public void Test_CommandLineParameter()
{
var rdk = new RoboDK
{
ApplicationDir = "C:\\zBuilds\\Bystronic\\repository\\ByRobotManager-2\\ByRobotManager\\bin\\Debug\\RoboDK\\RoboDK.exe",
RoboDKServerStartPort = 56252,
//CustomCommandLineArgumentString = "-NOSPLASH -NOSHOW -HIDDEN -PORT=56252 -NOSTDOUT -SKIPINIRECENT -SKIPINI -SKIPCOM -EXIT_LAST_COM -NOUI",
CustomCommandLineArgumentString = "-PORT=56252 -NOSTDOUT -SKIPINIRECENT -SKIPINI -SKIPCOM -EXIT_LAST_COM -NOUI -TREE_STATE=-1",
//CustomCommandLineArgumentString = "/NOSPLASH /NOSHOW /HIDDEN /PORT=56252 /NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI /TREE_STATE=-1",
//CustomCommandLineArgumentString = "/NOSPLASH /NOSHOW /HIDDEN /NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI /TREE_STATE=-1"
//CustomCommandLineArgumentString = "/NOSTDOUT /SKIPINIRECENT /SKIPINI /SKIPCOM /EXIT_LAST_COM /NOUI"
};
rdk.Connect();
// Thread.Sleep(5000);
var mainWindow = rdk.Command("MainWindow_ID");
var item = rdk.AddFile(@"C:\Users\mth\AppData\Local\Temp\ByRobotManager_Geometries\Regrip lower arm NS2+NS3_collision.sld");
item.SetParam("FilterMesh", "0,0.0001,0.005");
var mainWindowId = int.Parse(mainWindow);
rdk.CloseRoboDK();
}
public void Test_WhenConnectingOnUsedActiveSocketThenNoConnectionAndRoboDkNotStarted()
{
var port = 56252;
while (!RoboDK.IsTcpPortFree(port))
{
port++;
}
using (var s = new SocketHelper())
{
s.OpenServerAndClient(port);
RoboDK.IsTcpPortFree(s.ServerPort).Should().BeFalse();
RoboDK.IsTcpPortFree(s.ClientPort).Should().BeFalse();
var rdk = new RoboDK
{
RoboDKServerStartPort = port,
};
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().BeNull();
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().BeNull();
rdk.Invoking(r => r.CloseRoboDK())
.Should().Throw <RdkException>();
}
}
int Factor_LM = 400; //400
void Start()
{
RoboDK RDK = new RoboDK();
Variables.ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT);
// if (Variables.ROBOT.Connect())
// {
// RDK.setRunMode(RoboDK.RUNMODE_RUN_ROBOT);
// }
// else
// {
// RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
// }
RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
//Variables.ROBOT.MoveJ(home_joints);
Mat frame = Variables.ROBOT.PoseFrame();
//Mat tool = Variables.ROBOT.PoseTool();
Mat pose_ref = Variables.ROBOT.Pose();
Variables.target_pose = Variables.ROBOT.Pose();
Variables.xyz_ref = Variables.target_pose.Pos();
Variables.ROBOT.MoveJ(pose_ref);
Variables.ROBOT.setPoseFrame(frame); // set the reference frame
//Variables.ROBOT.setPoseTool(tool); // set the tool frame: important for Online Programming
Variables.ROBOT.setSpeed(500); // Set Speed to 100 mm/s
Variables.ROBOT.setZoneData(5); // set the rounding instruction
//Variables.ROBOT.MoveL(pose_ref);
}
/// <summary>
/// 在初始化线程中初始化类参数，由于RoboDK在未启动时，将会有一个启动的过程，这就导致软件的延迟启动
/// 在该线程中启动更新robot机器人参数的线程
/// 初始化完成后，线程就立即结束
/// </summary>
private void InitThreadInitParameterHandler( )
{
this.WriteLogHandler("RoboDK软件开启中....");
// 在创建RoboDK的对象时，会对RoboDK软件进行启动和连接，若路径不对，则启动不了，需要进行提示，并且不启动更新参数线程
try
{
this._rdkPlatform = new RoboDK(); // 创建RoboDK对象，其中会对RoboDK平台进行连接
this.WriteLogHandler("已开启RoboDK软件.");
}
catch
{
this._rdkPlatform = null;
this.WriteLogHandler("RoboDK软件无法启动，可能路径有误，" + "重新设置正确路径，然后重启.", 1);
return;
}
this._queueRobotMoveMessage = new Queue <double[]>();
this._autoEvent = new AutoResetEvent(false);
// 启动机器人参数更新的线程
this._thrdUpdateRobotParameter = new Thread(this.ThreadUpdatRobotParameterHandler); // 初始化更新机器人参数的线程
this._thrdUpdateRobotParameter.IsBackground = true; // 设置成后台线程，在前台线程结束时，所有剩余的后台线程都会停止且不会完成
this._thrdUpdateRobotParameter.Name = "UpdateRobotParameterHandler"; // 设置线程的名字
this._thrdUpdateRobotParameter.Start(); // 启动线程
//this._thrdDriveRobotMoveHandler = new Thread(ThrdDriveRobotMoveHandler); // 简单线程，驱动机器人运动操作
//this._thrdDriveRobotMoveHandler.IsBackground = true; // 设置成后台线程，在前台线程结束时，所有剩余的后台线程都会停止且不会完成
//this._thrdDriveRobotMoveHandler.Name = "DriveRobotMove"; // 设置线程的名字
//this._thrdDriveRobotMoveHandler.Start();
}
/// <summary>
/// Constructor
/// </summary>
public Item(RoboDK connectionLink, long itemId = 0, ItemType itemType = ItemType.Any)
{
ItemId = itemId;
Link = connectionLink;
_type = itemType;
_name = "";
}
public void Test_ConnectDisconnectWhenRoboDKIsAlreadyRunning()
{
var rdk = new RoboDK();
for (var i = 0; i < 10; i++)
{
rdk.Connected().Should().BeFalse();
rdk.Connect().Should().BeTrue();
// RoboDK is already running. It is not expected that connect will start a new process
rdk.Process.Should().BeNull();
rdk.Connected().Should().BeTrue();
// Test some properties
rdk.Version().Should().StartWith("5");
rdk.ApiVersion.Should().BeGreaterThan(0);
rdk.RoboDKBuild.Should().BeGreaterThan(0);
rdk.RoboDKServerPort.Should().BeGreaterThan(0);
rdk.RoboDKClientPort.Should().BeGreaterThan(0);
rdk.RoboDKServerIpAddress.Length.Should().BeGreaterThan(0);
rdk.DefaultSocketTimeoutMilliseconds.Should().BeGreaterThan(1000);
rdk.Disconnect();
rdk.Connected().Should().BeFalse();
}
}
// Use this for initialization
void Start()
{
initializeJoints();
RoboDK RDK = new RoboDK();
ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT);
RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
ROBOT.MoveJ(home_joints);
Mat frame = ROBOT.PoseFrame();
//Mat tool = Variables.ROBOT.PoseTool();
Mat pose_ref = ROBOT.Pose();
target_pose = ROBOT.Pose();
xyz_ref = target_pose.Pos();
ROBOT.MoveJ(pose_ref);
ROBOT.setPoseFrame(frame);
//Variables.ROBOT.setPoseTool(tool);
ROBOT.setSpeed(500);
ROBOT.setZoneData(5);
//Setting inial right controller 3D position
VR_Init_Pos[0] = Right_Controller.transform.position.z;
VR_Init_Pos[1] = Right_Controller.transform.position.x;
VR_Init_Pos[2] = Right_Controller.transform.position.y;
//Debug.Log(VR_Init_Pos[0] + " " + VR_Init_Pos[1] + " " + VR_Init_Pos[2]);
}
private void SensorActive(object obj)
{
RoboDK RDK = new RoboDK("127.0.0.1");
RoboDK.Item SENSOR = RDK.GetItem("Sensor SICK WL4S", RoboDK.ITEM_TYPE_OBJECT);
RoboDK.Item program = roboDK.GetItem("MoveConveyor");
program.RunCode();
while (true)
{
RoboDK.Item item = GetEndedPart();
if (item != null)
{
if (SENSOR.Collision(item) > 0)
{
Console.WriteLine("检测到碰撞");
program.Stop();
RDK.SetParam("SENSOR", "1");
// 等待东西拿走再继续
while (RDK.GetParam("SENSOR") == "1")
{
Thread.Sleep(10);
}
program.RunCode();
}
}
Thread.Sleep(20);
}
}
public void Test_DefaultStartAndEndServerPort()
{
var rdk = new RoboDK();
rdk.RoboDKServerStartPort.Should().BeLessOrEqualTo(rdk.RoboDKServerEndPort);
rdk.RoboDKServerStartPort.Should().Be(rdk.DefaultApiServerPort);
rdk.RoboDKServerEndPort.Should().Be(rdk.DefaultApiServerPort + 2);
}
static void Main(string[] args)
{
RoboDK RDK = new RoboDK();
bool status = false;
//The first connect opens roboDK
status = RDK.Connect();
Console.WriteLine("Connect status: " + status.ToString());
int b = 1;
}
// ReSharper disable once UnusedParameter.Local
static void Main(string[] args)
{
var rdk = new RoboDK();
var status = false;
//The first connect opens roboDK
status = rdk.Connect();
Console.WriteLine($"Connect status: {status}");
//rdk.CloseStation();
}
static void Main(string[] args)
{
var rdk = new RoboDK();
// Connect to existing RoboDK or start a new one if RoboDK is not running
var status = rdk.Connect();
Console.WriteLine($"Connect status: {status}");
// close RoboDK
rdk.CloseRoboDK();
}
private void PrepareSimulation()
{
RoboDK RDK = new RoboDK("127.0.0.1");
RoboDK.Item frame_pallet = RDK.GetItem("PalletA", RoboDK.ITEM_TYPE_FRAME);
// 获取参数
string SizeBox = RDK.GetParam("SizeBox"); // 150,200,150 箱子大小
string SizePallet = RDK.GetParam("SizePallet"); // 5,3,3 横纵列
float[] SizeBoxXyz = SizeBox.Split(',').Select((m) => float.Parse(m.Trim())).ToArray(); // [150,200,150]
int[] SizePalletXyz = SizePallet.Split(',').Select((m) => int.Parse(m.Trim())).ToArray(); // [5,3,3]
float SizeBoxZ = SizeBoxXyz[2]; // 箱子的高度很重要，用来计算位置和碰撞检测的
RDK.Render(false);
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_OBJECT), "Part ");
CleanUp(RDK.GetItemList(RoboDK.ITEM_TYPE_TOOL), "TCP ");
RDK.GetItem("box100mm").Copy();
Random random = new Random();
for (int i = 0; i < SizePalletXyz[0]; i++)
{
for (int j = 0; j < SizePalletXyz[1]; j++)
{
for (int k = 0; k < SizePalletXyz[2]; k++)
{
// 计算位置
float location_x = SizeBoxXyz[0] / 2 + i * SizeBoxXyz[0];
float location_y = SizeBoxXyz[1] / 2 + j * SizeBoxXyz[1];
float location_z = SizeBoxXyz[2] / 2 + k * SizeBoxXyz[2];
// 复制新的对象
RoboDK.Item newPart = frame_pallet.Paste();
newPart.Scale(new double[] { SizeBoxXyz[0] / 100, SizeBoxXyz[1] / 100, SizeBoxXyz[2] / 100 });
newPart.SetName("Part " + i.ToString() + j.ToString() + k.ToString());
newPart.SetPose(Matrix.Transl(location_x, location_y, location_z));
newPart.SetVisible(true, 0);
newPart.SetColor(new double[] { random.NextDouble(), random.NextDouble(), random.NextDouble(), 1 });
}
}
}
RDK.SetParam("SENSOR", "0");
RDK.Render(true);
RDK.Disconnect();
PartsClear();
}
public void Test_RoboDkThrowsObjectDisposedExceptionWhenCallingAnApiMethodAfterDispose()
{
// Given
var rdk = new RoboDK();
rdk.Connect().Should().BeTrue();
// When
rdk.Dispose();
// Then
var whenAction = new Action(() => rdk.AddFrame("TestFrame"));
whenAction.Should().Throw <ObjectDisposedException>();
}
public void Test_WhenEndServerPortSmallerThenStartServerPortThenThrowRdkException()
{
var rdk = new RoboDK
{
RoboDKServerStartPort = 10000,
RoboDKServerEndPort = 9000
};
rdk.RoboDKServerStartPort.Should().Be(10000);
rdk.RoboDKServerEndPort.Should().Be(9000);
Action act = () => rdk.Connect();
act.Should().Throw <RdkException>();
}
/// <summary>
/// 关闭所有变量，使它们都invalidition
/// </summary>
private void CloseAllVariable( )
{
this._rdkItemRobot = null;
this._rdkPlatform = null;
this._thrdUpdateRobotParameter = null;
this._thisLock = null;
this._thrdDriveRobotMoveHandler = null;
this._queueRobotMoveMessage = null;
this._bolIsDriveRbtMoveThrdAlive = false;
this._autoEvent = null;
this._bolIsUpdateRbtParThrdAlive = false;
this._bolIsThreadSuspend = false;
}
public void Test_WhenSettingStartServerPortThenEndServerPortMustHaveSameValue()
{
var rdk = new RoboDK
{
RoboDKServerStartPort = 40000
};
rdk.RoboDKServerStartPort.Should().Be(40000);
rdk.RoboDKServerEndPort.Should().Be(40000);
rdk = new RoboDK
{
RoboDKServerStartPort = 10000
};
rdk.RoboDKServerStartPort.Should().Be(10000);
rdk.RoboDKServerEndPort.Should().Be(10000);
}
static void Main(string[] args)
{
RoboDK RDK = new RoboDK
{
RoboDKServerStartPort = 20500,
RoboDKServerEndPort = 20500
};
bool status = RDK.Connect();
Console.WriteLine("Connect status: " + status.ToString());
Console.WriteLine("Last status message: " + RDK.LastStatusMessage);
var robot = RDK.GetItemByName("", RoboDk.API.Model.ItemType.Robot);
robot.Connect();
//robot.;
int b = 1;
}
public void Test_BasicEventListenerApi()
{
var rdk = new RoboDK();
rdk.Connect();
// Open Event Channel
var eventListener = rdk.OpenRoboDkEventChannel();
var noEvent = eventListener.WaitForEvent();
noEvent.EventType.Should().Be(EventType.NoEvent);
// Test Simple Event
var frame1 = rdk.AddFrame("Frame1");
var itemMovedEvent = eventListener.WaitForEvent();
itemMovedEvent.EventType.Should().Be(EventType.ItemMovedPose);
itemMovedEvent.Item.Name().Should().Be("Frame1");
// The RoboDK link must be set to the RoboDK API instance
itemMovedEvent.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// Open a second event channel
var eventListener2 = rdk.OpenRoboDkEventChannel();
var frame2 = rdk.AddFrame("Frame2");
var eventOnChannel1 = eventListener.WaitForEvent();
var eventOnChannel2 = eventListener2.WaitForEvent();
eventOnChannel1.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel1.Item.Name().Should().Be("Frame2");
eventOnChannel2.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel2.Item.Name().Should().Be("Frame2");
eventOnChannel1.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
eventOnChannel2.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// After closing an event channel we should get an exception when calling WaitForEvent
eventListener.Close();
var whenAction = new Action(() => eventListener.WaitForEvent());
whenAction.Should().Throw <ObjectDisposedException>();
}
public void Test_WhenStartingOnUsedActiveSocketThenNoConnectionAndRoboDkNotStarted()
{
var port = 56252;
while (!RoboDK.IsTcpPortFree(port))
{
port++;
}
using (var s = new SocketHelper())
{
s.OpenServerAndClient(port);
RoboDK.IsTcpPortFree(s.ServerPort).Should().BeFalse();
RoboDK.IsTcpPortFree(s.ClientPort).Should().BeFalse();
var rdk = new RoboDK
{
StartNewInstance = true,
RoboDKServerStartPort = port,
};
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().NotBeNull();
rdk.Process.HasExited.Should().BeTrue();
Process.GetProcessesByName("RoboDK").Should().BeEmpty();
rdk.Connect().Should().BeFalse();
rdk.Connected().Should().BeFalse();
rdk.Process.Should().NotBeNull();
rdk.Process.HasExited.Should().BeTrue();
Process.GetProcessesByName("RoboDK").Should().BeEmpty();
rdk.Invoking(r => r.CloseRoboDK())
.Should().Throw <RdkException>();
}
}
private void RobotBStoreParts(object obj)
{
RoboDK RDK = new RoboDK("127.0.0.1");
int APPROACH = 100;
RoboDK.Item robot = RDK.GetItem("UR10 B", RoboDK.ITEM_TYPE_ROBOT);
RoboDK.Item tool = RDK.GetItem("GripperB", RoboDK.ITEM_TYPE_TOOL);
RoboDK.Item frame_pallet = RDK.GetItem("PalletB", RoboDK.ITEM_TYPE_FRAME);
RoboDK.Item frame_conv = RDK.GetItem("ConveyorReference", RoboDK.ITEM_TYPE_FRAME);
RoboDK.Item frame_conv_moving = RDK.GetItem("MovingRef", RoboDK.ITEM_TYPE_FRAME);
// 获取目标点
RoboDK.Item target_pallet_safe = RDK.GetItem("PalletApproachB", RoboDK.ITEM_TYPE_TARGET);
RoboDK.Item target_conv_safe = RDK.GetItem("ConvApproachB", RoboDK.ITEM_TYPE_TARGET);
RoboDK.Item target_conv = RDK.GetItem("Get Conveyor", RoboDK.ITEM_TYPE_TARGET);
// 获取参数
string SizeBox = RDK.GetParam("SizeBox"); // 150,200,150 箱子大小
string SizePallet = RDK.GetParam("SizePallet"); // 5,3,3 横纵列
float[] SizeBoxXyz = SizeBox.Split(',').Select((m) => float.Parse(m.Trim())).ToArray(); // [150,200,150]
int[] SizePalletXyz = SizePallet.Split(',').Select((m) => int.Parse(m.Trim())).ToArray(); // [5,3,3]
float SizeBoxZ = SizeBoxXyz[2]; // 箱子的高度很重要，用来计算位置和碰撞检测的
Matrix tool_xyzrpw = tool.PoseTool().Translate(0, 0, SizeBoxZ / 2);
RoboDK.Item tool_tcp = robot.AddTool(tool_xyzrpw, "TCP B");
robot.SetPoseTool(tool_tcp);
for (int k = 0; k < SizePalletXyz[2]; k++)
{
for (int j = 0; j < SizePalletXyz[1]; j++)
{
for (int i = 0; i < SizePalletXyz[0]; i++)
{
// 计算位置
float location_x = SizeBoxXyz[0] / 2 + i * SizeBoxXyz[0];
float location_y = SizeBoxXyz[1] / 2 + j * SizeBoxXyz[1];
float location_z = SizeBoxXyz[2] / 2 + k * SizeBoxXyz[2];
robot.SetPoseFrame(frame_conv);
Matrix target_conv_pose = target_conv.Pose().Translate(0, 0, -SizeBoxZ / 2);
Matrix target_conv_app = target_conv_pose.Translate(0, 0, -APPROACH);
robot.MoveJ(target_conv_safe);
robot.MoveJ(target_conv_app);
// 等待传感器信号
while (RDK.GetParam("SENSOR") == "0")
{
Thread.Sleep(10);
}
Thread.Sleep(10);
//robot.MoveL(target_conv_pose);
RoboDK.Item item = new RoboDK.Item(RDK, GetPartAndRemove().GetItemPtr());
robot.MoveL(target_conv_pose);
item.SetParentStatic(tool);
RDK.SetParam("SENSOR", "0");
Matrix matOffect = item.Pose();
robot.MoveL(target_conv_app);
robot.MoveJ(target_conv_safe);
robot.SetPoseFrame(frame_pallet);
robot.MoveJ(target_pallet_safe);
Matrix target_i = Matrix.Transl(location_x, location_y, location_z).RotX(Math.PI);
robot.MoveJ(target_i.Translate(0, 0, -APPROACH - SizeBoxZ));
robot.MoveJ(target_i);
item.SetParentStatic(frame_pallet);
robot.MoveJ(target_i.Translate(0, 0, -APPROACH - SizeBoxZ));
robot.MoveJ(target_pallet_safe);
}
}
}
}
/// <inheritdoc />
public void NewLink()
{
Link = new RoboDK();
Link.Connect();
}
private void Form1_Load(object sender, EventArgs e)
{
roboDK = new RoboDK("127.0.0.1");
}
private void RobotAGetParts(object obj)
{
RoboDK RDK = new RoboDK("127.0.0.1");
int APPROACH = 100;
RoboDK.Item robot = RDK.GetItem("UR10 A", RoboDK.ITEM_TYPE_ROBOT);
RoboDK.Item tool = RDK.GetItem("GripperA", RoboDK.ITEM_TYPE_TOOL);
RoboDK.Item frame_pallet = RDK.GetItem("PalletA", RoboDK.ITEM_TYPE_FRAME);
RoboDK.Item frame_conv = RDK.GetItem("ConveyorReference", RoboDK.ITEM_TYPE_FRAME);
RoboDK.Item frame_conv_moving = RDK.GetItem("MovingRef", RoboDK.ITEM_TYPE_FRAME);
// 获取目标点
RoboDK.Item target_pallet_safe = RDK.GetItem("PalletApproachA", RoboDK.ITEM_TYPE_TARGET);
RoboDK.Item target_conv_safe = RDK.GetItem("ConvApproachA", RoboDK.ITEM_TYPE_TARGET);
RoboDK.Item target_conv = RDK.GetItem("Put Conveyor", RoboDK.ITEM_TYPE_TARGET);
// 获取参数
string SizeBox = RDK.GetParam("SizeBox"); // 150,200,150 箱子大小
string SizePallet = RDK.GetParam("SizePallet"); // 5,3,3 横纵列
//RoboDK.Item SENSOR2 = RDK.GetItem("Sensor SICK WL4S2", RoboDK.ITEM_TYPE_OBJECT);
//RoboDK.Item SENSOR3 = RDK.GetItem("Sensor SICK WL4S3", RoboDK.ITEM_TYPE_OBJECT);
float[] SizeBoxXyz = SizeBox.Split(',').Select((m) => float.Parse(m.Trim())).ToArray(); // [150,200,150]
int[] SizePalletXyz = SizePallet.Split(',').Select((m) => int.Parse(m.Trim())).ToArray(); // [5,3,3]
float SizeBoxZ = SizeBoxXyz[2]; // 箱子的高度很重要，用来计算位置和碰撞检测的
Matrix tool_xyzrpw = tool.PoseTool().Translate(0, 0, SizeBoxZ / 2);
RoboDK.Item tool_tcp = robot.AddTool(tool_xyzrpw, "TCP A");
robot.SetPoseTool(tool_tcp);
for (int k = SizePalletXyz[2] - 1; k >= 0; k--)
{
for (int i = SizePalletXyz[0] - 1; i >= 0; i--)
{
for (int j = SizePalletXyz[1] - 1; j >= 0; j--)
{
// 计算位置
float location_x = SizeBoxXyz[0] / 2 + i * SizeBoxXyz[0];
float location_y = SizeBoxXyz[1] / 2 + j * SizeBoxXyz[1];
float location_z = SizeBoxXyz[2] / 2 + k * SizeBoxXyz[2];
// 从传送带抓取
robot.SetPoseFrame(frame_pallet);
robot.MoveJ(target_pallet_safe); // 移动到上方的一个安全点
Matrix target_i = Matrix.Transl(location_x, location_y, location_z).RotX(Math.PI);
robot.MoveJ(target_i.Translate(0, 0, -APPROACH - SizeBoxZ));
robot.MoveJ(target_i);
RoboDK.Item item = RDK.GetItem("Part " + i.ToString() + j.ToString() + k.ToString());
item.SetParentStatic(tool);
robot.MoveJ(target_i.Translate(0, 0, -APPROACH - SizeBoxZ));
robot.MoveJ(target_pallet_safe);
// 放置到传送带上去
robot.SetPoseFrame(frame_conv);
Matrix target_conv_pose = target_conv.Pose().Translate(0, 0, -SizeBoxZ / 2);
Matrix target_conv_app = target_conv_pose.Translate(0, 0, -APPROACH);
robot.MoveJ(target_conv_safe);
// 移动到上方之前，需要先判断是否有物品阻挡
//RoboDK.Item itemStarted = GetStartedPart();
//if (itemStarted != null)
//{
// while (true)
// {
// if (SENSOR2.Collision(itemStarted) > 0 ||
// SENSOR3.Collision(itemStarted) > 0)
// {
// continue;
// }
// else
// {
// break;
// }
// }
//}
robot.MoveJ(target_conv_app);
robot.MoveL(target_conv_pose);
AddPart(item);
item.SetParentStatic(frame_conv_moving);
robot.MoveL(target_conv_app);
robot.MoveJ(target_conv_safe);
}
}
}
}
private void ConvertorControl(object obj)
{
RoboDK RDK = new RoboDK("127.0.0.1");
RoboDK.Item Convertor = RDK.GetItem("Conveyor Belt");
}
public void Test_ParallelRoboDKConnections()
{
var stopAsyncTask = false;
var rdk = new RoboDK
{
RoboDKServerStartPort = 10000,
Logfile = Path.Combine(Directory.GetCurrentDirectory(), "RoboDk.log"),
DefaultSocketTimeoutMilliseconds = 20 * 1000
};
rdk.Connect();
rdk.Render(false);
rdk.Command("AutoRenderDelay", 50);
rdk.Command("AutoRenderDelayMax", 300);
rdk.DefaultSocketTimeoutMilliseconds = 10 * 1000;
List <IItem> AddStaticParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
parts.Add(rdk.AddFile(Path.Combine(cwd, "TableOut.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "robot.robot")));
return(parts);
}
List <IItem> AddDynamicParts()
{
var parts = new List <IItem>();
var cwd = Directory.GetCurrentDirectory();
for (var n = 0; n < 10; n++)
{
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Box.sld")));
parts.Add(rdk.AddFile(Path.Combine(cwd, "Phone Case Done.sld")));
}
return(parts);
}
// Task which opens a temporary new connection
void DoTemporaryConnectionCalls(IReadOnlyCollection <IItem> staticParts)
{
// ReSharper disable once AccessToModifiedClosure
while (!stopAsyncTask)
{
foreach (var staticPart in staticParts)
{
Thread.Sleep(1);
using (var roboDkLink = new RoboDK.RoboDKLink(staticPart.RDK()))
{
var clonedItem = staticPart.Clone(roboDkLink.RoboDK);
clonedItem.Pose();
}
}
}
}
var p = AddStaticParts();
var task = new Task(() => DoTemporaryConnectionCalls(p));
task.Start();
try
{
for (var i = 0; i < 20; i++)
{
var dynamicParts = AddDynamicParts();
rdk.Command("CollisionMap", "Off");
rdk.SetCollisionActive(CollisionCheckOptions.CollisionCheckOff);
rdk.Delete(dynamicParts);
}
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
stopAsyncTask = true;
}
try
{
task.Wait();
}
catch (Exception ex)
{
Assert.Fail(ex.Message);
}
finally
{
rdk.CloseRoboDK();
}
}
internal RoboDKEventSource(IRoboDK roboDk)
{
_roboDkApiConnection = (RoboDK)roboDk;
_roboDkEventConnection = (RoboDK)_roboDkApiConnection.CloneRoboDkConnection(RoboDK.ConnectionType.Event);
}
