public void Scan()
{
NetworkScanner netscan = new NetworkScanner();
netscan.Scan();
controllers = netscan.Controllers;
}
public ABBController()
{
NetworkScanner netscan = new NetworkScanner();
netscan.Scan();
allControllers = netscan.Controllers;// 扫描到所有控制器:
}
private void InitControlUnit()
{
_networkScanner.Scan();
Assert.Greater(_networkScanner.Controllers.Count, 0, "No controller found on the network.");
_controlUnit = new ControlUnit(_networkScanner.Controllers.First());
Assert.AreEqual(_controlUnit.TryConnect(), true, "Failed to connect to controller.");
}
public void AutoConnect()
{
scanner = new NetworkScanner();
scanner.Scan();
controllers = scanner.Controllers;
string id = config.Read("ID", "RobID", "0", cfgPath);
Guid a = Guid.Parse(id);
foreach (ControllerInfo info in controllers)
{
if (info.SystemId == a)
{
controller = Controller.Connect(info.SystemId, ConnectionType.Standalone);
controller.Logon(UserInfo.DefaultUser);
Text = "当前已自动连接 ID:" + id + " IP:" + info.IPAddress.ToString() + " Port:" + info.WebServicesPort.ToString();
label2_INFO.Text = "已连接。";
setInfoColor();
ShowNewMessage("ヽ(✿ﾟ▽ﾟ)ノ 成功连接到示教器啦：" + id);
button_connect.Text = " 断开";
}
}
if (controller == null)
{
MessageBox.Show("(ノへ￣、) 未扫描到控制器或控制器ID不存在，请检查配置文件！", "自动连接错误");
}
}
public LogEditor()
{
NetworkScanner netScan = new NetworkScanner();
netScan.Scan();
ctrlInfo = netScan.GetControllers();
foreach (var i in ctrlInfo)
{
if (i.SystemName.ToString() == "2600-109425") // ABB IRC5 Controller number 26-00268, 4600-800484
{
aController = new Controller(i);
}
}
// can be used like this, if you know which controller inside of ctrlInfo[] array.
//aController = new Controller(ctrlInfo[0]);
// using ControllerInfoCollection cntInfoColl -
//cntInfoColl = netScan.Controllers;
log = aController.EventLog;
Console.WriteLine($"Application is running.");
aController.EventLog.MessageWritten += _errorEventHappened;
Console.ReadLine();
}
public void Initialise()
{
var networkScanner = new NetworkScanner();
for(int i = 0; i < 20; i++)
{
Thread.Sleep(100);
networkScanner.Scan();
foreach (ControllerInfo controller in networkScanner.Controllers)
{
if (controller.IPAddress.Equals(this.RobotIPAddress))
{
this.Controller = ControllerFactory.CreateFrom(controller);
this.Controller.Rapid.ExecutionStatusChanged += new EventHandler<ExecutionStatusChangedEventArgs>(RapidExecutionStatusChanged);
this.SetSpeed(100);
_status = HardwareStatus.Operational;
return;
}
}
}
_status = HardwareStatus.Offline;
throw new Exception(string.Format("Robot at {0} could not be found.", this.RobotIPAddress));
}
private void RefreshConnectedList()
{
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
connectedControllers = networkScanner.Controllers;
if (connectedControllers.Count != 0)
{
connectButton.Enabled = true;
}
else
{
connectButton.Enabled = false;
}
ListViewItem item = null;
controllerListView.Items.Clear();
foreach (ControllerInfo controllerInfo in connectedControllers)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
controllerListView.Items.Add(item);
item.Tag = controllerInfo;
}
}
public static void Main(string[] args)
{
Twitchbot t = new Twitchbot();
NetworkScanner.Espipfound += OnEspFound;
chatsw = new Stopwatch();
execsw = new Stopwatch();
chatsw.Start();
execsw.Start();
// scan for the the esp and keep scanning untill found.
while (!NetworkScanner.espFound && !NetworkScanner.isScanning)
{
NetworkScanner.Scan();
Thread.Sleep(500);
}
// sub to the bot message event
TwitchClientIrc.ChatMessage += OnTwitchChat;
// start the twitch bot
t.Start();
}
public void ConnectAndDisplayData()
{
Console.Out.WriteLine("Scanning for controllers...");
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
if (controllers.Count == 0)
{
status = Status.NotFound;
}
Console.Out.WriteLine("Number of controllers found: {0}", controllers.Count);
//connecting to first controller found. usually only one is present.
if (status != Status.NotFound)
{
selectedController = controllers.First();
Console.Out.WriteLine(selectedController.Name + " " + selectedController.HostName + " " + selectedController.IPAddress + " " + selectedController.Availability);
Name = selectedController.Name + "\n" + selectedController.IPAddress;
if (selectedController.Availability == Availability.Available)
{
try
{
status = Status.Connecting;
controller = ControllerFactory.CreateFrom(selectedController);
controller.Logon(UserInfo.DefaultUser);
status = Status.Connected;
}
catch (Exception e)
{
Console.WriteLine("Could not establish a connection to the controller" + Environment.NewLine + e.StackTrace);
status = Status.Disconnected;
}
finally { Console.Out.WriteLine("Connected to " + controller.IPAddress); }
}
else
{
Console.WriteLine("The controller is not available for connections");
status = Status.NotAvailable;
status = Status.Disconnected;
}
controller.OperatingModeChanged += Controller_ModeChangedHandler;
Console.Out.WriteLine(controller.OperatingMode);
tasks = controller.Rapid.GetTasks();
foreach (var task in tasks)
{
Console.Out.WriteLine("Current task on the controller: {0} ", task.Name);
}
PrintRapidData(Tasks.LEFT, Modules.LEFT, "codeL");
PrintRapidData(Tasks.RIGHT, Modules.RIGHT, "codeR");
}
}
public void createcontroler()
{
this.objNetworkWatcher = new NetworkScanner();
objNetworkWatcher.Scan();
ControllerInfoCollection objControllerInfoCollection = objNetworkWatcher.Controllers;
objController = new Controller(objControllerInfoCollection[0]);
objController.Logon(UserInfo.DefaultUser);
}
private void Scan(object sender, object e)
{
//Reset Controllers
if (controllers != null)
{
foreach (var controller in controllers)
{
controller.LogOff();
}
controllers = new List <Controller>();
}
// Find ABB robots on the network
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
if (ipAddresses != null)
{
// Scan the network for controllers and add them to our controller array.
foreach (string ip in ipAddresses)
{
NetworkScanner.AddRemoteController(ip);
}
}
ControllerInfo[] controllersID = scanner.GetControllers();
foreach (ControllerInfo id in controllersID)
{
controllers.Add(new AbbIRC5Contoller(id));
}
// Possibility to scan for other robots
// Allow value list to be updated
updateVL = true;
if (controllers != null)
{
if (controllers.Count > 0)
{
log.Add("Controllers found:");
// List the controller names that were found on the network.
for (int i = 0; i < controllers.Count; i++)
{
log.Add(controllers[i].Name);
}
}
else
{
log.Add("Scan timed out. No controllers were found.");
}
}
ExpireSolution(true);
}
/// <summary>
/// 搜索控制器返回控制器列表
/// </summary>
/// <returns></returns>
public List <ControllerInfo> ScanList()
{
ns = new NetworkScanner();
ns.Scan();
foreach (ControllerInfo item in ns.Controllers)
{
ConList.Add(item);
}
JudgeLogStatus = true;
return(ConList);
}
static ControllerPresenter()
{
logger = NLog.Web.NLogBuilder.ConfigureNLog("NLog.config").GetCurrentClassLogger();
Scanner = new NetworkScanner();
Scanner.Scan();
if (Scanner.Controllers.Count != 0)
{
CntPresent = true;
}
}
private void button_systemGuid_Click(object sender, RoutedEventArgs e)
{
Match m = Regex.Match(this.textBox_systemGuid.Text, @"^[0-9a-f]{8}(-[0-9a-f]{4}){3}-[0-9a-f]{12}$", RegexOptions.IgnoreCase);
if (m.Success)
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo controllerinfo in controllers)
{
if (controllerinfo.SystemId.ToString().ToUpper() == this.textBox_systemGuid.Text.ToUpper())
{
try
{
if (this.myController != null)
{
this.myController.Logoff();
this.myController.Dispose();
this.myController = null;
}
this.myController = Controller.Connect(new Guid(this.textBox_systemGuid.Text), ConnectionType.Standalone);
if (string.IsNullOrEmpty(this.textBox_userName.Text))
{
this.myController.Logon(UserInfo.DefaultUser);
}
else
{
UserInfo userInfo_login = new UserInfo(this.textBox_userName.Text);
userInfo_login.Password = this.passwordBox_password.Password;
this.myController.Logon(userInfo_login);
}
systemGuid = this.textBox_systemGuid.Text;
userName = this.textBox_userName.Text;
password = Class_Encrypt.EncryptDES(this.passwordBox_password.Password);
this.DialogResult = true;
return;
}catch (Exception exception)
{
MessageBox.Show(exception.Message);
return;
}
}
}
MessageBox.Show("This system guid is not valid or the controller is not connected, please check it angin.");
}
else
{
MessageBox.Show("This system guid's format is not valid, please check it angin.");
}
}
public static Dictionary <string, List <string[]> > findControllers(bool run)
{
List <string[]> roboCtrl = new List <string[]> {
};
List <string[]> virtCtrl = new List <string[]> {
};
if (run == true)
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo controller in controllers)
{
if (controller.IsVirtual == false)
{
string[] eachController1 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
roboCtrl.Add(eachController1);
}
else
{
string[] eachController2 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
virtCtrl.Add(eachController2);
}
}
}
return(new Dictionary <string, List <string[]> >
{
{ "robotController", roboCtrl },
{ "virtualController", virtCtrl }
});
}
/// <summary>
/// 扫描ABB控制器并连接到第一台设备
/// </summary>
/// <returns>
/// 0: 连接正常
/// -1: 未发现设备
/// </returns>
public int connect()
{
int ret = 0;
NetworkScanner netscan = new NetworkScanner();
netscan.Scan();
controllers = netscan.Controllers;
if (controllers.Count() < 1)
{
ret = (int)ErrorCode.err_no_controller;
return(ret);
}
controller = new Controller(controllers[0]);
controller.Logon(UserInfo.DefaultUser);
return(ret);
}
public static Dictionary<string, List<string[]>> findControllers(bool run)
{
List<string[]> roboCtrl = new List<string[]> { };
List<string[]> virtCtrl = new List<string[]> { };
if (run == true)
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
foreach (ControllerInfo controller in controllers)
{
if (controller.IsVirtual == false)
{
string[] eachController1 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
roboCtrl.Add(eachController1);
}
else
{
string[] eachController2 = new string[5]
{
controller.SystemName.ToString(),
controller.SystemId.ToString(),
controller.Availability.ToString(),
controller.Version.ToString(),
controller.IPAddress.ToString()
};
virtCtrl.Add(eachController2);
}
}
}
return new Dictionary<string, List<string[]>>
{
{"robotController", roboCtrl},
{"virtualController", virtCtrl}
};
}
private void Form1_Load(object sender, EventArgs e)
{
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
ControllerInfoCollection controllers = networkScanner.Controllers;
foreach (ControllerInfo controller in controllers)
{
ListViewItem item = new ListViewItem(controller.SystemName);
item.SubItems.Add(controller.IPAddress.ToString());
item.SubItems.Add(controller.Version.ToString());
item.Tag = controller;
this.listView1.Items.Add(item);
item.Selected = true;
}
}
/// <summary>
/// 扫描控制器
/// </summary>
public void scanNetwork()
{
scanner = new NetworkScanner();
scanner.Scan();
controllers = scanner.Controllers;
// listBox1.Items.Clear();
ListViewItem listViewItem1;
listView1.Items.Clear();
foreach (ControllerInfo info in controllers)
{
listViewItem1 = new ListViewItem(info.SystemName);
// INDEX: SysName/ IP / ControllerName / SysInfo / ID / Port
// listViewItem1.Text = (info.SystemName); // 第一列
listViewItem1.SubItems.Add(info.IPAddress.ToString());
listViewItem1.SubItems.Add(info.ControllerName);
listViewItem1.SubItems.Add(info.Version.ToString());
listViewItem1.SubItems.Add(info.SystemId.ToString());
listViewItem1.SubItems.Add(info.WebServicesPort.ToString());
listView1.Items.Add(listViewItem1);
}
}
// kong jian
public void Form1_Load(object sender, EventArgs e)
{
// 调用 ABBCollector 进行接口扫描
collector = new ABBCollector();
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
ControllerInfoCollection controllers = networkScanner.Controllers;
// 对于扫描到的每一个控制器执行
foreach (ControllerInfo controller in controllers)
{
// listviewitem 是建立的控件中的单元 以系统SystemName为keyword 建立信息类
ListViewItem item = new ListViewItem(controller.SystemName);
//获取 IP version 信息
item.SubItems.Add(controller.IPAddress.ToString()); // ip
item.SubItems.Add(controller.Version.ToString()); // version
item.Tag = controller;
// 指明 item 归属的控件
this.listControllerView.Items.Add(item);
}
}
private void Form1_Load(object sender, EventArgs e)
{
// 建立接口扫描类
NetworkScanner networkScanner = new NetworkScanner();
// 接口扫描
networkScanner.Scan();
// 建立控制器扫描接口变量
ControllerInfoCollection controllers = networkScanner.Controllers;
// 对于扫描到的每一个控制器执行
foreach (ControllerInfo controller in controllers)
{
// listviewitem 是建立的控件中的单元 以系统SystemName为keyword 建立信息类
ListViewItem item = new ListViewItem(controller.SystemName);
//获取 IP version 信息
item.SubItems.Add(controller.IPAddress.ToString());
item.SubItems.Add(controller.Version.ToString());
item.Tag = controller;
// 指明 item 归属的控件
this.lstControllersView.Items.Add(item);
}
}
// ABB_____________________________________________________________________________________________________________________
public void abbScanner()
{
abbCollector = new ABBCollector();
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
ControllerInfoCollection controllers = networkScanner.Controllers;
foreach (ControllerInfo controller in controllers)
{
// 加载扫描的信息
//// listviewitem 是建立的控件中的单元 以系统SystemName为keyword 建立信息类
//ListViewItem item = new ListViewItem(controller.SystemName);
////获取 IP version 信息
//item.SubItems.Add(controller.IPAddress.ToString()); // ip
//item.SubItems.Add(controller.Version.ToString()); // version
//item.Tag = controller;
//// 指明 item 归属的控件
//this.listControllerView.Items.Add(item);
}
}
private void ABBDiscovery()
{
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
ControllerInfo[] controllerInfos = networkScanner.GetControllers(chooseSocket ? NetworkScannerSearchCriterias.Virtual : NetworkScannerSearchCriterias.Real);
if (controllerInfos.Length > 0)
{
Console.WriteLine($"当前online {controllerInfos.Length} 个ABB机器人");
ABBControllerInfo = controllerInfos[0];
ABBController = ControllerFactory.CreateFrom(ABBControllerInfo); // 利用反射方式创建controller实例
Console.WriteLine($"Found one ABB.System Name is:{abbSystemName} System ID is:{abbSystemID} System IP is:{abbSystemIP}");
}
else
{
Console.WriteLine("没有扫描到Online的机器人！");
}
}
private async void CtrlScan()
{
var scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
var taskList = new List <Task>();
foreach (ControllerInfo ctrl in controllers)
{
if (ctrl.VersionName.Contains("6."))
{
var c = new IRC5Session(new Address($"{ctrl.IPAddress}{(ctrl.IsVirtual ? ":" + ctrl.WebServicesPort.ToString() : string.Empty)}"));
taskList.Add(GetSysInfo(c));
}
else if (ctrl.VersionName.Contains("7."))
{
var c = new OmniCoreSession(new Address($"{ctrl.IPAddress}{(ctrl.IsVirtual ? ":" + ctrl.WebServicesPort.ToString() : string.Empty)}"));
taskList.Add(GetSysInfo(c));
}
}
Task t = Task.WhenAll(taskList);
try
{
await t;
}
catch
{
;
}
}
private void ReloadControllers()
{
if (!_reloadingControllers)
{
_reloadingControllers = true;
Invoke((MethodInvoker) delegate
{
Button_Scan.Enabled = false;
});
Task.Run(() =>
{
while (_networkScanner == null)
{
Thread.Sleep(10);
}
_networkScanner.Scan();
Invoke((MethodInvoker) delegate
{
DataGrid_Controllers.Rows.Clear();
foreach (ControllerInfo controllerInfo in _networkScanner.Controllers)
{
AddNewController(controllerInfo);
}
if (_networkScanner.Controllers.Count == 0)
{
Logger.InvokeLog("No controllers were found on the network.");
}
_reloadingControllers = false;
Button_Scan.Enabled = true;
});
});
}
}
void Connect()
{
Disconnect();
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
var controllerInfo =
(IP != null) ?
scanner.Controllers.FirstOrDefault(c => c.IPAddress.ToString() == IP) :
scanner.Controllers.FirstOrDefault();
if (controllerInfo == null)
{
AddLog("Controller not found.");
return;
}
if (controllerInfo.Availability != Availability.Available)
{
AddLog("Controller not available.");
return;
}
_controller = ControllerFactory.CreateFrom(controllerInfo);
_controller.Logon(UserInfo.DefaultUser);
// string isVirtual = controllerInfo.IsVirtual ? "Virtual" : "Real";
// AddLog($"Connecting to {controllerInfo.Name} ({isVirtual})");
if (!Connected)
{
AddLog("Couldn't connect to controller.");
return;
}
}
/*
* //Conbox选择项改变，进行数据显示切换
* void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
* {
*
* RobTarget p;
* JointTarget J;
* //throw new NotImplementedException();
* switch (comboBox1.SelectedItem.ToString())
* {
* case "Base":
* p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.Base);
* break;
* case "Tool":
* p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.Tool);
* break;
* case "WorkObject":
* p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.WorkObject);
* break;
* case "World":
* p = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World);
* break;
* case "Undefined":
* J = RBTCtroller.MotionSystem.ActiveMechanicalUnit.GetPosition();
* break;
* default:break;
* }
* textBox1Num.Text = p.Trans.X.ToString();
* textBox2Num.Text = p.Trans.Y.ToString();
* textBox3Num.Text = p.Trans.Z.ToString();
* textBox4Num.Text = p.Rot.Q1.ToString();
* textBox5Num.Text = p.Rot.Q2.ToString();
* textBox6Num.Text = p.Rot.Q3.ToString();
* }
*/
//扫描函数
private void button1_Click(object sender, EventArgs e)
{
NetworkScanner Netscan = new NetworkScanner();
Netscan.Scan();
ControllerInfoCollection ctrlerInfos = Netscan.Controllers;
if (ctrlerInfos.Capacity != 0)
{
foreach (ControllerInfo ctrlerinfo in ctrlerInfos)
{
ListViewItem items = new ListViewItem(ctrlerinfo.ControllerName);
items.SubItems.Add(ctrlerinfo.Version.ToString());
items.SubItems.Add(ctrlerinfo.IPAddress.ToString());
listView1.Items.Add(items);
items.Tag = ctrlerinfo;
}
btnConnect.Visible = true;
}
else
{
MessageBox.Show("没有可用的控制器", "提示", MessageBoxButtons.OKCancel);
}
}
private void ScanControllerToListView()
{
netScanner.Scan();
ControllerInfoCollection controllers = netScanner.Controllers;
/////////////////////////////////////////////////////////////////
///filling
////////////////////////////////////////////////////////////////
listViewController.Items.Clear();
ListViewItem item = null;
foreach (ControllerInfo controllerInfo in controllers)
{
item = new ListViewItem(controllerInfo.IPAddress.ToString());
item.SubItems.Add(controllerInfo.Id);
item.SubItems.Add(controllerInfo.Availability.ToString());
item.SubItems.Add(controllerInfo.IsVirtual.ToString());
item.SubItems.Add(controllerInfo.SystemName);
item.SubItems.Add(controllerInfo.Version.ToString());
item.SubItems.Add(controllerInfo.ControllerName);
this.listViewController.Items.Add(item);
item.Tag = controllerInfo;
}
}
// Additional methods
#region additional methods
/// <summary>
/// Get the controller
/// </summary>
/// <returns> The picked controller. </returns>
private Controller GetController()
{
// Initiate and clear variables
_controllerInstance.Clear();
ControllerInfo[] controllers;
List <string> controllerNames = new List <string>()
{
};
// Scan for a network with controller
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
// Try to get the controllers from the netwerok
try
{
controllers = scanner.GetControllers();
}
// Else return no controllers
catch (Exception)
{
controllers = null;
}
// Get the names of all the controllers in the scanned network
for (int i = 0; i < controllers.Length; i++)
{
_controllerInstance.Add(Controller.Connect(controllers[i], ConnectionType.Standalone));
controllerNames.Add(_controllerInstance[i].Name);
}
// Automatically pick the controller when one controller is available.
if (controllerNames.Count == 1)
{
_pickedIndex = 0;
}
// Display the form and let the user pick a controller when more then one controller is available.
else if (controllerNames.Count > 1)
{
// Display the form and return the index of the picked controller.
_pickedIndex = DisplayForm(controllerNames);
// Return a null value when the picked index is incorrect.
if (_pickedIndex < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "No Station picked from menu!");
return(null);
}
}
// Return a null value when no controller was found
else
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "No Station found!");
return(null);
}
// Select the picked controller
return(_controllerInstance[_pickedIndex]);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool activate = false;
bool scan = false;
bool kill = false;
bool clear = false;
string ip = System.String.Empty;
int index = 0;
bool connect = false;
bool resetPP = false;
bool begin = false;
bool stop = false;
bool monitorTCP = false;
bool monitorIO = false;
bool stream = false;
Target targ = null;
if (!DA.GetData(0, ref activate))
{
;
}
if (!DA.GetData(1, ref scan))
{
;
}
if (!DA.GetData(2, ref kill))
{
;
}
if (!DA.GetData(3, ref clear))
{
;
}
if (!DA.GetData(4, ref ip))
{
;
}
if (!DA.GetData(5, ref index))
{
;
}
if (!DA.GetData(6, ref connect))
{
;
}
if (!DA.GetData(7, ref resetPP))
{
;
}
if (!DA.GetData(8, ref begin))
{
;
}
if (!DA.GetData(9, ref stop))
{
;
}
if (!DA.GetData(10, ref monitorTCP))
{
;
}
if (!DA.GetData(11, ref monitorIO))
{
;
}
if (!DA.GetData(12, ref stream))
{
;
}
if (!DA.GetData(13, ref targ))
{
;
}
this.controllerIndex = index;
this.start = begin;
double cRobX = 0;
double cRobY = 0;
double cRobZ = 0;
double cRobQ1 = 0;
double cRobQ2 = 0;
double cRobQ3 = 0;
double cRobQ4 = 0;
Quaternion cRobQuat = new Quaternion();
//Check for valid licence
/*if (bool (Core.AuthTest.loggedIn) != true)
* {
* new GH_RuntimeMessage("Please sign in to confirm your licence", GH_RuntimeMessageLevel.Error);
* return;
* }*/
if (activate)
{
if (scan)
{
// Scan the network for controllers and add them to our controller array
scanner.Scan();
controllers = scanner.GetControllers();
if (controllers.Length > 0)
{
log.Add("Controllers found:");
// List the controller names that were found on the network.
for (int i = 0; i < controllers.Length; i++)
{
log.Add(controllers[i].ControllerName);
}
}
else
{
log.Add("Scan timed out. No controllers were found.");
}
}
if (kill && controller != null)
{
controller.Logoff();
controller.Dispose();
controller = null;
log.Add("Process killed! Abandon ship!");
}
if (clear)
{
log.Clear();
log.Add("Log cleared.");
}
if (connect)
{
if (controller == null && controllers.Length > 0)
{
string controllerID = controllers[index].ControllerName;
log.Add("Selected robot controller: " + controllers[index].ControllerName + ".");
if (controllers[index].Availability == Availability.Available)
{
log.Add("Robot controller " + controllers[index].ControllerName + " is available.");
if (controller != null)
{
controller.Logoff();
controller.Dispose();
controller = null;
}
controller = ControllerFactory.CreateFrom(controllers[index]);
controller.Logon(UserInfo.DefaultUser);
log.Add("Connection to robot controller " + controller.SystemName + " established.");
// Get T_ROB1 queue to send messages to the RAPID task.
if (!controller.Ipc.Exists("RMQ_T_ROB1"))
{
controller.Ipc.CreateQueue("RMQ_T_ROB1", 10, Ipc.MaxMessageSize);
}
tasks = controller.Rapid.GetTasks();
IpcQueue robotQueue = controller.Ipc.GetQueue("RMQ_T_ROB1");
int queueID = robotQueue.QueueId;
string queueName = robotQueue.QueueName;
log.Add("Established RMQ for T_ROB1 on network controller.");
log.Add("Rapid Message Queue ID:" + queueID.ToString() + ".");
log.Add("Rapid Message Queue Name:" + queueName + ".");
RobotQueue = robotQueue;
}
else
{
log.Add("Selected controller not available.");
}
ControllerID = controllerID;
}
else
{
if (controller != null)
{
return;
}
else
{
string exceptionMessage = "No robot controllers found on network.";
ControllerID = "No Controller";
log.Add(exceptionMessage);
}
}
}
if (resetPP && controller != null)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Reset program pointer to main.
tasks[0].ResetProgramPointer();
log.Add("Program pointer set to main on the active task.");
}
}
if (begin)
{
// Execute robot tasks present on controller.
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Perform operation.
tasks[0].Start();
log.Add("Robot program started on robot " + controller.SystemName + ".");
}
}
else
{
log.Add("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
log.Add("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
log.Add("Unexpected error occurred: " + ex.Message);
}
}
if (stop)
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
// Stop operation.
tasks[0].Stop(StopMode.Immediate);
log.Add("Robot program stopped on robot " + controller.SystemName + ".");
}
}
else
{
log.Add("Automatic mode is required to stop execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
log.Add("Mastership is held by another client." + ex.Message);
}
catch (System.Exception ex)
{
log.Add("Unexpected error occurred: " + ex.Message);
}
}
// If active, update the status of the TCP.
if (monitorTCP)
{
if (tcpMonitoringOn == 0)
{
log.Add("TCP monitoring started.");
}
cRobTarg = tasks[0].GetRobTarget();
cRobX = Math.Round(cRobTarg.Trans.X, 3);
cRobY = Math.Round(cRobTarg.Trans.Y, 3);
cRobZ = Math.Round(cRobTarg.Trans.Z, 3);
Point3d cRobPos = new Point3d(cRobX, cRobY, cRobZ);
cRobQ1 = Math.Round(cRobTarg.Rot.Q1, 5);
cRobQ2 = Math.Round(cRobTarg.Rot.Q2, 5);
cRobQ3 = Math.Round(cRobTarg.Rot.Q3, 5);
cRobQ4 = Math.Round(cRobTarg.Rot.Q4, 5);
cRobQuat = new Quaternion(cRobQ1, cRobQ2, cRobQ3, cRobQ4);
tcp = Util.QuaternionToPlane(cRobPos, cRobQuat);
tcpMonitoringOn += 1;
tcpMonitoringOff = 0;
}
else if (tcpMonitoringOn > 0)
{
if (tcpMonitoringOff == 0)
{
log.Add("TCP monitoring stopped.");
}
tcpMonitoringOff += 1;
tcpMonitoringOn = 0;
}
// If active, update the status of the IO system.
if (monitorIO)
{
if (ioMonitoringOn == 0)
{
log.Add("Signal monitoring started.");
}
// Filter only the digital IO system signals.
IOFilterTypes dSignalFilter = IOFilterTypes.Common;
SignalCollection dSignals = controller.IOSystem.GetSignals(dSignalFilter);
IOstatus.Clear();
// Iterate through the found collection and print them to the IO monitoring list.
foreach (Signal signal in dSignals)
{
string sigVal = signal.ToString() + ": " + signal.Value.ToString();
IOstatus.Add(sigVal);
}
ioMonitoringOn += 1;
ioMonitoringOff = 0;
}
else if (ioMonitoringOn > 0)
{
if (ioMonitoringOff == 0)
{
log.Add("Signal monitoring stopped.");
}
ioMonitoringOff += 1;
ioMonitoringOn = 0;
}
if (stream)
{
if (targ != null)
{
IpcMessage message = new IpcMessage();
pos.X = (float)targ.Position.X;
pos.Y = (float)targ.Position.Y;
pos.Z = (float)targ.Position.Z;
ori.Q1 = targ.Quaternion.A;
ori.Q2 = targ.Quaternion.B;
ori.Q3 = targ.Quaternion.C;
ori.Q4 = targ.Quaternion.D;
pose.Trans = pos;
pose.Rot = ori;
string content = "SD;[" +
"\"Linear\"," +
pos.ToString() + "," +
ori.ToString() + "," +
pose.ToString() +
"]";
byte[] data = new UTF8Encoding().GetBytes(content);
message.SetData(data);
RobotQueue.Send(message);
}
}
// Output the status of the connection.
Status = log;
DA.SetDataList(0, log);
DA.SetDataList(1, IOstatus);
DA.SetData(2, new GH_Plane(tcp));
ExpireSolution(true);
}
}
public void ScannNow()
{
NetScan = new NetworkScanner();
NetScan.Scan();
CtrlInfo = NetScan.GetControllers();
} // end of ScannNow method
/// <summary>
/// Send robot target to controller.
/// </summary>
/// <param name="moduleName">Name of module</param>
/// <param name="targetName">Name of target</param>
/// <param name="targetValue">New value for target</param>
public static void sendRobTargetToController(string moduleName, string targetName, string targetValue)
{
try
{
var scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
using (var controller = ControllerFactory.CreateFrom(controllers[0]))
{
controller.Logon(UserInfo.DefaultUser);
using (Mastership.Request(controller.Rapid))
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (var task = controller.Rapid.GetTask("T_ROB1"))
{
var target = new RobTarget();
using (var rapidData = task.GetRapidData(moduleName, targetName))
{
if (rapidData.Value is RobTarget)
{
target.FillFromString2(targetValue);
rapidData.Value = target;
}
}
var result = task.Start(true);
Debug.WriteLine(result.ToString());
task.ResetProgramPointer();
}
}
else
{
Debug.WriteLine("Automatic mode is required to start execution from a remote client.");
}
}
controller.Logoff();
}
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
Debug.WriteLine(ex.StackTrace);
}
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
/// <summary>
/// Send RAPID to controller.
/// </summary>
/// <param name="filePath">File path</param>
/// <returns></returns>
public static bool sendRapidToController(string filePath)
{
if (!File.Exists(filePath))
{
throw new Exception("File could not be found.");
}
var scanner = new NetworkScanner();
scanner.Scan();
ControllerInfoCollection controllers = scanner.Controllers;
using (var controller = ControllerFactory.CreateFrom(controllers[0]))
{
controller.Logon(UserInfo.DefaultUser);
using (Mastership.Request(controller.Rapid))
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
var fileName = Path.GetFileName(filePath);
try
{
var remoteDir = controller.FileSystem.RemoteDirectory.Replace('/', '\\');
var localDir = Path.GetDirectoryName(filePath);
controller.FileSystem.LocalDirectory = localDir;
//write the mod file
controller.FileSystem.PutFile(fileName, true);
//write the prf file
controller.FileSystem.PutFile("Dynamo.prg", true);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
return false;
}
using (var task = controller.Rapid.GetTask("T_ROB1")) // note the task name needs to be set up like this in Robot Studio
{
// read data from file
task.LoadProgramFromFile("Dynamo.prg", RapidLoadMode.Replace);
task.LoadModuleFromFile(fileName, RapidLoadMode.Add);
try
{
task.ResetProgramPointer();//seems to get hung up here.
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message.ToString());
throw;
}
var result = task.Start(true);
Debug.WriteLine(result.ToString());
}
}
else
{
Debug.WriteLine("Automatic mode is required to start execution from a remote client.");
}
}
controller.Logoff();
}
return true;
}
private void Form1_Load(object sender, EventArgs e)
{
// 主窗口大小、位置
int Desk_width = Screen.PrimaryScreen.WorkingArea.Width;
int Desk_height = Screen.PrimaryScreen.WorkingArea.Height;
Width = Desk_width;
Height = Desk_height;
Location = new Point(0, 0);
// 尝试连接ABB
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
controllers = networkScanner.Controllers;
foreach (ControllerInfo info in controllers)
{
ListViewItem item = new ListViewItem("PC");
item.SubItems.Add("ABB");
item.SubItems.Add("Detected");
item.Tag = info;
listView_Log.Items.Add(item);
ABB_Connect_OK = true;
if_ABB_init = true;
}
// 初始化内存映射
if (If_Init_mmf == false)
{
try
{
mmf = MemoryMappedFile.CreateNew(memo_file_name, memo_capacity);
}
catch (Exception Memo_e)
{
Console.WriteLine("Memo File: {0} Exception caught.", Memo_e);
return;
}
try
{
accessor = mmf.CreateViewAccessor();
}
catch (Exception Memo_e)
{
Console.WriteLine("Memo File: {0} Exception caught.", Memo_e);
return;
}
If_Init_mmf = true;
}
// Endof-初始化内存映射
// Gocator启动
// 进行Gocator初始化的相关工作
KApiLib.Construct();
GoSdkLib.Construct();
GC_system = new GoSystem();
KIpAddress ipAddress = KIpAddress.Parse(SENSOR_IP);
try
{
sensor = GC_system.FindSensorByIpAddress(ipAddress);
}
catch (Exception GC_e)
{
Console.WriteLine("XX Gocator Error XX : {0} Exception caught.", GC_e);
return;
}
sensor.Connect();
sensor_setup = sensor.Setup;
GC_system.EnableData(true);
GC_system.SetDataHandler(onData);
if_Gocator_init = true;
// Endof-Gocator启动
}// - Endof - Form1Load
