RECORD access via PC-SDK
ko414du4
✭
Hi all,
I have an array of RECORD like below. How can I access it with struct in PC-SDK?
RECORD rec
num myNum;
pos myPos;
ENDRECORD
PERS rec myArray{2}:=[ [ 2, [ 1, 2, 3 ] ], [ 3,[ 4, 5, 6 ] ] ];
Thanks for the help.
I have an array of RECORD like below. How can I access it with struct in PC-SDK?
RECORD rec
num myNum;
pos myPos;
ENDRECORD
PERS rec myArray{2}:=[ [ 2, [ 1, 2, 3 ] ], [ 3,[ 4, 5, 6 ] ] ];
Thanks for the help.
Tagged:
0
Best Answers
-
Hi,
Hereby a sample program. If you have any questions about it, just let me knowusing System; using ABB.Robotics.Controllers; using ABB.Robotics.Controllers.Discovery; using ABB.Robotics.Controllers.RapidDomain; using System.Linq; using System.Windows.Media.Media3D; namespace PCSDKTest2 { class Program { public struct Rec { public double myNum { get; set; } public Vector3D myPos { get; set; } } private static Pos VectorToPos(Vector3D v) { return new Pos() { X = (float)v.X, Y = (float)v.Y, Z = (float)v.Z }; } private static Vector3D PosToVector(Pos p) { return new Vector3D(p.X, p.Y, p.Z); } private static RapidData[] LoadData(Controller c, Task t, string rapidType) { // variables RapidSymbolSearchProperties searchProps; RapidSymbol[] rapidSymbols; RapidData[] rapidDatas = null; // check arguments if (c != null && t != null && !string.IsNullOrEmpty(rapidType)) { // define search properties searchProps = RapidSymbolSearchProperties.CreateDefaultForData(); searchProps.Recursive = true; searchProps.Types = SymbolTypes.Persistent; // search for results rapidSymbols = t.SearchRapidSymbol(searchProps); // convert results to rapid-data rapidDatas = rapidSymbols.Select(rs => new RapidData(c, rs)).Where(rs => rs.RapidType == rapidType).ToArray(); } // return return rapidDatas; } private static Rec[] ConvertToRec(RapidData rapid) { // variables Num num; Pos pos; ArrayData value; UserDefined element; Rec[] rec; // check arguments if (rapid?.Value != null && rapid.IsArray) { // convert to ArrayData value = (ArrayData)rapid.Value; // define resulting array rec = new Rec[value.Length]; for (int i = 0; i<value.Length; i++) { // get the struct-data element = (UserDefined)rapid.ReadItem(i + value.BaseIndex); // get the pos and num num = (Num)element.Components[0]; pos = (Pos)element.Components[1]; // create Rec rec[i] = new Rec() { myNum = num.Value, myPos = PosToVector(pos) }; } // return return rec; } else { throw new ArgumentException("The RapidData should be defined as ArrayData"); } } private static void Save(Controller c, RapidData rapid, Rec[] rec) { // variables ArrayData value; UserDefined element; if (c != null && rapid?.Value != null && rapid.IsArray) { try { // request mastership, needed to write values using (Mastership ms = Mastership.Request(c.Rapid)) { // convert to ArrayData value = (ArrayData)rapid.Value; // write items for (int i = 0; i < value.Length; i++) { // get the struct-data element = (UserDefined)rapid.ReadItem(i + value.BaseIndex); // update element.Components[0] = new Num(rec[i].myNum); element.Components[1] = VectorToPos(rec[i].myPos); // save rapid.WriteItem(element, i + value.BaseIndex); } } } catch(Exception ex) { } } } static void Main(string[] args) { // variables NetworkScanner ns; Controller c; Task t; Rec[] rec; RapidData[] rapidDatas; try { // scan network ns = new NetworkScanner(); ns.Scan(); // get first found controller if (ns.Controllers.Count > 0) { // create the controller c = new Controller(ns.Controllers[0]); if (c != null) { // log on c.Logon(UserInfo.DefaultUser); t = c.Rapid.GetTask("T_ROB1"); if (t != null) { // load data rapidDatas = LoadData(c, t, "rec"); if (rapidDatas.Length > 0) { // conver to Rec rec = ConvertToRec(rapidDatas[0]); if (rec.Length > 0) { // increment values rec[0].myNum += 1; rec[0].myPos += new Vector3D(2, 3, 4); } // save Save(c, rapidDatas[0], rec); } } //log off c.Logoff(); // dispose controller c.Dispose(); } } } catch (Exception e) { } } } }
5 -
John_Verheij said:Hi,
Hereby a sample program. If you have any questions about it, just let me know
I also took it further by making the structure implement IRapidData like below. This allows the variable to have more or less the same function as the other RapidDomain structures.
In this sample, rec RECORD is defined in RS as follows:
RECORD recnum num1;robtarget tgt;
ENDRECORDpublic struct Rec : IRapidData { // Structure fields private Num num; private RobTarget tgt; private RapidData refRapidData; // Structure properties public Num NumVal { get { return num; } set { num = value; } } public RobTarget TgtVal { get { return tgt; } set { tgt = value; } } public static Rec Empty { get; } public Rec(RapidData input) { UserDefined ud = (UserDefined)input.Value; // Initialise struct fields from the RapidData: // ~ refRapidData takes the REFERENCE of the RapidData. This is useful in SaveToRapidData() method. // ~ num & tgt takes the VALUE of the RapidData components. This is useful in making internal temporary // changes before saving it (back) to the RapidData by SaveToRapidData() method. this.num = (Num)ud.Components[0]; this.tgt = (RobTarget)ud.Components[1]; refRapidData = input; } public override string ToString() { return "[" + NumVal + "," + TgtVal + "]"; } public void SaveToRapidData() { // c is the controller defined globally. Required to request mastership. using (Mastership ms = Mastership.Request(c.Rapid)) { refRapidData.StringValue = this.ToString(); } } public void Fill(string value) { char[] delimiterChars = { ' ', ',', '[', ']' }; // Get rid of these chars from the value input string[] tokens = value.Split(delimiterChars, StringSplitOptions.RemoveEmptyEntries); // Assign struct's fields: NumVal NumVal = new Num(Convert.ToDouble(tokens[0])); // Assign struct's fields: TgtVal RobTarget newTgt = new RobTarget(); newTgt.Trans.X = Convert.ToSingle(tokens[1]); newTgt.Trans.Y = Convert.ToSingle(tokens[2]); newTgt.Trans.Z = Convert.ToSingle(tokens[3]); newTgt.Rot.Q1 = Convert.ToSingle(tokens[4]); newTgt.Rot.Q2 = Convert.ToSingle(tokens[5]); newTgt.Rot.Q3 = Convert.ToSingle(tokens[6]); newTgt.Rot.Q4 = Convert.ToSingle(tokens[7]); newTgt.Robconf.Cf1 = Convert.ToInt32(tokens[7]); newTgt.Robconf.Cf4 = Convert.ToInt32(tokens[8]); newTgt.Robconf.Cf6 = Convert.ToInt32(tokens[9]); newTgt.Robconf.Cfx = Convert.ToInt32(tokens[10]); newTgt.Extax.Eax_a = Convert.ToSingle(tokens[11]); newTgt.Extax.Eax_b = Convert.ToSingle(tokens[12]); newTgt.Extax.Eax_c = Convert.ToSingle(tokens[13]); newTgt.Extax.Eax_d = Convert.ToSingle(tokens[14]); newTgt.Extax.Eax_e = Convert.ToSingle(tokens[15]); newTgt.Extax.Eax_f = Convert.ToSingle(tokens[16]); TgtVal = newTgt; } public void Fill(DataNode root) { throw new NotImplementedException(); } public void FillFromString(string newValue) { Fill(newValue); } public DataNode ToStructure() { throw new NotImplementedException(); } }
0
Answers
-
John_Verheij said:Hi,
Hereby a sample program. If you have any questions about it, just let me know :
0
Categories
- All Categories
- 5.5K RobotStudio
- 396 UpFeed
- 18 Tutorials
- 13 RobotApps
- 297 PowerPacs
- 405 RobotStudio S4
- 1.8K Developer Tools
- 250 ScreenMaker
- 2.8K Robot Controller
- 316 IRC5
- 60 OmniCore
- 7 RCS (Realistic Controller Simulation)
- 797 RAPID Programming
- AppStudio
- 3 RobotStudio AR Viewer
- 18 Wizard Easy Programming
- 105 Collaborative Robots
- 5 Job listings