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/// <summary>
/// Create robot target from coordinate and quaternion values.
/// </summary>
/// <param name="ptX">Coordinate</param>
/// <param name="ptY">Coordinate</param>
/// <param name="ptZ">Coordinate</param>
/// <param name="q1">Quaternion</param>
/// <param name="q2">Quaternion</param>
/// <param name="q3">Quaternion</param>
/// <param name="q4">Quaternion</param>
/// <returns></returns>
public static RobTarget RobTargetAtVals(double ptX, double ptY, double ptZ, double q1, double q2, double q3, double q4)
{
var target = new RobTarget();
{
target.FillFromString2(
string.Format(
"[[{0},{1},{2}],[{3},{4},{5},{6}],[0,0,0,0],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
ptX, ptY, ptZ, q1, q2, q3, q4));
}
return target;
}
/// <summary>
/// Create robot target from point and list of quaternion values.
/// </summary>
/// <param name="point">Point</param>
/// <param name="quatList">List of quaternions</param>
/// <returns></returns>
public static RobTarget RobTargetAtPoint1(Point point, List<double> quatList)
{
var target = new RobTarget();
if (point != null)
{
target.FillFromString2(
string.Format(
"[[{0},{1},{2}],[{3},{4},{5},{6}],[0,0,0,0],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
point.X, point.Y, point.Z, quatList[0], quatList[1], quatList[2], quatList[3]));
}
return target;
}
/// <summary>
/// Create robot target from plane.
/// </summary>
/// <param name="plane">Plane</param>
/// <returns></returns>
public static RobTarget RobTargetAtPlane(Plane plane)
{
var target = new RobTarget();
if (plane != null)
{
List<double> quatDoubles = RobotUtils.PlaneToQuaternian(plane);
target.FillFromString2(
string.Format(
"[[{0},{1},{2}],[{3},{4},{5},{6}],[0,0,0,0],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
plane.Origin.X, plane.Origin.Y, plane.Origin.Z, quatDoubles[0], quatDoubles[1], quatDoubles[2], quatDoubles[3]));
}
return target;
}
/// <summary>
/// Create robot target from point and quaternion values.
/// </summary>
/// <param name="point">Point</param>
/// <param name="q1">Quaternion</param>
/// <param name="q2">Quaternion</param>
/// <param name="q3">Quaternion</param>
/// <param name="q4">Quaternion</param>
/// <returns></returns>
public static RobTarget RobTargetAtPoint0(Point point, double q1, double q2, double q3, double q4)
{
var target = new RobTarget();
if (point != null)
{
target.FillFromString2(
string.Format(
"[[{0},{1},{2}],[{3},{4},{5},{6}],[0,0,0,0],[9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09,9.999999999E09]];",
point.X, point.Y, point.Z, q1, q2, q3, q4));
}
return target;
}
/// <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);
}
}
