/// <summary>
/// Replace a value list with one that has been pre-populated with possible zones.
/// </summary>
/// <param name="sender">The sender.</param>
/// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
private void OnParameterSourcesChanged(Object sender, GH_ParamServerEventArgs e)
{
int index = e.ParameterIndex;
IGH_Param param = e.Parameter;
//Only add value list to the first input
if (index != 0)
{
return;
}
//Only change value lists
var extractedItems = param.Sources.Where(p => p.Name == "Value List");
//Set up value list
Dictionary <string, string> options = new Dictionary <string, string>();
foreach (KeyValuePair <double, Zone> entity in Util.ABBZones())
{
options.Add(entity.Value.Name, entity.Key.ToString());
}
Grasshopper.Kernel.Special.GH_ValueList gH_ValueList = Canvas.Component.CreateValueList("Zones", options);
//The magic
Canvas.Component.ChangeObjects(extractedItems, gH_ValueList);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
List <double> angles = new List <double>();
double lin = 0;
double rot = 0;
Tool tool = ABBTool.Default;
GH_ObjectWrapper speedIn = new GH_ObjectWrapper();
GH_ObjectWrapper zoneIn = new GH_ObjectWrapper();
bool hasTool = true;
bool hasSpeed = true;
bool hasZone = true;
if (!DA.GetDataList(0, angles))
{
angles = new List <double> {
0, 0, 0, 0, 0, 0
}
}
;
if (!DA.GetData(1, ref tool))
{
hasTool = false;
}
if (!DA.GetData(2, ref speedIn))
{
hasSpeed = false;
}
if (!DA.GetData(3, ref zoneIn))
{
hasZone = false;
}
Speed speed = Speed.Default;
Zone zone = Zone.Default;
// Check to see if we have speeds, and if they are custom speed objects, otherwise use values.
if (hasSpeed)
{
// Default speed dictionary.
Dictionary <double, Speed> defaultSpeeds = Util.ABBSpeeds();
double speedVal = 0;
GH_ObjectWrapper speedObj = speedIn;
Type cType = speedObj.Value.GetType();
GH_Convert.ToDouble_Secondary(speedObj.Value, ref speedVal);
if (cType.Name == "Speed")
{
speed = speedObj.Value as Speed;
}
else
{
if (!defaultSpeeds.ContainsKey(speedVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied speed value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Speed for more info) or create a custom speed using the Speed component.");
}
else
{
speed = defaultSpeeds[speedVal];
}
}
}
// If we don't have any speed values, use the default speed.
else
{
speed = Speed.Default;
}
// Check to see if we have zones, and if they are custom zones objects, otherwise use values.
if (hasZone)
{
// Default zone dictionary.
Dictionary <double, Zone> defaultZones = Util.ABBZones();
double zoneVal = 0;
GH_ObjectWrapper zoneObj = zoneIn;
Type cType = zoneObj.Value.GetType();
GH_Convert.ToDouble_Secondary(zoneObj.Value, ref zoneVal);
if (cType.Name == "Zone")
{
zone = zoneObj.Value as Zone;
}
else
{
if (!defaultZones.ContainsKey(zoneVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied zone value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Zone for more info) or create a custom zone using the Zoe component.");
}
else
{
zone = defaultZones[zoneVal];
}
}
}
// If we don't have any zone values, use the default zone.
else
{
zone = Zone.Default;
}
if (useRotary)
{
if (!DA.GetData("Rotary", ref rot))
{
return;
}
}
if (useLinear)
{
if (!DA.GetData("Linear", ref lin))
{
return;
}
}
//Poor mans temporary fix
var rType = Manufacturer.ABB;
if (manufacturer)
{
rType = Manufacturer.Kuka;
}
Target jointTarget = new ABBTarget(angles, speed, zone, tool, rot, lin);
DA.SetData(0, jointTarget);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
this.Message = m_Manufacturer.ToString();
List <Plane> planes = new List <Plane>();
List <GH_ObjectWrapper> speedsIn = new List <GH_ObjectWrapper>();
List <GH_ObjectWrapper> zonesIn = new List <GH_ObjectWrapper>();
List <Tool> tools = new List <Tool>();
List <CSystem> wobjs = new List <CSystem>();
List <int> methods = new List <int>();
// Store the input lists of external axis values to synchronise with the targets.
List <double> eRotVals = new List <double>();
List <double> eLinVals = new List <double>();
bool hasSpeed = true;
bool hasZone = true;
if (!DA.GetDataList(0, planes))
{
return;
}
if (!DA.GetDataList(1, speedsIn))
{
hasSpeed = false;
}
if (!DA.GetDataList(2, zonesIn))
{
hasZone = false;
}
if (!DA.GetDataList(3, tools))
{
tools.Add(ABBTool.Default);
}
if (!DA.GetDataList(4, wobjs))
{
wobjs.Add(CSystem.Default);
}
// If interpolation types are specified, get them.
if (m_interpolationTypes)
{
if (!DA.GetDataList("*Method", methods))
{
return;
}
}
// If the inputs are present, get the external axis values.
if (extRotary)
{
if (!DA.GetDataList("Rotary", eRotVals))
{
return;
}
}
if (extLinear)
{
if (!DA.GetDataList("Linear", eLinVals))
{
return;
}
}
List <Speed> speeds = new List <Speed>();
List <Zone> zones = new List <Zone>();
// Check to see if we have speeds, and if they are custom speed objects, otherwise use values.
if (hasSpeed)
{
// Default speed dictionary.
Dictionary <double, Speed> defaultSpeeds = Util.ABBSpeeds();
double speedVal = 0;
foreach (GH_ObjectWrapper speedIn in speedsIn)
{
GH_ObjectWrapper speedObj = speedIn;
Type cType = speedObj.Value.GetType();
GH_Convert.ToDouble_Secondary(speedObj.Value, ref speedVal);
if (cType.Name == "Speed")
{
speeds.Add(speedObj.Value as Speed);
}
else
{
if (!defaultSpeeds.ContainsKey(speedVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied speed value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Speed for more info) or create a custom speed using the Speed component.");
}
else
{
speeds.Add(defaultSpeeds[speedVal]);
}
}
}
}
// If we don't have any speed values, use the default speed.
else
{
speeds.Add(Speed.Default);
}
// Check to see if we have zones, and if they are custom zones objects, otherwise use values.
if (hasZone)
{
// Default zone dictionary.
Dictionary <double, Zone> defaultZones = Util.ABBZones();
double zoneVal = 0;
foreach (GH_ObjectWrapper zoneIn in zonesIn)
{
GH_ObjectWrapper zoneObj = zoneIn;
Type cType = zoneObj.Value.GetType();
GH_Convert.ToDouble_Secondary(zoneObj.Value, ref zoneVal);
if (cType.Name == "Zone")
{
zones.Add(zoneObj.Value as Zone);
}
else
{
if (!defaultZones.ContainsKey(zoneVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied zone value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Zone for more info) or create a custom zone using the Zoe component.");
}
else
{
zones.Add(defaultZones[zoneVal]);
}
}
}
}
// If we don't have any zone values, use the default zone.
else
{
zones.Add(Zone.Default);
}
List <Target> targets = new List <Target>();
List <string> code = new List <string>();
Speed speed = Speed.Default;
Zone zone = Zone.Default;
Tool tool = ABBTool.Default;
CSystem wobj = CSystem.Default;
int method = 0;
// External axis placeholders
double extRot = Util.ExAxisTol;
double extLin = Util.ExAxisTol;
for (int i = 0; i < planes.Count; i++)
{
if (m_interpolationTypes)
{
// Method
if (i < methods.Count)
{
method = methods[i];
}
else if (methods != null && i >= methods.Count)
{
method = methods[methods.Count - 1];
}
else
{
method = 0;
}
}
if (speeds.Count > 0)
{
if (i < speeds.Count)
{
speed = speeds[i];
}
else
{
speed = speeds[speeds.Count - 1];
}
}
else
{
speed = Speed.Default;
}
// Zone
if (i < zones.Count)
{
zone = zones[i];
}
else
{
zone = zones[zones.Count - 1];
}
// External rotary axis
if (extRotary)
{
if (i < eRotVals.Count)
{
extRot = Math.Round(eRotVals[i], 3);
}
else
{
extRot = Math.Round(eRotVals[eRotVals.Count - 1], 3);
}
}
// External linear axis
if (extLinear)
{
if (i < eLinVals.Count)
{
extLin = Math.Round(eLinVals[i], 3);
}
else
{
extLin = Math.Round(eLinVals[eLinVals.Count - 1], 3);
}
}
// Tools
if (tools.Count > 0)
{
if (i < tools.Count)
{
tool = tools[i];
}
else
{
tool = tools[tools.Count - 1];
}
}
else
{
tool = ABBTool.Default;
}
// Wobjs
if (wobjs.Count > 0)
{
if (i < wobjs.Count)
{
wobj = wobjs[i];
}
else
{
wobj = wobjs[wobjs.Count - 1];
}
}
else
{
wobj = CSystem.Default;
}
// Methods
MotionType mType = MotionType.Linear;
if (method == 1)
{
mType = MotionType.Joint;
}
else if (method == 2)
{
mType = MotionType.AbsoluteJoint;
}
// Create the robot target.
Target robTarg = new ABBTarget(planes[i], mType, speed, zone, tool, wobj, extRot, extLin);
targets.Add(robTarg);
code.Add(robTarg.RobStr(m_Manufacturer));
}
DA.SetDataList(0, targets);
m_targets = targets;
List <Point3d> points = new List <Point3d>();
foreach (Target t in targets)
{
points.Add(t.Position);
}
m_bBox = new BoundingBox(points);
/*
* if (m_outputTarget)
* DA.SetDataList("Code", code);
*/
}
protected override void SolveInstance(IGH_DataAccess DA)
{
List <double> pathTCP = new List <double>();
List <double> orientTCP = new List <double>();
List <double> extTCP = new List <double>();
List <double> orientation = new List <double>();
List <double> linExt = new List <double>();
List <double> rotExt = new List <double>();
if (!DA.GetDataList(0, pathTCP))
{
return;
}
// Always try to check for default dictionary zones.
bool snapDefault = true;
// Get the optional inputs, if present.
if (orientOpt.Checked)
{
snapDefault = false;
if (!DA.GetDataList("Reorientation", orientTCP))
{
return;
}
}
if (extAxOpt.Checked)
{
snapDefault = false;
if (!DA.GetDataList("External", extTCP))
{
return;
}
}
if (toolOriOpt.Checked)
{
snapDefault = false;
if (!DA.GetDataList("Degrees", orientation))
{
return;
}
}
if (linExtOpt.Checked)
{
snapDefault = false;
if (!DA.GetDataList("Linear", linExt))
{
return;
}
}
if (rotExtOpt.Checked)
{
snapDefault = false;
if (!DA.GetDataList("Rotary", rotExt))
{
return;
}
}
List <Zone> zones = new List <Zone>();
List <string> declarations = new List <string>();
// Default and current zone dictionaries.
Dictionary <double, Zone> defaultZones = Util.ABBZones();
Dictionary <double, Zone> presentZones = new Dictionary <double, Zone>();
for (int i = 0; i < pathTCP.Count; i++)
{
Zone zone = new Zone(false, 5, 7.5, 7.5, 0.5, 7.5, 0.5, "EmptyZone");
// If we want to program stop points, do so and skip the rest.
if (stopPoint.Checked)
{
zone = defaultZones[-1];
zones.Add(zone);
}
else
{
if (snapDefault && defaultZones.ContainsKey(pathTCP[i]))
{
zone = defaultZones[pathTCP[i]];
zones.Add(zone);
}
else
{
// Set the finepoint if our radius is -1, and ignore the rest.
if (pathTCP[i] == -1)
{
zone.StopPoint = true;
zones.Add(zone);
}
else
{
zone.StopPoint = false;
zone.PathRadius = pathTCP[i];
// Path zone reorientation
if (orientOpt.Checked)
{
if (i < orientTCP.Count)
{
zone.PathOrient = orientTCP[i];
}
else
{
zone.PathOrient = orientTCP[orientTCP.Count - 1];
}
}
else
{
// Use the default convention of a value of 1.5 times the TCP path val.
zone.PathOrient = pathTCP[i] * 1.5;
}
// External zone
if (extAxOpt.Checked)
{
if (i < extTCP.Count)
{
zone.PathExternal = extTCP[i];
}
else
{
zone.PathExternal = extTCP[extTCP.Count - 1];
}
}
else
{
// Use the default convention of a value of 1.5 times the TCP path val.
zone.PathExternal = pathTCP[i] * 1.5;
}
// Tool reorientation degrees
if (toolOriOpt.Checked)
{
if (i < orientation.Count)
{
zone.Orientation = orientation[i];
}
else
{
zone.Orientation = orientation[orientation.Count - 1];
}
}
else
{
// Use the default convention of a value of 1.5 times the TCP path val divided by 10.
zone.Orientation = (pathTCP[i] * 1.5) / 10;
}
// Linear external axis zone
if (linExtOpt.Checked)
{
if (i < linExt.Count)
{
zone.LinearExternal = linExt[i];
}
else
{
zone.LinearExternal = linExt[linExt.Count - 1];
}
}
else
{
// Use the default convention of a value of 1.5 times the TCP path val.
zone.LinearExternal = (pathTCP[i] * 1.5);
}
// Linear external axis zone
if (rotExtOpt.Checked)
{
if (i < rotExt.Count)
{
zone.RotaryExternal = rotExt[i];
}
else
{
zone.RotaryExternal = rotExt[rotExt.Count - 1];
}
}
else
{
// Use the default convention of a value of 1.5 times the TCP path val divided by 10
zone.RotaryExternal = (pathTCP[i] * 1.5) / 10;
}
zone.Name = "Zone" + zone.PathRadius.ToString();
// Check to see if the dictionary contains the current zone, if not, add it.
if (presentZones.ContainsKey(pathTCP[i]))
{
zones.Add(zone);
}
else
{
zones.Add(zone);
presentZones.Add(zone.PathRadius, zone);
}
}
}
}
}
DA.SetDataList(0, zones);
List <Zone> zoneList = presentZones.Values.ToList();
for (int i = 0; i < zoneList.Count; i++)
{
Zone z = zoneList[i];
string dec = "VAR zonedata " + z.Name + " := [" + z.StopPoint.ToString() + ", " + Math.Round(z.PathRadius, 1).ToString() + ", " + Math.Round(z.PathOrient, 1).ToString() + ", " + Math.Round(z.PathExternal, 1).ToString() + ", " + Math.Round(z.Orientation, 1).ToString() + ", " + Math.Round(z.LinearExternal, 1).ToString() + ", " + Math.Round(z.RotaryExternal, 1).ToString() + " ];";
declarations.Add(dec);
}
if (declarationCheck.Checked)
{
DA.SetDataList("Declaration", declarations);
}
}
