public VirtualStation(string stationFile)
{
try
{
if (!RobotStudioAPI.Initialized)
{
RobotStudioAPI.Initialize();
}
activeProject = Station.Load(stationFile, true);
tStation = activeProject as Station;
rsTask = tStation.ActiveTask;
robot = rsTask.Mechanism;
rsWobj = rsTask.ActiveWorkObject;
tStation.Irc5Controllers[0].StartAsync(VirtualControllerRestartMode.IStart,
new List <Mechanism>(1)
{
robot
});
}
catch (Exception e)
{
}
}
static RsRobTarget CreateRobTargetAndTarget(Matrix4 frame, RsTask task, RsWorkObject wobj)
{
if (!_targetNumberInitialized)
{
InitializeTargetNumber(task);
}
var robTarget = new RsRobTarget();
robTarget.Frame.GlobalMatrix = frame;
robTarget.Name = TargetNamePrefix + _targetNumber++;
// HACK: Ensure that eax values are set for conveyor. *Will* lead to issues with other
// external axes.
robTarget.SetExternalAxes(new ExternalAxisValues
{
Eax_a = 0,
Eax_b = 0,
Eax_c = 0,
Eax_d = 0,
Eax_e = 0,
Eax_f = 0
}, false);
task.DataDeclarations.Add(robTarget);
var target = new RsTarget(wobj, robTarget);
target.Transform.GlobalMatrix = frame;
task.Targets.Add(target);
return(robTarget);
}
private void ShowDialog(object sender, CancelEventArgs e)
{
Logger.AddMessage(new LogMessage("Your import of file: " + openFileDialog1.FileName + " has started.", LogMessageSeverity.Information));
Cursor.Current = Cursors.WaitCursor;
Station station = Project.ActiveProject as Station;
string fileExtension = System.IO.Path.GetExtension(openFileDialog1.FileName);
string Path = openFileDialog1.InitialDirectory + openFileDialog1.FileName;
string Name = System.IO.Path.GetFileName(openFileDialog1.FileName);
if (fileExtension == ".nc" | fileExtension == ".gcode" | fileExtension == ".cnc")
{
Zone = comboBoxZone.SelectedItem.ToString();
Speed = comboBoxSpeed.SelectedItem.ToString();
Resolution = comboBoxResolution.SelectedItem.ToString();
RotXvar = RotX.Text;
RotYvar = RotY.Text;
RotZvar = RotZ.Text;
RsToolData robotToolData = new RsToolData();
RsWorkObject robotWorkObj = new RsWorkObject();
foreach (RsDataDeclaration rsd in station.ActiveTask.DataDeclarations)
{
if (rsd is RsToolData)
{
if (rsd.Name == Tool)
{
robotToolData = rsd as RsToolData;
}
}
station.ActiveTask.ActiveTool = robotToolData;
if (rsd is RsWorkObject)
{
if (rsd.Name == WorkObj)
{
robotWorkObj = rsd as RsWorkObject;
station.ActiveTask.ActiveWorkObject = robotWorkObj;
}
}
}
Read read1 = new Read();
read1.ReadGcode(Path, Name, Globals.positions, robotToolData, robotWorkObj, Speed, Zone, Resolution, RotXvar, RotYvar, RotZvar);
// read1.CreatePath(Name, Globals.positions, robotToolData, robotWorkObj, Speed, Zone);
// THen do the import
Logger.AddMessage(new LogMessage("Enjoy your new auto generated targets and paths." + "\n" + "They are now ready!"));
}
else
{
Logger.AddMessage(new LogMessage("Ooops.. The file import failed due to file problems... Please check that the fileformat is correct and that the file isn't corrupted"));
//Show message not correct file...
}
}
private void CreateRsWorkobject(string wobjName = "myWobj")
{
try
{
#region RsWorkObjectPoint1
// Create a RsWorkObject.
RsWorkObject newWobj = new RsWorkObject();
// Get a valid RAPID name for the workobject and assign it.
newWobj.Name = rsTask.GetValidRapidName(wobjName, "_", 1);
#endregion
// Set the frame size to twice the default size.
newWobj.FrameSize = newWobj.FrameSize * 2;
// Set the userframe to be a fixed coordinate system.
newWobj.UserFrameProgrammed = true;
// Translate the user frame.
newWobj.UserFrame.X = 0.5;
newWobj.UserFrame.Y = 0.2;
newWobj.UserFrame.Z = 0.2;
#region RsWorkobjectPoint2
// Translate the object frame.
newWobj.ObjectFrame.X = 0.5;
newWobj.ObjectFrame.Y = 0.5;
newWobj.ObjectFrame.Z = 0.5;
// Rotate the object frame (pi radians around each axis).
newWobj.ObjectFrame.RX = Math.PI;
newWobj.ObjectFrame.RY = Math.PI;
newWobj.ObjectFrame.RZ = Math.PI;
#endregion
// Display the wobj in the graphics.
newWobj.Visible = true;
// Display the name of the wobj in the graphics.
newWobj.ShowName = true;
// The wobj is not held by the robot.
newWobj.RobotHold = false;
rsWobj = newWobj;
#region RsWorkobjectPoint3
// Add the wobj to the DataDeclarations of the ActiveTask.
rsTask.DataDeclarations.Add(newWobj);
// Set the wobj as the active workobject of the ActiveTask.
rsTask.ActiveWorkObject =
(RsWorkObject)rsTask.FindDataDeclarationFromModuleScope(newWobj.Name, newWobj.ModuleName);
#endregion
}
catch
{
}
}
public static void ObtainPosition()
{
#region Get the position of the selected object
Project.UndoContext.BeginUndoStep("Get the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
// Asign the object position and orientation values to the vars
PosX = selectedPart.Transform.X;
PosY = selectedPart.Transform.Y;
PosZ = selectedPart.Transform.Z;
DegX = selectedPart.Transform.RX;
DegY = selectedPart.Transform.RY;
DegZ = selectedPart.Transform.RZ;
Logger.AddMessage(new LogMessage(selectedPart.Name.ToString() + " Position copied" +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
// The position obtained in RsRobTarget is relative to its WorkObject and we want it from the station origin (World).
// We can get the relative distance betwen the Target and the station origin with "GetRelativeTrasform"
RsWorkObject myWobj = new RsWorkObject(); // New WorkObject without position (it'll be created at 0,0,0) to define the RsTarget
RsRobTarget myRsRobTarget = new RsRobTarget(); // New RsRobTarget without position to define the RsTarget.
RsTarget myRsTarget = new RsTarget(myWobj, myRsRobTarget); // New RsTarget to use in the "GetRelativeTransform"
Matrix4 relMx = (selectedRsTarget.Transform.GetRelativeTransform(myRsTarget));
// Asing the objetc values to the position and orientation vars
PosX = relMx.Translation.x;
PosY = relMx.Translation.y;
PosZ = relMx.Translation.z;
DegX = relMx.EulerZYX.x;
DegY = relMx.EulerZYX.y;
DegZ = relMx.EulerZYX.z;
// RsTarget copied message
Logger.AddMessage(new LogMessage(selectedRsTarget.Name.ToString() + " Position copied" +
" [X = " + relMx.Translation.x * 1000 +
", Y = " + relMx.Translation.y * 1000 +
", Z = " + relMx.Translation.z * 1000 +
", Rx = " + Globals.RadToDeg(relMx.EulerZYX.x) +
", Ry = " + Globals.RadToDeg(relMx.EulerZYX.y) +
", Rz = " + Globals.RadToDeg(relMx.EulerZYX.z) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asign the object position and orientation values to the vars
PosX = selectedWorkObject.UserFrame.X;
PosY = selectedWorkObject.UserFrame.Y;
PosZ = selectedWorkObject.UserFrame.Z;
DegX = selectedWorkObject.UserFrame.RX;
DegY = selectedWorkObject.UserFrame.RY;
DegZ = selectedWorkObject.UserFrame.RZ;
Logger.AddMessage(new LogMessage(selectedWorkObject.Name.ToString() + " Position copied" +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
#endregion
}
public static void SetPosition()
{
#region Set the position of the selected object
Project.UndoContext.BeginUndoStep("Set the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
#region Log Position and Orientation
// Asign the var values to the object position and orientation
selectedPart.Transform.X = PosX;
selectedPart.Transform.Y = PosY;
selectedPart.Transform.Z = PosZ;
selectedPart.Transform.RX = DegX;
selectedPart.Transform.RY = DegY;
selectedPart.Transform.RZ = DegZ;
#endregion
Logger.AddMessage(new LogMessage("Position applied to " + selectedPart.Name.ToString() +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
RsWorkObject myWobj_origen = selectedRsTarget.WorkObject;
RsRobTarget myRsRobTarget_origen = new RsRobTarget();
RsTarget myRsTarget_origen = new RsTarget(myWobj_origen, myRsRobTarget_origen);
RsWorkObject myWobj_dest = new RsWorkObject();
RsRobTarget myRsRobTarget_dest = new RsRobTarget();
myRsRobTarget_dest.Frame.X = PosX;
myRsRobTarget_dest.Frame.Y = PosY;
myRsRobTarget_dest.Frame.Z = PosZ;
myRsRobTarget_dest.Frame.RX = DegX;
myRsRobTarget_dest.Frame.RY = DegY;
myRsRobTarget_dest.Frame.RZ = DegZ;
RsTarget myRsTarget_dest = new RsTarget(myWobj_dest, myRsRobTarget_dest);
Matrix4 relMx = (myRsTarget_dest.Transform.GetRelativeTransform(myRsTarget_origen));
// Asign the var values to the object position and orientation
selectedRsTarget.Transform.X = relMx.Translation.x;
selectedRsTarget.Transform.Y = relMx.Translation.y;
selectedRsTarget.Transform.Z = relMx.Translation.z;
selectedRsTarget.Transform.RX = relMx.EulerZYX.x;
selectedRsTarget.Transform.RY = relMx.EulerZYX.y;
selectedRsTarget.Transform.RZ = relMx.EulerZYX.z;
Logger.AddMessage(new LogMessage("Position applied to " + selectedRsTarget.Name.ToString() +
" [X = " + myRsTarget_dest.Transform.X * 1000 +
", Y = " + myRsTarget_dest.Transform.Y * 1000 +
", Z = " + myRsTarget_dest.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(myRsTarget_dest.Transform.RX) +
", Ry = " + Globals.RadToDeg(myRsTarget_dest.Transform.RY) +
", Rz = " + Globals.RadToDeg(myRsTarget_dest.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asign the object values to the vars position and orientation
selectedWorkObject.UserFrame.X = PosX;
selectedWorkObject.UserFrame.Y = PosY;
selectedWorkObject.UserFrame.Z = PosZ;
selectedWorkObject.UserFrame.RX = DegX;
selectedWorkObject.UserFrame.RY = DegY;
selectedWorkObject.UserFrame.RZ = DegZ;
Logger.AddMessage(new LogMessage("Position applied to " + selectedWorkObject.Name.ToString() +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch (Exception execption)
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
Logger.AddMessage(new LogMessage(execption.Message.ToString()));
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
}
private static void CreatePath(RsToolData SelectedToolData, RsWorkObject SelectedWorkObject, string speed, string zone)
{
Project.UndoContext.BeginUndoStep("RsPathProcedure Create");
try
{
//Get the active Station
Station station = Project.ActiveProject as Station;
// Create a PathProcedure.
RsPathProcedure myPath = new RsPathProcedure("AutoPath" + pathnumber);
// Add the path to the ActiveTask.
station.ActiveTask.PathProcedures.Add(myPath);
myPath.ModuleName = "module1";
myPath.ShowName = true;
myPath.Synchronize = true;
myPath.Visible = true;
//Make the path procedure as active path procedure
station.ActiveTask.ActivePathProcedure = myPath;
int i = 0;
//Create Path
foreach (RsTarget target in station.ActiveTask.Targets)
{
if (i == 0)
{
// new RsMoveInstruction(station.ActiveTask, "Move", "Default",
//MotionType.Joint, station.ActiveTask.ActiveWorkObject.Name, target.Name, station.ActiveTask.ActiveTool.Name);
RsMoveInstruction moveInstruction =
new RsMoveInstruction(station.ActiveTask, "Move", "Default",
MotionType.Joint, SelectedWorkObject.Name, target.Name, SelectedToolData.Name);
moveInstruction.InstructionArguments["Speed"].Value = speed;
moveInstruction.InstructionArguments["Zone"].Value = zone;
myPath.Instructions.Add(moveInstruction);
}
else
{
RsMoveInstruction moveInstruction =
new RsMoveInstruction(station.ActiveTask, "Move", "Default", MotionType.Linear, SelectedWorkObject.Name,
target.Name, SelectedToolData.Name);
moveInstruction.InstructionArguments["Speed"].Value = speed;
moveInstruction.InstructionArguments["Zone"].Value = zone;
myPath.Instructions.Add(moveInstruction);
}
i++;
pathnumber++;
}
}
catch (Exception ex)
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
Logger.AddMessage(new LogMessage(ex.Message.ToString()));
}
finally
{
Project.UndoContext.EndUndoStep();
}
}
public void ReadGcode(string FilePath, string fileName, Double[] Positions,
RsToolData toolData, RsWorkObject workObject, string speed, string zone, string resolution, string Xrot, string Yrot, string Zrot)
{
arrPositions = new Double[11] {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
lastPos = new Double[11] {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
AbsPos = new Double[11] {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
spd = speed;
res = resolution;
xrot = Xrot;
for (int t = 0; t < 8;)
{
arrPositions[t] = 0;
t++;
}
;
// Initiates a new streamreader
StreamReader sr = new StreamReader(FilePath);
//foreach (string line in File.ReadLines(@"C:\Users\dani0007\Documents\Gcode.txt", Encoding.UTF8))
// string Saved;
string input;
// The pattern searches for the letters [ngxyzijkf] followed by a + or - if they exist followed by one or more digits. then if zero or more dots followed by one or more digits, this to exclude the number from ending with a dot.
string Pattern = @"[ngxyzijkfabc][+-]?(\d+)(.\d+)*";
if (sr.Peek() <= 0)
{
EndOfDocument = true;
}
while (sr.Peek() >= 0)
{
input = sr.ReadLine();
Regex rgx = new Regex(Pattern, RegexOptions.IgnoreCase);
MatchCollection matches = rgx.Matches(input);
if (matches.Count > 0)
{
string[] substrings = Regex.Split(input, @"/n");
foreach (string match in substrings)
{
//Console.WriteLine("Splittar: " + "'{0}'", match);
}
//Console.WriteLine("{");
for (int ctr = 0; ctr < substrings.Length; ctr++)
{
//Console.WriteLine(substrings[ctr]);
Regex rgx2 = new Regex(Pattern, RegexOptions.IgnoreCase);
MatchCollection matches2 = rgx.Matches(substrings[ctr]);
#region Loop that Sorts the values to differnt locations in the Array arrPositions[]
foreach (Match match in matches2)
{
if (Absolute == false)
{
Logger.AddMessage(new LogMessage("Value is false"));
}
if (Absolute == true)
{
Logger.AddMessage(new LogMessage("Value is true"));
}
if (match.Value == "G02" | match.Value == "G2" | match.Value == "G03" | match.Value == "G3")
{
arrPositions[4] = 0;
arrPositions[5] = 0;
arrPositions[6] = 0;
}
if (Absolute == false && (match.Value == "G0" | match.Value == "G01" | match.Value == "G1" | match.Value == "G02" | match.Value == "G2" | match.Value == "G03" | match.Value == "G3"))
{
arrPositions[1] = 0;
arrPositions[2] = 0;
arrPositions[3] = 0;
}
if (match.Value == "G0" | match.Value == "G01" | match.Value == "G1" | match.Value == "G02" | match.Value == "G2" | match.Value == "G03" | match.Value == "G3" | match.Value == "G90" | match.Value == "G91")
{
int StartG = match.Index + 1;
int LengthG = match.Length;
int EndG = (match.Index + match.Length);
string ValueG = match.Value.Remove(0, 1);
Double DoubleG = Double.Parse(ValueG, CultureInfo.InvariantCulture);
arrPositions[0] = DoubleG;
if (Absolute == true)
{
Logger.AddMessage(new LogMessage("Value: " + match.Value));
}
}
if (match.Value.StartsWith("X") | match.Value.StartsWith("x"))
{
int StartX = match.Index + 1;
int LengthX = match.Length;
int EndX = (match.Index + match.Length);
string ValueX = match.Value.Remove(0, 1);
Double DoubleX = Double.Parse(ValueX, CultureInfo.InvariantCulture);
arrPositions[1] = DoubleX;
}
if (match.Value.StartsWith("Y") | match.Value.StartsWith("y"))
{
int StartY = match.Index + 1;
int LengthY = match.Length;
int EndY = (match.Index + match.Length);
string ValueY = match.Value.Remove(0, 1);
Double DoubleY = Double.Parse(ValueY, CultureInfo.InvariantCulture);
arrPositions[2] = DoubleY;
}
if (match.Value.StartsWith("Z") | match.Value.StartsWith("z"))
{
int StartZ = match.Index + 1;
int LengthZ = match.Length;
int EndZ = (match.Index + match.Length);
string ValueZ = match.Value.Remove(0, 1);
Double DoubleZ = Double.Parse(ValueZ, CultureInfo.InvariantCulture);
arrPositions[3] = DoubleZ;
}
if (match.Value.StartsWith("I") | match.Value.StartsWith("i"))
{
int StartI = match.Index + 1;
int LengthI = match.Length;
int EndI = (match.Index + match.Length);
string ValueI = match.Value.Remove(0, 1);
Double DoubleI = Double.Parse(ValueI, CultureInfo.InvariantCulture);
arrPositions[4] = DoubleI;
}
if (match.Value.StartsWith("J") | match.Value.StartsWith("j"))
{
int StartJ = match.Index + 1;
int LengthJ = match.Length;
int EndJ = (match.Index + match.Length);
string ValueJ = match.Value.Remove(0, 1);
Double DoubleJ = Double.Parse(ValueJ, CultureInfo.InvariantCulture);
arrPositions[5] = DoubleJ;
}
if (match.Value.StartsWith("K") | match.Value.StartsWith("k"))
{
int StartK = match.Index + 1;
int LengthK = match.Length;
int EndK = (match.Index + match.Length);
string ValueK = match.Value.Remove(0, 1);
Double DoubleK = Double.Parse(ValueK, CultureInfo.InvariantCulture);
arrPositions[6] = DoubleK;
}
if (match.Value.StartsWith("F") | match.Value.StartsWith("f"))
{
int StartF = match.Index + 1;
int LengthF = match.Length;
int EndF = (match.Index + match.Length);
string ValueF = match.Value.Remove(0, 1);
Double DoubleF = Double.Parse(ValueF, CultureInfo.InvariantCulture);
arrPositions[7] = DoubleF;
}
if (match.Value.StartsWith("A") | match.Value.StartsWith("a"))
{
/* int StartF = match.Index + 1;
* int LengthF = match.Length;
* int EndF = (match.Index + match.Length);
* string ValueA = match.Value.Remove(0, 1);
* Double DoubleA = Double.Parse(ValueA, CultureInfo.InvariantCulture);
*
* arrPositions[8] = DoubleA;*/
}
if (match.Value.StartsWith("B") | match.Value.StartsWith("b"))
{
/*int StartF = match.Index + 1;
* int LengthF = match.Length;
* int EndF = (match.Index + match.Length);
* string ValueB = match.Value.Remove(0, 1);
* Double DoubleB = Double.Parse(ValueB, CultureInfo.InvariantCulture);
*
* arrPositions[9] = DoubleB;*/
}
if (match.Value.StartsWith("C") | match.Value.StartsWith("c"))
{
/*int StartF = match.Index + 1;
* int LengthF = match.Length;
* int EndF = (match.Index + match.Length);
* string ValueC = match.Value.Remove(0, 1);
* Double DoubleC = Double.Parse(ValueC, CultureInfo.InvariantCulture);
*
* arrPositions[10] = DoubleC;*/
}
}
#endregion
if (Xrot != "0" | Yrot != "0" | Zrot != "0")
{
arrPositions[8] = Double.Parse(Xrot, CultureInfo.InvariantCulture);
arrPositions[9] = Double.Parse(Yrot, CultureInfo.InvariantCulture);
arrPositions[10] = Double.Parse(Zrot, CultureInfo.InvariantCulture);
}
if (arrPositions[0] == 90) // Sets absoulte coordintes to true
{
Absolute = true;
}
else if (arrPositions[0] == 91) // Sets incremental coordinates to true
{
Absolute = false;
}
Globals.positions = arrPositions;
#region Handles Absolut or incremental Coordinate system switching
if (Absolute == false && (arrPositions[0] == 00 | arrPositions[0] == 0 | arrPositions[0] == 01 | arrPositions[0] == 1 | arrPositions[0] == 02 | arrPositions[0] == 2 | arrPositions[0] == 03 | arrPositions[0] == 3))
{
arrPositions[1] = arrPositions[1] + lastPos[1];
arrPositions[2] = arrPositions[2] + lastPos[2];
arrPositions[3] = arrPositions[3] + lastPos[3];
//Globals.positions = arrPositions;
if (arrPositions[0] == 00 | arrPositions[0] == 0 | arrPositions[0] == 01 | arrPositions[0] == 1)
{
CreateTargets(arrPositions);
for (int i = 0; i < arrPositions.Length; i++)
{
lastPos[i] = arrPositions[i];
}
}
else
{
arrPositions[4] = arrPositions[4] + lastPos[4];
arrPositions[5] = arrPositions[5] + lastPos[5];
arrPositions[6] = arrPositions[6] + lastPos[6];
Parameterize(arrPositions, lastPos, resolution);
for (int i = 0; i < arrPositions.Length; i++)
{
lastPos[i] = arrPositions[i];
}
}
}
//Logger.AddMessage(new LogMessage("if(abs=false & G00/G01) "));
else
{
Globals.positions = arrPositions;
if (arrPositions[0] == 00 | arrPositions[0] == 0 | arrPositions[0] == 01 | arrPositions[0] == 1)
{
CreateTargets(arrPositions);
for (int i = 0; i < arrPositions.Length; i++)
{
lastPos[i] = arrPositions[i];
}
}
else
{
Parameterize(arrPositions, lastPos, resolution);
for (int i = 0; i < arrPositions.Length; i++)
{
lastPos[i] = arrPositions[i];
}
}
}
#endregion
}
}
}
//a++;
sr.Close();
CreatePath(toolData, workObject, speed, zone);
}
public static void ObtainPosition()
{
#region Get the position of the selected object
Project.UndoContext.BeginUndoStep("Get the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = selectedPart.Transform.X;
PosY = selectedPart.Transform.Y;
PosZ = selectedPart.Transform.Z;
DegX = selectedPart.Transform.RX;
DegY = selectedPart.Transform.RY;
DegZ = selectedPart.Transform.RZ;
// Mensaje del part copiado
// (rselectedPart.Transform.RX * 180) / System.Math.PI
// Globals.RadToDeg(selectedPart.Transform.RX)
Logger.AddMessage(new LogMessage(selectedPart.Name.ToString() + " Position copied" +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
// La posición que nos muestra directamenta el RsRobTarget es relativo a su WorkObject y nosotros lo queremos
// relativo al origen de la estación (mundo).
// Obtenemos la distancia relativa entre el punto y el origen de la estación con "GetRelativeTransform"
RsWorkObject myWobj = new RsWorkObject(); // Declaramos un WorkObject sin definirle posición para que lo cree en el 0,0,0 (para definir el RsTarget)
RsRobTarget myRsRobTarget = new RsRobTarget(); // Declaramos un RsRobTarget sin posición (para definir el RsTarget)
RsTarget myRsTarget = new RsTarget(myWobj, myRsRobTarget); // Declaramos el RsTarget para utilizarlo en "GetRelativeTransform"
Matrix4 relMx = (selectedRsTarget.Transform.GetRelativeTransform(myRsTarget));
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = relMx.Translation.x;
PosY = relMx.Translation.y;
PosZ = relMx.Translation.z;
DegX = relMx.EulerZYX.x;
DegY = relMx.EulerZYX.y;
DegZ = relMx.EulerZYX.z;
// Mensaje del RsTarget copiado
Logger.AddMessage(new LogMessage(selectedRsTarget.Name.ToString() + " Position copied" +
" [X = " + relMx.Translation.x * 1000 +
", Y = " + relMx.Translation.y * 1000 +
", Z = " + relMx.Translation.z * 1000 +
", Rx = " + Globals.RadToDeg(relMx.EulerZYX.x) +
", Ry = " + Globals.RadToDeg(relMx.EulerZYX.y) +
", Rz = " + Globals.RadToDeg(relMx.EulerZYX.z) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = selectedWorkObject.UserFrame.X;
PosY = selectedWorkObject.UserFrame.Y;
PosZ = selectedWorkObject.UserFrame.Z;
DegX = selectedWorkObject.UserFrame.RX;
DegY = selectedWorkObject.UserFrame.RY;
DegZ = selectedWorkObject.UserFrame.RZ;
// Mensaje del WorkObject copiado
Logger.AddMessage(new LogMessage(selectedWorkObject.Name.ToString() + " Position copied" +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
#endregion
}
