public LinkSelector(RobotModel robot)
{
this.robot = robot;
InitializeComponent();
this.linkSelectTree.Nodes.Add(robot.BaseLink);
Refresh();
}
/// <summary>
/// Creates a new joint editor proptery manager page that allows the user to edit joint properties.
/// </summary>
/// <param name="robot">Active robot model</param>
/// <param name="joint">Joint to be edited</param>
/// <param name="document">Active assembly document</param>
/// <param name="swApp">Solidworks application environment</param>
public JointPMPage(RobotModel robot, Joint joint, AssemblyDoc document, SldWorks swApp)
{
//Validate parameters
if (robot == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null robot model.");
if (document == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null assembly document.");
if (swApp == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null solidworks application interface.");
//Initialize fields
this.robot = robot;
this.swApp = swApp;
currentJoint = joint;
mathUtil = ((IMathUtility)swApp.GetMathUtility());
//AssemblyDoc inherits ModelDoc2 but the relationship dosn't carry through the COM interface
//Having two fields prevents having to cast half of the time
modelDoc = (ModelDoc2)document;
assemblyDoc = document;
//Setup the page, its controls and their visual layout
SetupPage();
SelectionObservers = new List<SelectionObserver>();
ButtonObservers = new List<ButtonObserver>();
CheckboxObservers = new List<CheckboxObserver>();
}
public JointAxis(SldWorks swApp, AssemblyDoc asm, StorageModel swData, string path, Joint current, int index, RobotModel robot)
{
this.swApp = swApp;
this.asmDoc = asm;
this.modelDoc = (ModelDoc2)asm;
this.swData = swData;
this.path = path;
this.owner = current;
this.robot = robot;
this.AxisIndex = index;
if (EffortLimit == 0)
{
this.EffortLimit = 1;
}
if (this.VelocityLimit == 0)
{
this.VelocityLimit = 1;
}
if (Axis != null)
{
CalcAxisVectors();
//CalcLimits(null);
}
if (index == 2)
{
IsContinuous = true;
}
}
/// <summary>
/// Sets the current robot that is linked to this page
/// </summary>
/// <param name="robot">robot to be used</param>
/// <param name="model">model to be used</param>
public void setRobot(RobotModel robot, ModelDoc2 model)
{
this.robot = robot;
robotName.Text = robot.Name;
string[] configurations = model.GetConfigurationNames();
IncludeFRCfieldBox.Visible = PluginSettings.UseFRCsim;
if (PluginSettings.UseFRCsim)
{
switch (robot.FRCfield)
{
case 2014:
FRC2014FieldButton.Checked = true;
break;
case 2015:
FRC2015FieldButton.Checked = true;
break;
default:
NoFieldButton.Checked = true;
break;
}
}
if (robot.ExportType == 0)
SDFExportTypeButton.Checked = true;
else
URDFExportTypeButton.Checked = true;
}
public void setRobot(RobotModel robot)
{
this.robot = robot;
clientArea = new Rectangle(0, 0, this.Width, this.Height);
currentSelection = robot;
currentSelection.Selected = true;
Refresh();
}
/// <summary>
/// Constructs the exporter
/// </summary>
/// <param name="robot"> Robot model to be exported</param>
public Exporter(RobotModel robot)
{
//Thread loggerThread = new Thread(new ThreadStart(LaunchLogger));
//loggerThread.Start();
this.currentRobot = robot;
//Thread.Sleep(1000);
LaunchLogger();
}
public ManageRobot(RobotModel robot)
{
RobotInfo.WriteToLogFile("Creating Robot Manager (ManageRobot)");
this.robot = robot;
InitializeComponent();
robotGraphPanel1.setRobot(robot);
robotGraphPanel1.OnSelectionChanged += Select;
this.TopMost = false;
Select(robot);
toggleFRCsim(PluginSettings.UseFRCsim);
RobotInfo.WriteToLogFile("Robot Manager Created (ManageRobot)");
}
/// <summary>
/// Creates a new Specific Joint object
/// </summary>
/// <param name="joint">The joint that this joint is in</param>
/// <param name="path">The storage path for this joint</param>
protected JointSpecifics(Joint joint, string path)
{
this.robot = RobotInfo.Robot;
this.joint = joint;
this.swApp = RobotInfo.SwApp;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
OriginValues = new OriginPoint();
if(OriginPt != null)
OriginValues.Point = GetPointFromEntity(OriginPt);
}
/// <summary>
/// Constructs a new IJointAxis
/// </summary>
/// <param name="path">Path to this joint's storage</param>
/// <param name="current">The joint that this axis is contained in</param>
public IJointAxis(string path, Joint current)
{
this.swApp = RobotInfo.SwApp;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.owner = current;
this.robot = RobotInfo.Robot;
if (EffortLimit == 0)
{
this.EffortLimit = 1;
}
if (Axis != null)
{
CalcAxisVector();
}
mathUtil = (MathUtility)swApp.GetMathUtility();
}
/// <summary>
/// Creates a new joint
/// </summary>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="owner">The Link that owns this joint (child Link in the joint)</param>
public Joint(string path, Link parent, Link child)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = parent;
Parent.ChildJoints.Add(this);
this.Child = child;
this.Selected = false;
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Getting Joint Specifics (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type,path,this);
RobotInfo.WriteToLogFile("Successfully created Joint Specifics (Joint)");
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// Sets the various properties of the current robot
/// </summary>
/// <param name="swApp">The solidworks application</param>
/// <param name="asmDoc">The current assembly</param>
/// <param name="swData">The current storage model</param>
/// <param name="robot">the current robot</param>
public static void SetProperties(SldWorks swApp, AssemblyDoc asmDoc, StorageModel swData, RobotModel robot)
{
SwApp = swApp;
ModelDoc = (ModelDoc2)asmDoc;
AssemDoc = asmDoc;
SwData = swData;
Robot = robot;
mathUtil = SwApp.GetMathUtility();
}
/// <summary>
/// update robot when selected
/// </summary>
/// <param name="robot"></param>
public void OnRobotSelectionChanged(RobotModel robot_)
{
if (robot != null)
SaveCurrentSelection();
robot = robot_;
LoadSelections();
}
/// <summary>
/// Constructer
/// </summary>
/// <param name="robot">Robot model to be used for export</param>
/// <param name="iSwApp">The solidworks app</param>
/// <param name="asm">The assembly document</param>
public RobotExporter(RobotModel robot, SldWorks iSwApp, AssemblyDoc asm)
{
this.robot = robot;
this.iSwApp = iSwApp;
this.asm = asm;
}
/// <summary>
/// Loads a joint that has already been created
/// </summary>
/// <param name="swApp">Solidworks app</param>
/// <param name="asm">Assembly document this joint and its robot belong to</param>
/// <param name="swData">StorageModel that this joint is tored in</param>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="robot">The Robot model that the joint is in</param>
public Joint(string path)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = robot.GetLink(parentId);
Parent.ChildJoints.Add(this);
this.Child = robot.GetLink(childId);
this.Selected = false;
if(this.Type == null || this.Type.Equals(""))
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Loading existing joint (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type, path, this);
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// open Joint tab of JointEditor for given joint when click Joint Pose button from Manage Robot window
/// call from JointProperties
/// </summary>
/// <param name="robot">current robot to edit</param>
/// <param name="manager"></param>
public void OpenJointEditorPage(RobotModel robot, ManageRobot manager)
{
JointPMPage editor = jointSpecifics.FillPropertyPage();//SetupPage();
editor.RestoreManager += manager.ExternalSelect;
editor.Show();
// editor.OnJointSelectionChanged(this); //calls SaveCurrentLinkSelection() and LoadCurrentLinkSelection();
//const int jointTabID = 33; editor.OnTabClicked(jointTabID); //calls ToggleJointPropertyManagers(this.Type);
}
/// <summary>
/// Creates a new link belonging to the given assembly
/// </summary>
/// <param name="swApp">The Solidworks App</param>
/// <param name="asm"> The assembly that this Link is in</param>
/// <param name="swData"> The Storage model that this Link is stored in </param>
/// <param name="path"> The path to the StorageModel location of this link </param>
/// <param name="baseLink"> Whether this Link is the base link of the model or not </param>
public Link(String path, int id)
{
this.Selected = false;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.swApp = RobotInfo.SwApp;
this.Id = id;
this.robot = RobotInfo.Robot;
attachments = new List<Attachment>();
ParentJoints = new List<Joint>();
ChildJoints = new List<Joint>();
nextAttachmentNum = 0;
nextJointNum = 0;
isBaseLink = false;
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
Name = "NewLink";
this.color = DefaultColors[0];
}
attachmentNums = new DoubleStorageArray(swData, path + "/attachmentNums");
parentJointNums = new DoubleStorageArray(swData, path + "/jointNums");
ModelConfiguration physical = new ModelConfiguration(path + "/physicalComps", (int)ModelConfiguration.ModelConfigType.Physical,this);
ModelConfiguration visual = new ModelConfiguration(path + "/visualComps", (int)ModelConfiguration.ModelConfigType.Visual,this);
ModelConfiguration collision = new ModelConfiguration(path + "/collisionComps", (int)ModelConfiguration.ModelConfigType.Collision,this);
LinkModels = new ModelConfiguration[] { physical, visual, collision };
}
/// <summary>
/// Constructor for setting up the link property manager page
/// </summary>
/// <param name="robot">The robot model</param>
/// <param name="link">The link that will be edited</param>
/// <param name="document">Active assembly document</param>
/// <param name="swApp">The solidworks app</param>
public LinkPMPage(RobotModel robot, AssemblyDoc document, SldWorks swApp, int type)
{
//Validate parameters
if (robot == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null robot model.");
if (document == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null assembly document.");
if (swApp == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null solidworks application interface.");
//Initialize fields
this.robot = robot;
this.swApp = swApp;
this.linksColored = false;
currentModelConfig = type;
//AssemblyDoc inherits ModelDoc2 but the relationship dosn't carry through the COM interface
//Having two fields prevents having to cast half of the time
modelDoc = (ModelDoc2)document;
assemblyDoc = document;
//Setup the page, its controls and their visual layout
SetupPage();
}
public int OnDocChange()
{
currentRobot = null;
currentDoc = null;
ModelDoc2 activeDoc = iSwApp.ActiveDoc;
if (activeDoc.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY)
{
currentDoc = (AssemblyDoc)activeDoc;
currentDoc.DestroyNotify2 += new DAssemblyDocEvents_DestroyNotify2EventHandler(OnDocClose);
currentRobot = new RobotModel(currentDoc, iSwApp);
if (manager != null && manager.Visible == true)
{
manager.Close();
}
if (settings!= null && settings.Visible == true)
{
settings.Close();
}
if (exporter != null && !exporter.IsClosed())
{
exporter.CloseExporter();
exporter = null;
}
manager = new ManageRobot(currentRobot);
settings = new SettingsForm(manager);
}
RobotInfo.WriteToLogFile("Doc changed (SwAddin)");
return 0;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="robot">Robot model to be exported</param>
/// <param name="iSwApp">Solidworks app</param>
/// <param name="asm">Assembly that the robot model is in</param>
public URDFExporter(RobotModel robot, SldWorks iSwApp, AssemblyDoc asm)
: base(robot, iSwApp, asm)
{
}
/// <summary>
/// opens link editor page in solidworks window
/// </summary>
/// <param name="robot"></param>
/// <param name="manager"></param>
public void OpenLinkEditorPage(RobotModel robot,ManageRobot manager, int modelType)
{
LinkPMPage editor = new LinkPMPage(robot, asmDoc, swApp, modelType); //SetupPage();
editor.Show();
editor.RestoreManager += manager.ExternalSelect;
editor.OnLinkSelectionChanged(this); //calls SaveCurrentLinkSelection() and LoadCurrentLinkSelection();
}
/// <summary>
/// opens link editor page in solidworks window
/// </summary>
/// <param name="robot"></param>
/// <param name="manager"></param>
public void OpenRobotEditorPage(RobotModel robot, ManageRobot manager)
{
RobotPMPage editor = new RobotPMPage(robot, asmDoc, swApp); //SetupPage();
editor.Show();
editor.RestoreManager += manager.ExternalSelect;
editor.OnRobotSelectionChanged(this); //calls SaveCurrentLinkSelection() and LoadCurrentLinkSelection();
}
