is Num) { processFlag = (Num)rd_start.Value; } position = tRob1.GetRapidData("Module1", "position"); } }
private void button_Read_Click(object sender, EventArgs e) { #if ROBOT_EXIST ControllerInfo controllerInfo = main_form.controllers[0]; // 我们很自信,就一个控制器,以后有多个的话,这里肯定需要修改 Controller ctrl = ControllerFactory.CreateFrom(controllerInfo); ctrl.Logon(UserInfo.DefaultUser); tRob1 = ctrl.Rapid.GetTask("T_ROB1"); #endif string module_name = comboBox_Module.SelectedItem.ToString(); string var_type = comboBox_Var.SelectedItem.ToString(); int var_type_no = comboBox_Var.SelectedIndex; string var_name = textBox_varName.Text; #if ROBOT_EXIST string str_read_res = ""; switch (var_type) { case "Num": RD_time = tRob1.GetRapidData(module_name, var_name); ABB_Num_time = (Num)RD_time.Value; str_read_res = ABB_Num_time.ToString(); break; case "RobTarget": RD_rt = tRob1.GetRapidData(module_name, var_name); ABB_RT_rt = (RobTarget)RD_rt.Value; str_read_res = ABB_RT_rt.ToString(); break; default: break; } textBox1_Result.Text = str_read_res; textBox1_Result.Update(); ctrl.Logoff(); ctrl.Dispose(); #else switch (var_type) { case "Num": textBox1_Result.Text = "Num"; break; case "RobTarget": textBox1_Result.Text = "RobTarget"; break; default: break; } textBox1_Result.Update(); #endif }