public void CopyTaskToNewRobot(Form FM, DataType.Dsystem DSystem, RobotTask robotTask, RobotTask TargetrobotTask, Product SrcRobot, Product TargetRobot)
{
//string TarName = SrcRobot.get_PartNumber();
//ProductDocument SrcRobotDoc = (ProductDocument)DSystem.DSDocument.Item(TarName + ".CATProduct");
//TarName = TargetRobot.get_PartNumber();
//ProductDocument TargetRobotDoc = (ProductDocument)DSystem.DSDocument.Item(TargetRobot.get_PartNumber() + ".CATProduct");
Selection selection = DSystem.CDSActiveDocument.Selection;
selection.Clear();
//foreach (Operation soperation in robotTask.ChildrenActivities)
//{
// selection.Add(soperation);
//}
selection.Add(robotTask);
try
{
selection.Copy();
selection.Clear();
//selection = TargetRobotDoc.Selection;
selection.Add(TargetrobotTask);
selection.Paste();
}
catch (Exception e)
{
MessageBox.Show("应发了未知错误，请核实是否完全克隆后再删除原机器人! " + e.Message);
}
}
public void ApplyTool(RobotTask task)
{
if (task != _nextTask)
_isDamaged = true;
else
_nextTask = _nextTask + 1;
}
public void undoAction()
{
if (robotTaskStack.Count > 0)
{
RobotTask command = this.robotTaskStack.Pop();
command.undo();
}
}
void CarryOutTask(RobotTask _task)
{
if (_task.inProgress())
{
targetNode = _task.waypoints.Peek();
transform.position = new Vector3(targetNode.gridPos.x * Constants.GRID_DIMS.x, targetNode.gridPos.y * Constants.GRID_DIMS.y, targetNode.gridPos.z * Constants.GRID_DIMS.z);
// currentNode = _task.waypoints.Dequeue();
}
}
public void GiveTask(RobotTask rt)
{
pickupTask = rt.pickUpTask;
dropoffTask = rt.dropOffTask;
_pickupCrate = rt.pickUpCrate;
_pickUpTarget = rt.pickUpTarget;
_dropOffTarget = rt.dropOffTarget;
HandleTask();
}
public void setTask(RobotTask Task, int index)
{
if (index < this.taskCount)
{
this.tasks[index] = Task;
}
else
{
Console.WriteLine("Set Task Error: Index out of range.");
}
}
public void AssignTask(int _type, Node _destination)
{
Node _startingNode;
if (taskQueue.Count > 0)
{
_startingNode = taskQueue.Peek().destination;
}
else
{
_startingNode = currentNode;
}
currentTask = new RobotTask(pathfinder, structure.nodesArray, new RobotState(transform.position, transform.rotation, platformPosition), _type, _startingNode, _destination);
Debug.Log("Task assigned to " + robotID);
}
public void doTasks(Queue <String> taskQueue)
{
int robotIndex = 0, invokerIndex = 0;
Invoker invoker = new Invoker(taskQueue.Count);
try {
List <String> tasks = File.ReadAllLines("tasks.txt").ToList();
if (tasks.Count > 0)
{
taskQueue = new Queue <String>();
foreach (String t in tasks)
{
taskQueue.Enqueue(t);
}
}
}
catch (Exception e) { }
while (taskQueue.Count > 0)
{
Robot currentRobot = this.robots[robotIndex];
if (currentRobot.isFull())
{
robotIndex++;
if (robotIndex >= robots.Count)
{
robotIndex = 0;
}
continue;
}
else
{
String nextTask = taskQueue.Dequeue();
RobotTask robotTask = this.taskFactory.assignTask(nextTask, currentRobot);
invoker.setTask(robotTask, invokerIndex);
invoker.threadedInvoke(invokerIndex);
this.robotTaskStack.Push(robotTask);
invokerIndex++;
saveQueue(taskQueue);
}
}
Console.WriteLine("All tasks have been assigned.");
}
private void reSelectRobotTask_Click(object sender, EventArgs e)
{
tagList.Clear();
viatagList.Clear();
processtagList.Clear();
ProcessTaskAddress.Items.Clear();
Pbar.Value = 0;
Pbar.Step = 10;
GloalForDelmia GFD = new GloalForDelmia();
DStype = GFD.InitCatEnv(this);
if (DStype.Revalue == -1)
{
return;
}
this.TopMost = false;
this.WindowState = FormWindowState.Minimized;
Selection Uselect = GFD.GetIRobotMotion(this, DStype, 12, "请选择即将操作的Taglist对象");
RobotTask robotTask = null;
if (Uselect != null && Uselect.Count > 0)
{
try
{
String GetName = string.Empty;
robotTask = (RobotTask)Uselect.Item2(1).Value;
GetName = robotTask.get_Name();
selectedrobotTaskName.Text = GetName;
//GFD.ClearRobotHomeList(this, DStype, Usp, "Test", Pbar);
GFD.ReadTaskTagList(this, robotTask, TaskListA, TaskListB, Pbar, ref tagList, ref viatagList, ref processtagList);
}
catch
{
MessageBox.Show("操作目标过程中发生未知错误，编号：0029874，在入口的帮助选项卡中反馈该问题!");
}
}
//this.TopMost = true;
//this.WindowState = FormWindowState.Maximized;
this.WindowState = FormWindowState.Normal;
this.StartPosition = FormStartPosition.CenterScreen;
this.TopMost = false;
}
private void ProcessTaskAddress_SelectedIndexChanged(object sender, EventArgs e)
{
if (robotTasks.Count < 1)
{
return;
}
String GetName = string.Empty;
int SelectIndex = ProcessTaskAddress.SelectedIndex;
RobotTask srobotTask = robotTasks[SelectIndex];
GetName = srobotTask.get_Name();
//selectedrobotTaskName.Text = GetName;
//GFD.ClearRobotHomeList(this, DStype, Usp, "Test", Pbar);
GloalForDelmia GFD = new GloalForDelmia();
DStype = GFD.InitCatEnv(this);
GFD.ReadTaskTagList(this, srobotTask, TaskListA, TaskListB, Pbar, ref tagList, ref viatagList, ref processtagList);
this.WindowState = FormWindowState.Normal;
this.StartPosition = FormStartPosition.CenterScreen;
this.TopMost = true;
}
public static IList <RobotTask> ToTaskList(SQLiteDataReader reader)
{
IList <RobotTask> list = new List <RobotTask>();
while (reader.Read())
{
try
{
int id = int.Parse(reader["TaskID"].ToString());
DateTime time = DateTime.Parse(reader["TaskTime"].ToString());
DateTime nextTime = DateTime.Parse(reader["NextTaskTime"].ToString());
string num = reader["TargetNum"].ToString();
string info = reader["TaskInfo"].ToString();
string remark = reader["Remark"].ToString();
string targetName = reader["TargetName"].ToString();
TaskTrigger trigger = (TaskTrigger)Enum.Parse(typeof(TaskTrigger), reader["Trigger"].ToString());
int interval = int.Parse(reader["Interval"].ToString());
RobotTask task = new RobotTask(id, time, info, num, targetName, remark, trigger, interval, nextTime);
list.Add(task);
}
catch { }
}
return(list);
}
protected override bool ProcessCommands(RobotTask task, string command) => ProcessCommand(task, command, "download", "", Download) || ProcessCommand(task, command, "Update", "", Update);
protected override bool ProcessCommands(RobotTask task, string command)
{
var commandProcessed = ProcessCommand(task, command, "piano", "", args => DownloadPianoVideos());
return(commandProcessed);
}
private void addItem(string[] item)
{
int indexFromTaskList = -1;
string sID = item[1];
double dX = double.Parse(item[2].Replace(".",","));
double dY = double.Parse(item[3].Replace(".", ","));
double dAngle = double.Parse(item[4].Replace(".", ","));
int id = int.Parse(item[5]);
for (int i = 6; i < item.Length; i += 5)
{
RobotTask tempRobot = new RobotTask();
tempRobot.ID = sID;
tempRobot.X = dX * 100;
tempRobot.Y = dY * 100;
tempRobot.Angle = dAngle;
tempRobot.RobotID = id;
tempRobot.TaskID = item[i];
tempRobot.Task_X = double.Parse(item[i+ 1].Replace(".", ",")) * 100;
tempRobot.Task_Y = double.Parse(item[i +2].Replace(".", ",")) * 100;
tempRobot.Task_Name = item[i + 3];
tempRobot.IsEnd = bool.Parse(item[i +4].Replace(".", ","));
indexFromTaskList = getRobotTaskId(tempRobot);
if (indexFromTaskList > -1) //aktualizacja zadania
{
robotsTaskList[indexFromTaskList].IsEnd = tempRobot.IsEnd;
robotsTaskList[indexFromTaskList].X = tempRobot.X;
robotsTaskList[indexFromTaskList].Y = tempRobot.Y;
robotsTaskList[indexFromTaskList].Angle = tempRobot.Angle;
}
else
robotsTaskList.Add(tempRobot);
}
}
public Tool(Position position, RobotTask task)
{
_position = position;
_task = task;
}
public void Reconfigure(RobotTask task)
{
_task = task;
}
public extern bool ModifyWorkpiece(Position position, RobotTask task);
public bool ModifyWorkpiece(Position position, RobotTask task)
{
return false;
}
/// <summary>
/// 对机器人程序进行操作
/// </summary>
/// <param name="FM"></param>
/// <param name="robotTask"></param>
/// <param name="listBoxMain"></param>
/// <param name="listBoxTarget"></param>
/// <param name="Pbar"></param>
public void ReadTaskTagList(Form FM, RobotTask robotTask, ListBox listBoxMain, ListBox listBoxTarget, ProgressBar Pbar, ref List <Tag> tagList, ref List <Tag> viatagList, ref List <Tag> processtagList)
{
listBoxMain.Items.Clear();
listBoxTarget.Items.Clear();
tagList.Clear();
viatagList.Clear();
processtagList.Clear();
if (robotTask.ChildrenActivities.Count < 1)
{
Pbar.Maximum = 100;
Pbar.Value = 100;
Pbar.Step = 1;
return;
}
Pbar.Value = 0;
//List<Tag> tagList = new List<Tag>(); // Init A container to Save Target Tag List
//List<Tag> viatagList = new List<Tag>(); // Init A container to Save Target Tag List
//List<Tag> processtagList = new List<Tag>(); // Init A container to Save Target Tag List
Pbar.Maximum = robotTask.ChildrenActivities.Count;
try
{
foreach (Operation soperation in robotTask.ChildrenActivities)
{
foreach (Activity activity in soperation.ChildrenActivities)
{
string activityName = activity.Type;
if (activityName == "DNBRobotMotionActivity")
{
RobotMotion robotMotion = (RobotMotion)activity;
short TagetType = -1;
robotMotion.GetTargetType(ref TagetType); //Type of the Target (Cartesian = 0, Joint = 1, Tag = 2, Home = 3).
if (TagetType != 2)
{
continue;
}
try
{
Tag tag = null;
robotMotion.GetTagTarget(ref tag);
var Return = tagList.Find(
delegate(Tag tag1)
{
return(tag1.get_Name() == tag.get_Name()); //需要修改为检查ID 名称可重复
}); // Check Repeact
if (Return == null) //当列表中不存在时 把新对象加载进入
{
//确定当前Opration类型 The Via Mode (1 if the target is a via point and 0 if the Target is Untyped (process)).
short ViaMode = -1;
soperation.GetViaMode(ref ViaMode);
switch (ViaMode)
{
case 0:
processtagList.Add(tag);
break;
case 1:
viatagList.Add(tag);
break;
default:
break;
}
tagList.Add(tag);
string TagName = tag.get_Name();
listBoxMain.Items.Add(TagName);
}
}
catch (Exception)
{
continue;
//throw;
}
}
}
Pbar.PerformStep();
}
}
catch (Exception e)
{
MessageBox.Show("在处理Oprations时发生错误，请联系或在帮助选项中反馈该问题!" + e.Message);
}
Pbar.Value = Pbar.Maximum;
}
public void AddTask(RobotTask task)
{
tasks.Add(task);
}
private int getRobotTaskId(RobotTask tempRobot)
{
for (int i = 0; i < robotsTaskList.Count(); i++)
{
if (robotsTaskList[i].TaskID == tempRobot.TaskID)
return i;
}
return -1;
}
