/// <summary>
/// Protected constructor needed for deserialization of the object.
/// </summary>
/// <param name="info"> The SerializationInfo to extract the data from. </param>
/// <param name="context"> The context of this deserialization. </param>
protected Movement(SerializationInfo info, StreamingContext context)
{
// int version = (int)info.GetValue("Version", typeof(int)); // <-- use this if the (de)serialization changes
_movementType = (MovementType)info.GetValue("Movement Type", typeof(MovementType));
_target = (ITarget)info.GetValue("Target", typeof(ITarget));
_id = (int)info.GetValue("ID", typeof(int));
_speedData = (SpeedData)info.GetValue("Speed Data", typeof(SpeedData));
_zoneData = (ZoneData)info.GetValue("Zone Data", typeof(ZoneData));
_robotTool = (RobotTool)info.GetValue("Robot Tool", typeof(RobotTool));
_workObject = (WorkObject)info.GetValue("Work Object", typeof(WorkObject));
_digitalOutput = (DigitalOutput)info.GetValue("Digital Output", typeof(DigitalOutput));
}
/// <summary>
/// Initializes a new instance of the Movement class.
/// This constructor is typically used to cast a Robot Target to a movement.
/// </summary>
/// <param name="target"> The Target. </param>
public Movement(ITarget target)
{
_movementType = 0;
_target = target;
_id = -1;
_speedData = new SpeedData(5); // Slowest predefined tcp speed
_zoneData = new ZoneData(0);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = new DigitalOutput(); // InValid / empty DO
}
/// <summary>
/// Initializes a new instance of the Movement class.
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data. </param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
/// <param name="workObject"> The Work Object. </param>
/// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool, WorkObject workObject, DigitalOutput digitalOutput)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = robotTool;
_workObject = workObject;
_digitalOutput = digitalOutput;
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Movement class with a default Work object (wobj0) and an empty Digital Output.
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data. </param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = robotTool;
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = new DigitalOutput(); // InValid / empty DO
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Movement class with an empty Robot Tool (no override) and a default Work Object (wobj0)
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data.</param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, DigitalOutput digitalOutput)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = digitalOutput;
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Movement class by duplicating an existing Movement instance.
/// </summary>
/// <param name="movement"> The Movement instance to duplicate. </param>
/// <param name="duplicateMesh"> Specifies whether the meshes should be duplicated. </param>
public Movement(Movement movement, bool duplicateMesh = true)
{
_movementType = movement.MovementType;
_target = movement.Target.DuplicateTarget();
_id = movement.SyncID;
_speedData = movement.SpeedData.Duplicate();
_zoneData = movement.ZoneData.Duplicate();
_digitalOutput = movement.DigitalOutput.Duplicate();
if (duplicateMesh == true)
{
_robotTool = movement.RobotTool.Duplicate();
_workObject = movement.WorkObject.Duplicate();
}
else
{
_robotTool = movement.RobotTool.DuplicateWithoutMesh();
_workObject = movement.WorkObject.DuplicateWithoutMesh();
}
}
/// <summary>
/// Initializes a new instance of the Digital Output class by duplicating an existing Digital Output instance.
/// </summary>
/// <param name="digitalOutput"> The Digital Output instance to duplicate. </param>
public DigitalOutput(DigitalOutput digitalOutput)
{
_name = digitalOutput.Name;
_isActive = digitalOutput.IsActive;
}
