/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Gets ObjectManager of this document
_objectManager = DocumentManager.GetDocumentObjectManager(this.OnPingDocument());
// Input variables
Robot robInfo = new Robot();
List <RobotComponents.Actions.Action> actions = new List <RobotComponents.Actions.Action>();
string programName = "";
string systemName = "";
List <string> customCodeLines = new List <string>()
{
};
bool update = true;
// Catch the input data
if (!DA.GetData(0, ref robInfo))
{
return;
}
if (!DA.GetDataList(1, actions))
{
return;
}
if (!DA.GetData(2, ref programName))
{
programName = "MainModule";
}
if (!DA.GetData(3, ref systemName))
{
systemName = "BASE";
}
if (!DA.GetDataList(4, customCodeLines))
{
customCodeLines = new List <string>()
{
};
}
if (!DA.GetData(5, ref update))
{
update = true;
}
// Checks if module name exceeds max character limit for RAPID Code
if (HelperMethods.VariableExeedsCharacterLimit32(programName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Program Module Name exceeds character limit of 32 characters.");
}
if (HelperMethods.VariableExeedsCharacterLimit32(systemName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "System Module Name exceeds character limit of 32 characters.");
}
// Checks if module name starts with a number
if (HelperMethods.VariableStartsWithNumber(programName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Program Module Name starts with a number which is not allowed in RAPID Code.");
}
if (HelperMethods.VariableStartsWithNumber(systemName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "System Module Name starts with a number which is not allowed in RAPID Code.");
}
// Updates the rapid Progam and System code
if (update == true)
{
// Initiaties the rapidGenerator
_rapidGenerator = new RAPIDGenerator(programName, systemName, actions, null, false, robInfo);
// Generator code
_rapidGenerator.CreateProgramCode();
_rapidGenerator.CreateSystemCode(customCodeLines);
_programCode = _rapidGenerator.ProgramCode;
_systemCode = _rapidGenerator.SystemCode;
// Check if the first movement is an absolute joint movement.
_firstMovementIsMoveAbsJ = _rapidGenerator.FirstMovementIsMoveAbsJ;
// Raise warnings?
if (_rapidGenerator.ErrorText.Count != 0)
{
_raiseWarnings = true;
}
else
{
_raiseWarnings = false;
}
}
// Checks if first Movement is MoveAbsJ
if (_firstMovementIsMoveAbsJ == false)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The first movement is not set as an absolute joint movement.");
}
// Show warning messages
if (_raiseWarnings == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Only axis values of absolute joint movements are checked.");
for (int i = 0; i < _rapidGenerator.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _rapidGenerator.ErrorText[i]);
if (i == 30)
{
break;
}
}
}
// Output
DA.SetData(0, _programCode);
DA.SetData(1, _systemCode);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Gets ObjectManager of this document
_objectManager = DocumentManager.GetDocumentObjectManager(this.OnPingDocument());
// Input variables
Robot robInfo = new Robot();
List <RobotComponents.Actions.Action> actions = new List <RobotComponents.Actions.Action>();
string moduleName = "";
string filePath = "";
bool saveToFile = false;
bool update = true;
// Catch the input data
if (!DA.GetData(0, ref robInfo))
{
return;
}
if (!DA.GetDataList(1, actions))
{
return;
}
if (!DA.GetData(2, ref moduleName))
{
moduleName = "MainModule";
}
if (!DA.GetData(3, ref filePath))
{
return;
}
if (!DA.GetData(4, ref saveToFile))
{
return;
}
if (!DA.GetData(5, ref update))
{
return;
}
// Checks if module name exceeds max character limit for RAPID Code
if (HelperMethods.VariableExeedsCharacterLimit32(moduleName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Module Name exceeds character limit of 32 characters.");
}
// Checks if module name starts with a number
if (HelperMethods.VariableStartsWithNumber(moduleName))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Module Name starts with a number which is not allowed in RAPID Code.");
}
// Saved file
bool updated = false; // Avoids saving the file two times in one run
// Updates the rapid BASE and MAIN code
if (update == true)
{
// Initiaties the rapidGenerator
_rapidGenerator = new RAPIDGenerator(moduleName, "BASE", actions, filePath, saveToFile, robInfo.Duplicate());
// Get tools data for system module
List <RobotTool> robotTools = _objectManager.GetRobotTools(); // Gets all the robot tools from the object manager
List <WorkObject> workObjects = _objectManager.GetWorkObjects(); // Gets all the work objects from the object manager
List <string> customCode = new List <string>()
{
};
// Generator code
_rapidGenerator.CreateSystemCode(robotTools, workObjects, customCode);
_rapidGenerator.CreateProgramCode();
_MAINCode = _rapidGenerator.ProgramCode;
_BASECode = _rapidGenerator.SystemCode;
// Check if the first movement is an absolute joint movement.
_firstMovementIsMoveAbsJ = _rapidGenerator.FirstMovementIsMoveAbsJ;
// Saved file
updated = true; // Avoids saving the file two times in one run
}
// Save to file
if (saveToFile == true && updated == false) // Avoids saving the file two times in one run
{
_rapidGenerator.FilePath = filePath;
_rapidGenerator.WriteProgramCodeToFile();
_rapidGenerator.WriteSystemCodeToFile();
}
// Checks if first Movement is MoveAbsJ
if (_firstMovementIsMoveAbsJ == false)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The first movement is not set as an absolute joint movement.");
}
// Output
DA.SetData(0, _MAINCode);
DA.SetData(1, _BASECode);
}
