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(); } }
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(); }
private void Form1_FormClosing(object sender, FormClosingEventArgs e) { roboDK.Disconnect(); }