public static string TrsfData(string name, Plane plane)
{
var values = RobotCellStaubli.PlaneToEuler(plane);
string value = $@"x=""{values[0]:0.###}"" y=""{values[1]:0.###}"" z=""{values[2]:0.###}"" rx=""{values[3]:0.####}"" ry=""{values[4]:0.####}"" rz=""{values[5]:0.####}""";
return(Data(name, "trsf", value));
}
internal VAL3PostProcessor(RobotCellStaubli robotCell, Program program)
{
_cell = robotCell;
_program = program;
Code = new List <List <List <string> > >();
int groupCount = _cell.MechanicalGroups.Count;
if (groupCount > 1)
{
_program.Errors.Add("Coordinated robots not supported on Staubli.");
return;
}
if (!CheckNames())
{
return;
}
for (int i = 0; i < _cell.MechanicalGroups.Count; i++)
{
//var group = _cell.MechanicalGroups[i];
//var name = $"{_program.Name}_{group.Name}";
var name = $"{_program.Name}";
var mdescs = CreateMdescs(i);
var groupCode = new List <List <string> >
{
Program(name),
DataList(i, mdescs, out var indices),
Start(name),
Stop(name),
};
for (int j = 0; j < program.MultiFileIndices.Count; j++)
{
groupCode.Add(SubModule(j, i, mdescs, indices, name));
}
Code.Add(groupCode);
}
}
