/// <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`";
}
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
}
public static Dictionary <string, string> createWeldRoutine0(string filePath, [DefaultArgumentAttribute("{Plane.ByOriginNormal(Point.ByCoordinates(0,0,0),Vector.ByCoordinates(0,0,-1))}")] List <Plane> planes, double waitTime = 2.9, double weldTime = 0.9, double retract = -10)
{
// setup
var targBuilder = new StringBuilder();
int ct = planes.Count;
foreach (Plane plane in planes)
{
RobTarget targ = Dynamo_TORO.DataTypes.RobTargetAtPlane(plane);
string targ2 = "\n\t\t" + "[" + targ.ToString() + "],";
if (plane == planes[planes.Count - 1])
{
targ2 = "\n\t\t" + "[" + targ.ToString() + "]";
}
targBuilder.Append(targ2);
}
// create rapid
string r = "";
using (var tw = new StreamWriter(filePath, false))
{
r = "MODULE MainModule" +
"\n" +
"\n\t" + "! variables" +
"\n\t" + "CONST num wt:=" + waitTime + ";" +
"\n\t" + "CONST num wd:=" + weldTime + ";" +
"\n\t" + "CONST num dz:=" + retract + ";" +
"\n" +
"\n\t" + "! targets" +
"\n\t" + "VAR robtarget targets{" + ct + ",1}:=" +
"\n\t" + "[" + targBuilder.ToString() +
"\n\t" + "];" +
"\n" +
"\n\t" + "! weld routine" +
"\n\t" + "PROC wStart(robtarget target)" +
"\n\t\t" + "MoveL RelTool(target,0,0,dz),v300,z5,t_welder\\WObj:=w_plate;" +
"\n\t\t" + "MoveL target,v300,fine,t_welder\\WObj:=w_plate;" +
"\n\t\t" + "SetDO welder,1;" +
"\n\t\t" + "WaitTime\\InPos,wd;" +
"\n\t\t" + "SetDO welder,0;" +
"\n\t\t" + "MoveL RelTool(target,0,0,dz),v300,z5,t_welder\\WObj:=w_plate;" +
"\n\t\t" + "WaitTime\\InPos,wt;" +
"\n\t" + "ENDPROC\n" +
"\n\t" + "! main routine" +
"\n\t" + "PROC main()" +
"\n\t\t" + "ConfL\\On;" +
"\n\t\t" + "SingArea\\Wrist;" +
"\n\t\t" + "FOR i FROM 1 TO " + ct + " DO" +
"\n\t\t\t" + "TPWrite(valtostr(i))" + " + \" of " + ct + " \" + \"(\" + valtostr(100*i/" + ct + ") + \"%)\";" +
"\n\t\t\t" + "wStart(targets{i,1});" +
"\n\t\t" + "ENDFOR" +
"\n\t\t" + "Stop;" +
"\n\t" + "ENDPROC" +
"\n" +
"\n" + "ENDMODULE"
;
tw.Write(r);
tw.Flush();
}
// end step
return(new Dictionary <string, string>
{
{ "filePath", filePath },
{ "robotCode", r }
});
}
