public void SerDesTest()
{
var provider = new AmlDocument();
var expected = new KinematicJointValue(provider)
{
Name = "foobar",
Value = 1d,
DefaultValue = 3d,
Minimum = -10d,
Maximum = 20d
};
var value = new KinematicJointValue((AttributeType)expected.CaexObject, provider);
Assert.Equal(expected.Name, value.Name);
Assert.Equal(expected.Value, value.Value);
Assert.Equal(expected.Minimum, value.Minimum);
Assert.Equal(expected.Maximum, value.Maximum);
var ie = provider.CaexDocument.Create <InternalElementType>();
var ih = provider.CaexDocument.Create <InstanceHierarchyType>();
ie.Attribute.Insert((AttributeType)expected.CaexObject);
ih.InternalElement.Insert(ie);
provider.CaexDocument.CAEXFile.InstanceHierarchy.Insert(ih);
var fullPath = Path.Combine(Path.GetTempPath(), Path.GetRandomFileName());
provider.CaexDocument.SaveToFile(fullPath, true);
var d = CAEXDocument.LoadFromFile(fullPath);
var p = new AmlDocument(d);
File.Delete(fullPath);
value = new KinematicJointValue(d.CAEXFile.InstanceHierarchy.First().InternalElement.First().Attribute.First(), provider);
Assert.Equal(expected.Name, value.Name);
Assert.Equal(expected.Value, value.Value);
Assert.Equal(expected.Minimum, value.Minimum);
Assert.Equal(expected.Maximum, value.Maximum);
}
public void FactoryTest()
{
var provider = new AmlDocument();
var expected = new KinematicJointValue(provider)
{
Name = "foobar",
Value = 1d,
DefaultValue = 3d,
Minimum = -10d,
Maximum = 20d
};
var ie = provider.CaexDocument.Create <InternalElementType>();
ie.Attribute.Insert((AttributeType)expected.CaexObject);
Assert.Equal(1, ie.Attribute.Count);
var viewModel = new InternalElementViewModel(ie, provider);
var values = new ViewModelCollection <KinematicJointValue>(ie.Attribute, viewModel);
Assert.Single(values);
Assert.Equal(typeof(KinematicJointValue), values.First().GetType());
}
public void FactoryTest()
{
// Create and safe file name and file path, to be usabel after the using clause.
var amlxFileName = "IRB_120.amlx";
var amlxFilePath = Path.Combine(Environment.CurrentDirectory, amlxFileName);
using (
var doc = AmlxDocument.Create())
{
var project = new ProjectViewModel(doc);
// DH ABB IRB 120
// theta, d, a, alpha
// 0 165 0 0
// 0 125 0 -90
// -90 0 270 0
// 0 0 70 -90
// 0 302 0 90
// 0 0 0 -90
var j1 = new KinematicJointValue(doc)
{
Name = "J1",
Minimum = -165,
Maximum = 165,
DefaultValue = 0
};
var j2 = new KinematicJointValue(doc)
{
Name = "J2",
Minimum = -110,
Maximum = 110,
DefaultValue = 0
};
var j3 = new KinematicJointValue(doc)
{
Name = "J3",
Minimum = -110,
Maximum = 70,
DefaultValue = 0
};
var j4 = new KinematicJointValue(doc)
{
Name = "J4",
Minimum = -160,
Maximum = 160,
DefaultValue = 0
};
var j5 = new KinematicJointValue(doc)
{
Name = "J5",
Minimum = -120,
Maximum = 120,
DefaultValue = 30
};
var j6 = new KinematicJointValue(doc)
{
Name = "J6",
Minimum = -400,
Maximum = 400,
DefaultValue = 0
};
var cadDir = Path.Combine(Environment.CurrentDirectory, @"..\..\..\Resources\ABB_IRB_120");
var link0 = new KinematicLink(doc)
{
Name = "Base Link"
};
var baseFlange = new Flange(doc)
{
Name = "Base",
Type = FlangeType.Base
};
baseFlange.Frame = new FrameProperty(doc)
{
Name = "BaseFrame",
X = 0,
Y = 0,
Z = 0,
RX = 0,
RY = 0,
RZ = 0
};
link0.Flanges.Add(baseFlange);
var part0 = new PartViewModel(doc);
var file0 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Base.STEP"));
var geometry0 = new GeometryDataConnectorViewModel(doc)
{
Location = file0.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file0.Location)
};
part0.DataConnectors.Add(geometry0);
link0.Parts.Add(part0);
var link1 = new KinematicLink(doc)
{
Name = "Link 1"
};
var part1 = new PartViewModel(doc);
var file1 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link1.STEP"));
var geometry1 = new GeometryDataConnectorViewModel(doc)
{
Location = file1.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file1.Location)
};
part1.DataConnectors.Add(geometry1);
link1.Parts.Add(part1);
var link2 = new KinematicLink(doc)
{
Name = "Link 2"
};
var part2 = new PartViewModel(doc);
var file2 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link2.STEP"));
var geometry2 = new GeometryDataConnectorViewModel(doc)
{
Location = file2.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file2.Location)
};
part2.DataConnectors.Add(geometry2);
link2.Parts.Add(part2);
var link3 = new KinematicLink(doc)
{
Name = "Link 3"
};
var part3 = new PartViewModel(doc);
var file3 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link3.STEP"));
var geometry3 = new GeometryDataConnectorViewModel(doc)
{
Location = file3.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file3.Location)
};
part3.DataConnectors.Add(geometry3);
link3.Parts.Add(part3);
var link4 = new KinematicLink(doc)
{
Name = "Link 4"
};
var part4 = new PartViewModel(doc);
part4.Frame = new FrameProperty(doc)
{
Name = "Link4_Frame",
X = 0,
Y = 0,
Z = 134,
RX = 0,
RY = 0,
RZ = 0
};
var file4 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link4.STEP"));
var geometry4 = new GeometryDataConnectorViewModel(doc)
{
Location = file4.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file4.Location)
};
part4.DataConnectors.Add(geometry4);
link4.Parts.Add(part4);
var link5 = new KinematicLink(doc)
{
Name = "Link 5"
};
var part5 = new PartViewModel(doc);
var file5 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link5.STEP"));
var geometry5 = new GeometryDataConnectorViewModel(doc)
{
Location = file5.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file5.Location)
};
part5.DataConnectors.Add(geometry5);
link5.Parts.Add(part5);
var link6 = new KinematicLink(doc)
{
Name = "Link 6"
};
var tcpFlange = new Flange(doc)
{
Name = "TcpFlange",
Type = FlangeType.Tcp
};
tcpFlange.Frame = new FrameProperty(doc)
{
Name = "TcpFrame",
X = 0,
Y = 0,
Z = 72,
RX = 0,
RY = 0,
RZ = 0
};
link6.Flanges.Add(tcpFlange);
var part6 = new PartViewModel(doc);
part6.Frame = new FrameProperty(doc)
{
Name = "Link6_Frame",
X = 0,
Y = 0,
Z = 72,
RX = 0,
RY = 0,
RZ = 0
};
var file6 = doc.Files.Add(Path.Combine(cadDir, "ABB_IRB_120_Link6.STEP"));
var geometry6 = new GeometryDataConnectorViewModel(doc)
{
Location = file6.Location,
MimeType = XMLMimeTypeMapper.GetMimeType(file6.Location)
};
part6.DataConnectors.Add(geometry6);
link6.Parts.Add(part6);
var joint1 = new KinematicJoint(doc, 0, 165, 0, 0)
{
Name = "Joint1",
Base = link0.Id,
Axis = link1.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j1.Id}",
Coupling = new CouplingPropertyViewModel(doc)
{
Active = true
}
};
var joint2 = new KinematicJoint(doc, 0, 125, 0, -90)
{
Name = "Joint2",
Base = link1.Id,
Axis = link2.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j2.Id}",
Coupling = new CouplingPropertyViewModel(doc)
{
Active = false,
Parent = joint1.Id,
Ratio = -0.5
}
};
var joint3 = new KinematicJoint(doc, -90, 0, 270, 0)
{
Name = "Joint3",
Base = link2.Id,
Axis = link3.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j3.Id}"
};
var joint4 = new KinematicJoint(doc, 0, 0, 70, -90)
{
Name = "Joint4",
Base = link3.Id,
Axis = link4.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j4.Id}"
};
var joint5 = new KinematicJoint(doc, 0, 302, 0, 90)
{
Name = "Joint5",
Base = link4.Id,
Axis = link5.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j5.Id}"
};
var joint6 = new KinematicJoint(doc, 0, 0, 0, -90)
{
Name = "Joint6",
Base = link5.Id,
Axis = link6.Id,
JointType = KinematicAxisType.Revolution,
AxisValue = $"{j6.Id}"
};
var robot = new Kinematic(doc)
{
Name = "IRB 120"
};
robot.Links.Add(link0);
robot.Links.Add(link1);
robot.Links.Add(link2);
robot.Links.Add(link3);
robot.Links.Add(link4);
robot.Links.Add(link5);
robot.Links.Add(link6);
robot.Joints.Add(joint1);
robot.Joints.Add(joint2);
robot.Joints.Add(joint3);
robot.Joints.Add(joint4);
robot.Joints.Add(joint5);
robot.Joints.Add(joint6);
robot.JointValues.Add(j1);
robot.JointValues.Add(j2);
robot.JointValues.Add(j3);
robot.JointValues.Add(j4);
robot.JointValues.Add(j5);
robot.JointValues.Add(j6);
project.Parts.Add(robot);
var instanceHierarchy = project.CaexObject as InstanceHierarchyType;
var project2 = new ProjectViewModel(instanceHierarchy, doc);
var robot2 = project2.Parts.OfType <Kinematic>().Single();
Assert.Equal(robot, robot2);
}
}
