Ajoutez des fichiers projet.

EnableDisableCollision.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.11.35303.130
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "EnableDisableCollision", "EnableDisableCollision\EnableDisableCollision.csproj", "{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {972582B9-BA72-492C-AC5E-A697D79958CF}
+	EndGlobalSection
+EndGlobal

EnableDisableCollision/CodeBehind.cs

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+using ABB.Robotics.Math;
+using ABB.Robotics.RobotStudio;
+using ABB.Robotics.RobotStudio.Stations;
+using System;
+using System.Collections.Generic;
+using System.Security.Principal;
+using System.Text;
+using System.Windows.Forms;
+
+namespace EnableDisableCollision
+{
+    /// <summary>
+    /// Code-behind class for the EnableDisableCollision Smart Component.
+    /// </summary>
+    /// <remarks>
+    /// The code-behind class should be seen as a service provider used by the 
+    /// Smart Component runtime. Only one instance of the code-behind class
+    /// is created, regardless of how many instances there are of the associated
+    /// Smart Component.
+    /// Therefore, the code-behind class should not store any state information.
+    /// Instead, use the SmartComponent.StateCache collection.
+    /// </remarks>
+    public class CodeBehind : SmartComponentCodeBehind
+    {
+
+        CollisionSet collisionSet1;
+        CollisionSet collisionSet2;
+        CollisionSet collisionSet3;
+        CollisionSet collisionSet4;
+        CollisionSet collisionSet5;
+        CollisionSet collisionSet6;
+
+
+
+        /// <summary>
+        /// Called when the value of a dynamic property value has changed.
+        /// </summary>
+        /// <param name="component"> Component that owns the changed property. </param>
+        /// <param name="changedProperty"> Changed property. </param>
+        /// <param name="oldValue"> Previous value of the changed property. </param>
+        public override void OnPropertyValueChanged(SmartComponent component, DynamicProperty changedProperty, Object oldValue)
+        {
+
+
+                try
+                {
+                    collisionSet1 = (CollisionSet)component.Properties["Collision1"].Value;
+                }
+                catch { }
+
+                try
+                {
+                    collisionSet2 = (CollisionSet)component.Properties["Collision2"].Value;
+                }
+                catch { }
+                try
+                {
+                    collisionSet3 = (CollisionSet)component.Properties["Collision3"].Value;
+                }
+                catch { }
+                try
+                {
+                    collisionSet4 = (CollisionSet)component.Properties["Collision4"].Value;
+                }
+                catch { }
+                try
+                {
+                    collisionSet5 = (CollisionSet)component.Properties["Collision5"].Value;
+                }
+                catch { }
+                try
+                {
+                    collisionSet6 = (CollisionSet)component.Properties["Collision6"].Value;
+                }
+                catch { }
+
+        }
+
+        /// <summary>
+        /// Called when the value of an I/O signal value has changed.
+        /// </summary>
+        /// <param name="component"> Component that owns the changed signal. </param>
+        /// <param name="changedSignal"> Changed signal. </param>
+        public override void OnIOSignalValueChanged(SmartComponent component, IOSignal changedSignal)
+        {
+            try
+            {
+                this.OnLoad(component);
+
+                if (changedSignal.Name == "ToolCollisionEnable")
+                {
+
+                    if (collisionSet1 != null) collisionSet1.Active = false;
+                    if (collisionSet2 != null) collisionSet2.Active = false;
+                    if (collisionSet3 != null) collisionSet3.Active = false;
+                    if (collisionSet4 != null) collisionSet4.Active = false;
+                    if (collisionSet5 != null) collisionSet5.Active = false;
+                    if (collisionSet6 != null) collisionSet6.Active = false;
+
+
+
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 1)
+                    {
+                        collisionSet1.Active = true;
+
+                    }
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 2)
+                    {
+                        collisionSet2.Active = true;
+
+                    }
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 3)
+                    {
+                        collisionSet3.Active = true;
+                    }
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 4)
+                    {
+                        collisionSet4.Active = true;
+                    }
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 5)
+                    {
+                        collisionSet5.Active = true;
+                    }
+                    if ((uint)component.IOSignals["ToolCollisionEnable"].Value == 6)
+                    {
+                        collisionSet6.Active = true;
+                    }
+
+                    Logger.AddMessage(new LogMessage("CollisionSet " + (uint)component.IOSignals["ToolCollisionEnable"].Value + " : " + collisionSet1.Active));
+                }
+            }
+            catch (Exception ex) 
+            {
+            }
+        }
+        public override void OnLoad(SmartComponent component)
+        {
+            base.OnLoad(component);
+
+            try
+            {
+                collisionSet1 = (CollisionSet)component.Properties["Collision1"].Value;
+            }
+            catch { }
+
+            try
+            {
+                collisionSet2 = (CollisionSet)component.Properties["Collision2"].Value;
+            }
+            catch { }
+            try
+            {
+                collisionSet3 = (CollisionSet)component.Properties["Collision3"].Value;
+            }
+            catch { }
+            try
+            {
+                collisionSet4 = (CollisionSet)component.Properties["Collision4"].Value;
+            }
+            catch { }
+            try
+            {
+                collisionSet5 = (CollisionSet)component.Properties["Collision5"].Value;
+            }
+            catch { }
+            try
+            {
+                collisionSet6 = (CollisionSet)component.Properties["Collision6"].Value;
+            }
+            catch { }
+
+            base.OnLoad(component);
+        }
+
+
+        /// <summary>
+        /// Called during simulation.
+        /// </summary>
+        /// <param name="component"> Simulated component. </param>
+        /// <param name="simulationTime"> Time (in ms) for the current simulation step. </param>
+        /// <param name="previousTime"> Time (in ms) for the previous simulation step. </param>
+        /// <remarks>
+        /// For this method to be called, the component must be marked with
+        /// simulate="true" in the xml file.
+        /// </remarks>
+        public override void OnSimulationStep(SmartComponent component, double simulationTime, double previousTime)
+        {
+
+        }
+    }
+}

EnableDisableCollision/EnableDisableCollision.csproj

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+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProductVersion>9.0.30729</ProductVersion>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>{996EBE59-7EC1-49CD-BDB4-7F09D1F41378}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>EnableDisableCollision</RootNamespace>
+    <AssemblyName>EnableDisableCollision</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <StartAction>Program</StartAction>
+    <StartProgram>$(MSBuildProgramFiles32)\ABB\RobotStudio 2024\Bin\RobotStudio.exe</StartProgram>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <StartAction>Program</StartAction>
+    <StartProgram>$(MSBuildProgramFiles32)\ABB\RobotStudio 2024\Bin\RobotStudio.exe</StartProgram>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="ABB.Robotics.Math">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>$(MSBuildProgramFiles32)\ABB\SDK\RobotStudio 2024 SDK\ABB.Robotics.Math.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="ABB.Robotics.RobotStudio">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>$(MSBuildProgramFiles32)\ABB\SDK\RobotStudio 2024 SDK\ABB.Robotics.RobotStudio.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="ABB.Robotics.RobotStudio.Stations">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>$(MSBuildProgramFiles32)\ABB\SDK\RobotStudio 2024 SDK\ABB.Robotics.RobotStudio.Stations.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="CodeBehind.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="EnableDisableCollision.xml" />
+    <None Include="EnableDisableCollision.en.xml" />
+    <None Include="EnableDisableCollision.png" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+  <PropertyGroup>
+    <PostBuildEvent>copy /y "$(TargetPath)" "$(ProjectDir)"
+"$(MSBuildProgramFiles32)\ABB\RobotStudio 2024\bin\LibraryCompiler.exe" "$(ProjectDir)\EnableDisableCollision.xml"</PostBuildEvent>
+  </PropertyGroup>
+</Project>

EnableDisableCollision/EnableDisableCollision.en.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<LibraryResource xmlns="urn:abb-robotics-robotstudio-libraryresource"
+                 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+                 xsi:schemaLocation="urn:abb-robotics-robotstudio-libraryresource file:///C:\Program%20Files%20(x86)\ABB\SDK\RobotStudio%202024%20SDK\LibraryResourceSchema.xsd">
+	<SmartComponent name="EnableDisableCollision" description="Sample Component Description">
+		<DynamicProperty name="SampleProperty" description="Sample Property Description"/>
+		<IOSignal name="SampleSignal" description="Sample Signal Description"/>
+	</SmartComponent>
+</LibraryResource>

EnableDisableCollision/EnableDisableCollision.xml

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+<?xml version="1.0" encoding="utf-8" ?>
+<lc:LibraryCompiler xmlns:lc="urn:abb-robotics-robotstudio-librarycompiler"
+										xmlns="urn:abb-robotics-robotstudio-graphiccomponent"
+                    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+                    xsi:schemaLocation="urn:abb-robotics-robotstudio-librarycompiler file:///C:\Program%20Files%20(x86)\ABB\SDK\RobotStudio%202024%20SDK\LibraryCompilerSchema.xsd
+                                        urn:abb-robotics-robotstudio-graphiccomponent file:///C:\Program%20Files%20(x86)\ABB\SDK\RobotStudio%202024%20SDK\GraphicComponentSchema.xsd">
+	<lc:Library fileName="EnableDisableCollision.rslib">
+		<lc:DocumentProperties>
+			<lc:Author>alecabellec</lc:Author>
+			<lc:Image source="EnableDisableCollision.png"/>
+		</lc:DocumentProperties>
+		<SmartComponent name="EnableDisableCollision" icon="EnableDisableCollision.png"
+										codeBehind="EnableDisableCollision.CodeBehind,EnableDisableCollision.dll"
+										canBeSimulated="true">
+			<Properties>
+        <DynamicProperty name="Collision1" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+        <DynamicProperty name="Collision2" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+        <DynamicProperty name="Collision3" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+        <DynamicProperty name="Collision4" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+        <DynamicProperty name="Collision5" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+        <DynamicProperty name="Collision6" valueType="ABB.Robotics.RobotStudio.ProjectObject"></DynamicProperty>
+      </Properties>
+			<Bindings>
+			</Bindings>
+			<Signals>
+        <IOSignal name="ToolCollisionEnable" signalType="DigitalGroupInput"/> 
+			</Signals>
+			<GraphicComponents>
+			</GraphicComponents>
+			<Assets>
+				<Asset source="EnableDisableCollision.dll"/>
+			</Assets>
+		</SmartComponent>
+	</lc:Library>
+</lc:LibraryCompiler>

EnableDisableCollision/Properties/AssemblyInfo.cs

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+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("EnableDisableCollision")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("HP Inc.")]
+[assembly: AssemblyProduct("EnableDisableCollision")]
+[assembly: AssemblyCopyright("Copyright © HP Inc. 2024")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("e60f2004-8473-400b-867c-5165065f5339")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]