/// <summary>
/// Execute the frame creation process
/// </summary>
/// <param name="obj">Not in use</param>
private void FrameCreationExecuted(object obj)
{
if (ReferenceFrame != null && ReferenceFrame != originalFrame)
{
TxApplication.ActiveDocument.WorkingFrame = ReferenceFrame;
}
try
{
foreach (RwFrameCreationViewModel frameViewModel in FramesData)
{
TxTransformation location = RwMathUtilities.CreateRpyTransformation(frameViewModel.X, frameViewModel.Y, frameViewModel.Z, frameViewModel.Rx, frameViewModel.Ry, frameViewModel.Rz, true);
TxFrameCreationData frameCreationData = new TxFrameCreationData(frameViewModel.Name, location);
TxApplication.ActiveDocument.PhysicalRoot.CreateFrame(frameCreationData);
}
string message = $"Successsfully created {FramesData.Count} frames";
TxMessageBox.Show(message, "Frame creation", System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Information);
}
catch
{
string message = "An error occured during frame creation";
TxMessageBox.Show(message, "Frame creation", System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Error);
}
finally
{
TxApplication.ActiveDocument.WorkingFrame = originalFrame;
}
}
/// <summary>
/// Execute the frame creation process
/// </summary>
/// <param name="obj">Not in use</param>
private void FrameCreationExecuted(object obj)
{
if (ReferenceFrame != null && ReferenceFrame != originalFrame)
{
TxApplication.ActiveDocument.WorkingFrame = ReferenceFrame;
}
try
{
foreach (RwFrameCreationData frameData in FramesData)
{
//TxVector translation = new TxVector(frameData.X, frameData.Y, frameData.Z);
//TxVector rotation = new TxVector(RwMath.Deg2Rad(frameData.Rx), RwMath.Deg2Rad(frameData.Ry), RwMath.Deg2Rad(frameData.Rz));
//TxTransformation location = new TxTransformation(translation, rotation, TxTransformation.TxRotationType.RPY_XYZ);
TxTransformation location = RwMath.CreateRpyTransformation(frameData.X, frameData.Y, frameData.Z, frameData.Rx, frameData.Ry, frameData.Rz, true);
TxFrameCreationData frameCreationData = new TxFrameCreationData(frameData.Name, location);
TxApplication.ActiveDocument.PhysicalRoot.CreateFrame(frameCreationData);
}
string message = $"Successsfully created {FramesData.Count} frames";
TxMessageBox.Show(message, "Frame creation", System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Information);
}
catch
{
string message = "An error occured during frame creation";
TxMessageBox.Show(message, "Frame creation", System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Error);
}
finally
{
TxApplication.ActiveDocument.WorkingFrame = originalFrame;
}
}
/// <summary>
/// Create an instance of the frame creation command
/// </summary>
public RwCreateFramesFromListViewModel()
{
FrameGroupBoxHeader = "Frame data";
SourceFilename = string.Empty;
FramesData = new ObservableCollection <RwFrameCreationViewModel>();
FramePrefix = "fr_";
FrameSuffix = string.Empty;
ReferenceFrame = null;
originalFrame = TxApplication.ActiveDocument.WorkingFrame;
ChooseSourceFileCommand = new RwActionCommand(ChooseSourceFileExecuted, ChooseSourceFileCanExecute);
ExecuteFrameCreationCommand = new RwActionCommand(FrameCreationExecuted, FrameCreationCanExecute);
ReferenceFramePickedEvent = new RwActionCommand(ReferenceFramePickedExecuted, ReferenceFramePickedCanExecute);
FramesData.CollectionChanged += FrameCollectionChanged;
}
private void CheckA1Singularity(ITxRobot irobot)
{
TxTransformation currentWorkingFrame = TxApplication.ActiveDocument.WorkingFrame;
TxRobot robot = irobot as TxRobot;
if (robot != null)
{
if (location is ITxLocatableObject locateableLocation)
{
TxApplication.ActiveDocument.WorkingFrame = robot.AbsoluteLocation;
double locationXvalue = locateableLocation.LocationRelativeToWorkingFrame.Translation.X;
double locationYvalue = locateableLocation.LocationRelativeToWorkingFrame.Translation.Y;
double xyValue = RwMathUtilities.Length(locationXvalue, locationYvalue, 0.0);
if (RwMathUtilities.Abs(xyValue) < deltaA1Singularity)
{
AxisLimitsResult = string.IsNullOrEmpty(AxisLimitsResult)
? $"A1 Singularity: {xyValue:F1}"
: string.Join("; ", AxisLimitsResult, $"A1 Singularity: {xyValue:F1}");
}
TxApplication.ActiveDocument.WorkingFrame = currentWorkingFrame;
}
}
}
