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Update adapter KAWASAKI

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This commit is contained in:
Samuele E. Locatelli
2018-11-18 18:40:49 +01:00
parent f380c3595b
commit f7326a6936
2 changed files with 125 additions and 49 deletions
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IOB-WIN/IOB-WIN.csproj
+3 -1
View File
@@ -272,7 +272,9 @@
<EmbedInteropTypes>False</EmbedInteropTypes>
</ProjectReference>
</ItemGroup>
<ItemGroup />
<ItemGroup>
<Folder Include="prog\" />
</ItemGroup>
<ItemGroup>
<WCFMetadata Include="Connected Services\" />
</ItemGroup>
IOB-WIN/IobKawasaki.cs
+122 -48
View File
@@ -18,6 +18,10 @@ namespace IOB_WIN
/// Array delle risposte dal controllo KAWASAKI
/// </summary>
protected System.Collections.ArrayList resDataArray;
/// <summary>
/// Comando inviato al robot
/// </summary>
protected string comando;
#if false
@@ -78,7 +82,7 @@ namespace IOB_WIN
/// <param name="adpConf"></param>
public IobKawasaki(AdapterForm caller, IobConfiguration IOBConf) : base(caller, IOBConf)
{
// faccio un try-catch di test vari...
try
{
KAWASAKI_ref = new KRcc.Commu("TCP 192.168.0.92");
@@ -87,66 +91,49 @@ namespace IOB_WIN
// connect ok
resDataArray = KAWASAKI_ref.command("where", 3000); // WHERE [RET]
Console.WriteLine(resDataArray[0]);
}
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE TASK (1004)", 3000); // thread 4 ok --> " 1\r\n"
}
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE $id_true", 3000); // id macchina --> "BX100N-B001 Sn. 2366\r\n"
}
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE $status", 3000); // status --> "0|0|1|0|0|1|0|0\r\n"
resDataArray = KAWASAKI_ref.command("TYPE $signal", 3000); // segnali --> "1|0|1|1|1|0|0|0\r\n"
}
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE i_prelevati", 3000); // num pz prelevati --> "0\r\n"
resDataArray = KAWASAKI_ref.command("TYPE i_cicli", 3000); // num cicli depositati/fatti --> " 0\r\n"
resDataArray = KAWASAKI_ref.command("TYPE r_tempo", 3000); // ultimo TCiclo rilevato --> " 349.19\r\n"
resDataArray = KAWASAKI_ref.command("TYPE $exe", 3000); // missione --> "\r\n" (vuoto, no missione)
// scrivo valore cicli
resDataArray = KAWASAKI_ref.command("i_cicli=3", 3000); // imposto cicli depositati/fatti a 3 --> " 0\r\n"
resDataArray = KAWASAKI_ref.command("TYPE i_cicli", 3000); // num cicli depositati/fatti --> " 0\r\n"
// comandi x setup programma...
resDataArray = KAWASAKI_ref.command("ferma", 3000); // ferma processi (all) --> ""
resDataArray = KAWASAKI_ref.command("togli", 3000); // toglie processi da pronta esecuzione --> ""
//resp = com.command("SAVE nome_del_file", 3000); // salvataggio file... FORSE --> "\u0005\u0002Bnome_del_file.as\u0017" --> verificare DOVE salva...
int ret = KAWASAKI_ref.save("foo_02.as"); // SAVE foo.as[RET]
if (ret == 0)
{ // Success
}
if (ret == -1)
{ // Communication error
}
if (ret == -2)
{ // Robot Controller error
}
if (ret == -3)
{ // Internal error
}
// carico...
KAWASAKI_ref.asInquiry = delegate (string as_msg)
{
Console.WriteLine(as_msg); if (as_msg.StartsWith("Are you sure ?")) return "0\n"; // 0 [RET]
if (as_msg.StartsWith("Load data?")) return "1\n"; // 1 [RET]
return null;
};
int retLoad = KAWASAKI_ref.load("foo.as", "/Q"); // LOAD/Q foo.as[RET]
}
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE $exe", 3000); // missione --> "\r\n" (vuoto, no missione)
}
// leggo i pezzi
int currCount = pzCounter;
// imposto a 100
pzCounter = 100;
// rileggo x verifica
int newCount = pzCounter;
// reimposto corretti
pzCounter = currCount;
//saveProgram("prog", "current");
saveProgram("prog", "default");
sendProgram("prog", "default");
}
catch (Exception e)
{ // e.Message = "can't connect TCP/IP" or // "can't login"
@@ -291,6 +278,93 @@ namespace IOB_WIN
lgInfo("End init Adapter FANUC");
#endif
}
private int pzCounter
{
get
{
int answ = 0;
if (KAWASAKI_ref.IsConnected)
{
resDataArray = KAWASAKI_ref.command("TYPE i_cicli", 3000); // num cicli depositati/fatti --> " 0\r\n"
int.TryParse(resDataArray[0].ToString().Replace("/n", "").Replace("/r", ""), out answ);
}
return answ;
}
set
{
if (KAWASAKI_ref.IsConnected)
{
comando = string.Format("i_cicli={0}", value);
// scrivo valore cicli
resDataArray = KAWASAKI_ref.command(comando, 3000); // imposto cicli depositati/fatti a 3 --> " 0\r\n"
}
}
}
/// <summary>
/// Effettua salvataggio del programma corrente
/// </summary>
/// <param name="progDir">Dir di riferimento</param>
/// <param name="progName">Nome Programma (se mancasse *.as lo aggiunge)</param>
private void saveProgram(string progDir = "prog", string progName = "current.as")
{
// path completo
progName = progName.EndsWith(".as") ? progName : progName + ".as";
string prgPath = string.Format("{0}/{1}", progDir, progName);
if (KAWASAKI_ref.IsConnected)
{
// comandi x setup programma...
resDataArray = KAWASAKI_ref.command("ferma", 3000); // ferma processi (all) --> ""
resDataArray = KAWASAKI_ref.command("togli", 3000); // toglie processi da pronta esecuzione --> ""
//resp = com.command("SAVE nome_del_file", 3000); // salvataggio file... FORSE --> "\u0005\u0002Bnome_del_file.as\u0017" --> verificare DOVE salva...
int ret = KAWASAKI_ref.save(prgPath); // SAVE current.as[RET]
if (ret == 0)
{
// Success
}
if (ret == -1)
{
// Communication error
}
if (ret == -2)
{
// Robot Controller error
}
if (ret == -3)
{
// Internal error
}
}
}
/// <summary>
/// Effettua invio del programma di alvorazione al ROBOT
/// <param name="progDir">Dir di riferimento</param>
/// <param name="progName">Nome Programma (se mancasse *.as lo aggiunge)</param>
/// </summary>
private void sendProgram(string progDir = "prog", string progName = "default.as")
{
// path completo
progName = progName.EndsWith(".as") ? progName : progName + ".as";
string prgPath = string.Format("{0}/{1}", progDir, progName);
if (KAWASAKI_ref.IsConnected)
{
// carico...
KAWASAKI_ref.asInquiry = delegate (string as_msg)
{
Console.WriteLine(as_msg); if (as_msg.StartsWith("Are you sure ?")) return "0\n"; // 0 [RET]
if (as_msg.StartsWith("Load data?")) return "1\n"; // 1 [RET]
return null;
};
int retLoad = KAWASAKI_ref.load(prgPath, "/Q"); // LOAD/Q default.as[RET]
}
}
#if false
/// <summary>
/// Area memoria G (copia)