Thanks for your reply, it is a python scrip.
Now I want to realize that when I selected the second statement and click a button, it will create a ‘TestProcess’ statement at the third index.I can’t find any api or event for the selected statement, even in .NET event or ISelectionManagement.
Scrip:
from vcApplication import *
from vcCommand import *
from vcHelpers.Selection import *
from vcHelpers.Application import *
import vcMatrix
app = getApplication()
cmd = getCommand()
comp = None
executor = None
controller = None
cmd_manager = findCommand(‘netCommand’)
#================ ON CLICK ================
def OnButtonClick():
#---------------- ROBOT -----------------
global executor, controller, comp
if app.TeachContext != None and \
app.TeachContext.ActiveRobot != None:
comp = app.TeachContext.ActiveRobot
controllers = comp.getBehavioursByType('rSimRobotController')
executors = comp.getBehavioursByType('rRobotExecutor')
if len(controllers):
controller = controllers[0]
if len(executors):
executor = executors[0]
if comp == None or executor == None or controller == None:
print 'Please select a robot.'
return
#---------------- PROCESS HANDLER -----------------
process_handler = comp.getBehaviour('TestProcessHandler')
if process_handler != None:
if process_handler.Script != GET_PROCESS_HANDLER_SCRIPT() :
process_handler.Process = 'Test'
process_handler.Script = GET_PROCESS_HANDLER_SCRIPT()
print 'Updated "TestProcessHandler" behavior.'
if process_handler == None:
process_handler = comp.createBehaviour('rPythonProcessHandler', 'TestProcessHandler')
process_handler.Process = 'Test'
process_handler.Script = GET_PROCESS_HANDLER_SCRIPT()
print 'Created "TestProcessHandler" behavior.'
# ---------------- CREATE STATEMENT -------------------
#target = controller.createTarget()
stat = executor.Program.MainRoutine.addStatement(VC_STATEMENT_PROCESS)
stat.Process = process_handler
#pos = stat.createPosition("PTEST")
#stat.Base = target.BaseName
#stat.Tool = target.ToolName
#pos.PositionInReference = target.Target
#================ PROCESS HANDLER SCRIPT ================
def GET_PROCESS_HANDLER_SCRIPT():
return """
from vcRslProcessHandler import *
from vcBehaviour import *
import vcMatrix
app = getApplication()
comp = getComponent()
#---------------- SETUP NEW STATEMENT -----------------
def OnStatementAdd(stat):
pass
#---------------- UNSETUP STATEMENT -----------------
def OnStatementRemove(stat):
pass
#---------------- STATEMENT EXECUTION -----------------
def OnStatementExecute(executor, stat):
controller = executor.Controller
controller.clearTargets()
target = controller.createTarget()
target.JointTurnMode = VC_MOTIONTARGET_TURN_NEAREST
target.TargetMode = VC_MOTIONTARGET_TM_NORMAL
target.MotionType = VC_MOTIONTARGET_MT_LINEAR
if stat.Base == None:
target.BaseName = ""
else:
target.BaseName = stat.Base.Name
if stat.Tool == None:
target.ToolName = ""
else:
target.ToolName = stat.Tool.Name
positions = stat.Positions
if len(positions) > 0:
target.Target = positions[0].PositionInReference
print "Testing, testing..."
controller.moveTo(target)
“”"
#---------------- INIT -----------------
addState(OnButtonClick)
