/// <summary>
/// Method to run the program and returns the action message.
/// </summary>
/// <returns> The action message / status. </returns>
private string StartCommand()
{
// Check the mode of the controller
if (_controller.OperatingMode != ControllerOperatingMode.Auto)
{
return("Controller not set in automatic.");
}
// Check if the motors are enabled
if (_controller.State != ControllerState.MotorsOn)
{
return("Motors not on.");
}
// Execute the program
using (Mastership master = Mastership.Request(_controller))
{
_controller.Rapid.Start(RegainMode.Continue, ExecutionMode.Continuous, ExecutionCycle.Once, StartCheck.CallChain);
// Give back the mastership
master.Release();
}
// Return status message
return("Program started.");
}
public bool Read_Bool(string BoolName)
{
ABB_Data_Read Read = new ABB_Data_Read();
bool bValue = false;
try
{
tasks = controller.Rapid.GetTasks();
using (Mastership m = Mastership.Request(this.controller.Rapid))
{
//Check if the user has the rights to execute RAPID program
if (uas.CheckDemandGrant(Grant.ModifyRapidDataValue))
{
//Modify the rapid value
bValue = Read.Read_ABB_Bool("mMain", "T_MAIN", controller, BoolName);
return(bValue);
}
else
{
return(bValue);
}
}
}
catch (System.InvalidOperationException ex)
{
//return _infomessage = "Mastership is held by another client." + ex.Message;
return(false);
}
catch (System.Exception ex)
{
//return _infomessage = "Unexpected error occurred: " + ex.Message;
return(false);
}
}
public void StopRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
controller.Rapid.Stop();
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public string Set_Reset_Bool(string BoolName, Boolean BoolValue)
{
ABB_Data_Write Write = new ABB_Data_Write();
string _infomessage = "";
try
{
tasks = controller.Rapid.GetTasks();
using (Mastership m = Mastership.Request(this.controller.Rapid))
{
//Check if the user has the rights to execute RAPID program
if (uas.CheckDemandGrant(Grant.ModifyRapidDataValue))
{
//Modify the rapid value
Write.Write_ABB_Boolean(BoolName, "mMain", "T_MAIN", controller, BoolValue);
return(_infomessage);
}
else
{
return(_infomessage);
}
}
}
catch (System.InvalidOperationException ex)
{
return(_infomessage = "Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
return(_infomessage = "Unexpected error occurred: " + ex.Message);
}
}
public void StartProcess()
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_begin.Value = processFlag;
}
}
/// <summary>
/// Resets the program pointer in the controller to the main entry point. Needs to be called
/// before starting execution of a program, otherwise the controller will throw an error.
/// </summary>
internal bool ResetProgramPointers()
{
if (controller == null)
{
logger.Debug("Cannot reset pointer: not connected to controller");
return(false);
}
if (tMainTask == null)
{
logger.Debug("Cannot reset pointer: mainTask not present");
return(false);
}
try
{
using (Mastership.Request(controller.Rapid))
{
tMainTask.ResetProgramPointer();
if (tMonitorTask != null)
{
tMonitorTask.ResetProgramPointer();
}
return(true);
}
}
catch (Exception ex)
{
logger.Debug("Cannot reset pointer...");
logger.Debug(ex);
}
return(false);
}
public string Program_Stop()
{
string _infomessage = "";
try
{
tasks = this.controller.Rapid.GetTasks();
using (Mastership m = Mastership.Request(this.controller.Rapid))
{
//Check if the user has the rights to execute RAPID program
if (uas.CheckDemandGrant(Grant.ExecuteRapid))
{
this.controller.Rapid.Stop(StopMode.Cycle);
_infomessage = "The program has been stopped";
return(_infomessage);
}
else
{
_infomessage = "You do not have the grant to execute RAPID programs";
}
return(_infomessage);
}
}
catch (System.InvalidOperationException ex)
{
_infomessage = "Mastership is held by another client." + ex.Message;
return(_infomessage);
}
catch (System.Exception ex)
{
_infomessage = "Unexpected error occurred: " + ex.Message;
return(_infomessage);
}
}
public static Dictionary <string, List <string[]> > readProgramData(bool run, string[] controllerData)
{
List <string[]> progData = new List <string[]> {
};
///List<string[]> currData = new List<string[]> { };
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
RapidSymbolSearchProperties sProp = RapidSymbolSearchProperties.CreateDefault();
sProp.Types = SymbolTypes.Data;
RapidSymbol[] progDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
foreach (RapidSymbol rs in progDatas)
{
RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
if ((rd.Value is ToolData) | (rd.Value is WobjData))
{
string[] eachProg = new string[3]
{
rd.RapidType,
rd.Name,
rd.Value.ToString()
};
progData.Add(eachProg);
}
}
/*
* RapidSymbol[] currDatas = newTask.GetModule("MainModule").SearchRapidSymbol(sProp);
* foreach (RapidSymbol rs in currDatas)
* {
* RapidData rd = controller.Rapid.GetTask("T_ROB1").GetModule("MainModule").GetRapidData(rs);
* if ((rd.Value is ToolData) | (rd.Value is WobjData))
* {
* string[] eachCurr = new string[3]
* {
* rd.RapidType,
* rd.Name,
* rd.Value.ToString()
* };
* currData.Add(eachCurr);
* }
* }
*/
}
}
return(new Dictionary <string, List <string[]> >
{
{ "programData", progData } /*,{"currentData", currData}*/
});
}
/// <summary>
/// Pings the controller's Rapid resource with a bogus request to check if it is available for
/// Mastership, or it is held by someone else.
/// </summary>
/// <returns></returns>
private bool TestMastershipRapid()
{
if (controller != null)
{
try
{
using (Mastership.Request(controller.Rapid))
{
// Gets the current execution cycle from the RAPID module and sets it back to the same value (just a stupid test)
ExecutionCycle mode = controller.Rapid.Cycle;
controller.Rapid.Cycle = mode;
logger.Debug("Mastership test OK");
return(true);
}
}
catch (Exception ex)
{
logger.Debug("Rapid Mastership not available");
logger.Debug(ex);
}
}
else
{
logger.Debug("Cannot test Rapid Mastership, no controller available");
}
return(false);
}
private void StartProduction()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
this.controller.Rapid.Start();
label3.Text = "Production started";
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client. " + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public static Dictionary <string, string> getCurrentPosition(bool run, string[] controllerData)
{
string robotTarget = "";
string jointTarget = "";
if (run == true)
{
Guid systemId = new Guid(controllerData[1]);
Controller controller = new Controller(systemId);
controller.Logon(UserInfo.DefaultUser);
Task newTask = controller.Rapid.GetTask("T_ROB1");
using (Mastership.Request(controller.Rapid))
{
robotTarget = newTask.GetRobTarget().ToString();
jointTarget = newTask.GetJointTarget().ToString();
}
}
return(new Dictionary <string, string>
{
{ "robotTarget", robotTarget },
{ "jointTarget", jointTarget }
});
}
private void StopProduction()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
this.controller.Rapid.Stop(StopMode.Immediate);
label3.Text = "Production stopped!";
}
}
else
{
MessageBox.Show("Controller is not running");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client. " + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
private void btnHome_Click(object sender, EventArgs e)
{
// JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
JointTarget jCurPos = new JointTarget();
jCurPos.FillFromString2("[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]]");
try
{
using (this.master = Mastership.Request(controller.Rapid))
{
RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
rd.Value = jCurPos;
controller.Rapid.Start();
}
if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
{
master.Release();
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
master.Release();
master = Mastership.Request(controller);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public void SetPath(List <BrushStatus> nativTargets, ProgressBar pb)
{
if (nativTargets.Count > maxLength)
{
targetsNum = maxLength;
}
else
{
targetsNum = nativTargets.Count;
}
rd_tgNumValue.FillFromString2(targetsNum.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targetsNum.Value = rd_tgNumValue;
}
Pos rt;
for (int i = 0; i < targetsNum; i++)
{
rt = new Pos();
rt.FillFromString2("[" + nativTargets[i].X + "," + nativTargets[i].Y + "," + nativTargets[i].Z + "]");
Debug.WriteLine(rt.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targets.WriteItem(rt, i);
}
pb.Increment(1);
}
pb.Value = 0;
}
public string Read_Record_FromArray(int Individual_Index)
{
ABB_Data_Read Read_DataRecord = new ABB_Data_Read();
string Individual_Time = "";
try
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
//Check if the user has the rights to execute RAPID program
if (uas.CheckDemandGrant(Grant.ModifyRapidDataValue))
{
Individual_Time = Read_DataRecord.Read_ABB_DataRecord("RawIndividual", "mMain", "T_MAIN", controller, Individual_Index);
return(Individual_Time);
}
else
{
return(Individual_Time);
}
}
}
catch (System.NullReferenceException ex)
{
return(Individual_Time);
}
}
/// <summary>
/// //重置Task程序指针
/// </summary>
/// <param name="controller">控制器</param>
/// <param name="taskname">任务名称</param>
/// <returns>返回值</returns>
private int RAPID_ProgramReset(Controller controller, string taskname)
{
controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser); //登录
if (controller.OperatingMode != ControllerOperatingMode.Auto) //自动模式
{
return(-1);
}
if (!controller.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))//可执行
{
controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
}
try
{
using (Mastership m = Mastership.Request(controller.Rapid)) //写权限
{
controller.Rapid.GetTask(taskname).ResetProgramPointer(); //复位程序指针
m.Release();
}
}
catch (Exception)
{
}
return(0);
}
/// <summary>
/// Resets the program pointer in the controller to the main entry point. Needs to be called
/// before starting execution of a program, otherwise the controller will throw an error.
/// </summary>
internal bool ResetProgramPointer()
{
if (controller == null)
{
Console.WriteLine("Cannot reset pointer: not connected to controller");
return(false);
}
if (tRob1Task == null)
{
Console.WriteLine("Cannot reset pointer: mainTask not present");
return(false);
}
try
{
using (Mastership.Request(controller.Rapid))
{
tRob1Task.ResetProgramPointer();
return(true);
}
}
catch (Exception ex)
{
Console.WriteLine("Cannot reset pointer...");
Console.WriteLine(ex);
}
return(false);
}
private void labelExecStatus_Click(object sender, EventArgs e)
{
try
{
if (ctl.OperatingMode == ControllerOperatingMode.Auto && ctl.State == ControllerState.MotorsOn)
{
Mastership mc = Mastership.Request(this.ctl.Rapid);
if (labelExecStatus.Text == ExecutionStatus.Running.ToString())
{
//Perform operation
tasks[0].Stop();
}
else
{
StartResult a;
tasks[0].ResetProgramPointer();
a = tasks[0].Start();
}
mc.Dispose();
}
else
{
MessageBox.Show("Please turn to Auto mode and motor on");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
public void StartRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
//Perform operation
Debug.WriteLine("Exec status of the controller ::: " + controller.Rapid.ExecutionStatus);
Debug.WriteLine("Controller State ::: " + controller.State);
controller.Rapid.Start(true);
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
}
string UploadCommand(Program program)
{
try
{
// task.Stop(StopMode.Instruction);
string tempPath = Path.Combine(Util.LibraryPath, "temp");
if (Directory.Exists(tempPath))
{
Directory.Delete(tempPath, true);
}
Directory.CreateDirectory(tempPath);
program.Save(tempPath);
string localFolder = Path.Combine(tempPath, program.Name);
string robotFolder = $@"{_controller.FileSystem.RemoteDirectory}\{program.Name}";
string filePath = string.Empty;
if (!_controller.IsVirtual)
{
_controller.AuthenticationSystem.DemandGrant(Grant.WriteFtp);
_controller.FileSystem.PutDirectory(localFolder, program.Name, true);
filePath = $@"{robotFolder}\{program.Name}_T_ROB1.pgf";
}
else
{
filePath = $@"{localFolder}\{program.Name}_T_ROB1.pgf";
}
using (Mastership master = Mastership.Request(_controller.Rapid))
{
var task = _controller.Rapid.GetTasks().First();
task.DeleteProgram();
int count = 0;
while (count++ < 100)
{
System.Threading.Thread.Sleep(100);
try
{
_controller.AuthenticationSystem.DemandGrant(Grant.LoadRapidProgram);
if (task.LoadProgramFromFile(filePath, RapidLoadMode.Replace))
{
return($"Program {program.Name} uploaded to {_controller.Name}.");
}
}
catch (Exception)
{
}
}
// task.ResetProgramPointer();
}
}
catch (Exception e)
{
return($"Error uploading: {e}");
}
return("Unknown error");
}
/// <summary>
/// PP移至main
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ptm_Btn_Click(object sender, EventArgs e)
{
using (Mastership mr = Mastership.Request(this.abbcontroller.Rapid))
{
this.abbtask.ResetProgramPointer(); //重置程序指针至Main
}
}
public void CtrlRestart(Controller ctrl)
{
ctrl.Logon(UserInfo.DefaultUser);
try
{
if (ctrl.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership.Request(ctrl))
{
ctrl.Restart(ControllerStartMode.Warm);
}
}
else
{
MessageBox.Show("需要打开自动模式");
}
}
catch (InvalidOperationException ex)
{
MessageBox.Show("Mastership problem." + ex.Message);
}
catch (Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
ctrl.Logoff();//should be unecessary since we get kicked out at restart.
}
private void excStartBtn_Click(object sender, EventArgs e)
{
using (Mastership mr = Mastership.Request(this.abbcontroller.Rapid))
{
this.abbcontroller.Rapid.Start();
}
}
private void stopLaterBtn_Click(object sender, EventArgs e)
{
using (Mastership mr = Mastership.Request(abbcontroller.Rapid))
{
abbcontroller.Rapid.Stop(StopMode.Cycle); //执行完当前循环后停止
}
}
/// <summary>
/// Rapid程序立刻停止
/// </summary>
private void stopRightBtn_Click(object sender, EventArgs e)
{
using (Mastership mr = Mastership.Request(abbcontroller.Rapid))
{
abbcontroller.Rapid.Stop(StopMode.Immediate); //立刻停止
}
}
/// <summary>
/// 开始程序
/// </summary>
/// <param name="controller">控制器</param>
/// <returns></returns>
public int RAPID_ProgramStart(Controller controller)
{
controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser); //登录
if (controller.OperatingMode != ControllerOperatingMode.Auto) //自动模式
{
return(-1);
}
if (controller.State != ControllerState.MotorsOn)//已经上电
{
return(-1);
}
if (!controller.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))//可执行
{
controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
}
try
{
using (Mastership m = Mastership.Request(controller.Rapid)) //写权限
{
controller.Rapid.Start(RegainMode.Continue, ExecutionMode.Continuous); //开始继续运行
m.Release();
}
}
catch (Exception ex)
{
return(-1);
}
return(0);
}
public void StartProcess()
{
processFlag.FillFromString2(TO_PAINT.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_start.Value = processFlag;
}
}
/// <summary>
/// 单点传输
/// </summary>
/// <param name="pq"></param>
internal void writePosQuat(Pose pq)
{
using (Mastership m = Mastership.Request(AbbCtrl.Rapid))
{
abbController.DstPosQuat.Value = pq;
m.Release();
}
}
public void SetDrawingSpeed(int level)
{
speedLevel.FillFromString2(level.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_speedLevel.Value = speedLevel;
}
}
public void StopProcess()
{
// fillfromstring2 allows us to pass a varable to rapid data
processFlag.FillFromString2(SHUT_DOWN.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_start.Value = processFlag;
}
}
private void BeginControl()
{
Controller.Logon(UserInfo.DefaultUser);
Mastership = Mastership.Request(Controller.Rapid);
Task = Controller.Rapid.GetTask("T_ROB1");
Controller.FileSystem.RemoteDirectory = "(HOME)$";
}
