void CheckUndefined(CellTarget cellTarget, List <CellTarget> cellTargets)
{
if (cellTarget.Index < cellTargets.Count - 1)
{
int i = cellTarget.Index;
foreach (var target in cellTarget.ProgramTargets.Where(x => x.Kinematics.Configuration == RobotConfigurations.Undefined))
{
if (!cellTargets[i + 1].ProgramTargets[target.Group].IsJointMotion)
{
_program.Errors.Add($"Undefined configuration (probably due to a singularity) in target {target.Index} of robot {target.Group} before a linear motion");
//IndexError = i;
}
}
}
}
List <CellTarget> CreateCellTargets(IEnumerable <IToolpath> toolpaths)
{
var cellTargets = new List <CellTarget>();
var enumerators = toolpaths.Select(e => e.Targets.GetEnumerator()).ToList();
if (RobotSystem is RobotCell cell)
{
var pathsCount = enumerators.Count;
var groupCount = cell.MechanicalGroups.Count;
if (pathsCount != groupCount)
{
Errors.Add($"You supplied {pathsCount} toolpath(s), this robot cell requires {groupCount} toolpath(s).");
goto End;
}
}
while (enumerators.All(e => e.MoveNext()))
{
var programTargets = new List <ProgramTarget>(enumerators.Count);
programTargets.AddRange(enumerators.Select((e, i) => new ProgramTarget(e.Current, i)));
if (programTargets.Any(t => t.Target is null))
{
Errors.Add($"Target index {cellTargets.Count} is null or invalid.");
goto End;
}
var cellTarget = new CellTarget(programTargets, cellTargets.Count);
cellTargets.Add(cellTarget);
}
if (enumerators.Any(e => e.MoveNext()))
{
Errors.Add("All toolpaths must contain the same number of targets.");
goto End;
}
if (cellTargets.Count == 0)
{
Errors.Add("The program must contain at least 1 target.");
}
End:
return(cellTargets);
}
void FixFirstTarget(CellTarget firstTarget)
{
var fix = firstTarget.ProgramTargets.Where(x => !x.IsJointTarget);
if (fix.Any())
{
var kinematics = _robotSystem.Kinematics(firstTarget.ProgramTargets.Select(x => x.Target));
foreach (var programTarget in fix)
{
var kinematic = kinematics[programTarget.Group];
if (kinematic.Errors.Count > 0)
{
_program.Errors.Add($"Errors in target {programTarget.Index} of robot {programTarget.Group}:");
_program.Errors.AddRange(kinematic.Errors);
}
programTarget.Target = new JointTarget(kinematic.Joints.RangeSubset(0, 6), programTarget.Target);
_program.Warnings.Add($"First target in robot {programTarget.Group} changed to a joint motion using axis rotations");
}
}
}
internal IEnumerable <Target> Lerp(CellTarget prevTarget, RobotSystem robot, double t, double start, double end)
{
return(ProgramTargets.Select((x, i) => x.Lerp(prevTarget.ProgramTargets[i], robot, t, start, end)));
}
public static void Pose(this IMeshPoser poser, List <KinematicSolution> solutions, CellTarget cellTarget)
{
var tools = cellTarget.ProgramTargets.Map(t => t.Target.Tool);
poser.Pose(solutions, tools);
}