/// <summary>
/// Creates a new joint
/// </summary>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="owner">The Link that owns this joint (child Link in the joint)</param>
public Joint(string path, Link parent, Link child)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = parent;
Parent.ChildJoints.Add(this);
this.Child = child;
this.Selected = false;
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Getting Joint Specifics (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type,path,this);
RobotInfo.WriteToLogFile("Successfully created Joint Specifics (Joint)");
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// Loads a joint that has already been created
/// </summary>
/// <param name="swApp">Solidworks app</param>
/// <param name="asm">Assembly document this joint and its robot belong to</param>
/// <param name="swData">StorageModel that this joint is tored in</param>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="robot">The Robot model that the joint is in</param>
public Joint(string path)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = robot.GetLink(parentId);
Parent.ChildJoints.Add(this);
this.Child = robot.GetLink(childId);
this.Selected = false;
if(this.Type == null || this.Type.Equals(""))
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Loading existing joint (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type, path, this);
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// Loads a robot from an assembly document, if a robot dosn't already
/// exist one will be created
/// </summary>
/// <param name="asm">Assembly document containing a robot model</param>
/// <param name="swApp">Interface for interacting with Solidworks</param>
public RobotModel(AssemblyDoc asm, SldWorks swApp)
{
RobotInfo.WriteToLogFile("Robot Created (Robot)");
var assembly = typeof(JointSpecifics).Assembly;
Type[] types = assembly.GetTypes().Where(
t => t.IsSubclassOf(typeof(JointSpecifics)) && !t.IsAbstract).ToArray();
foreach (Type t in types)
{
System.Runtime.CompilerServices.RuntimeHelpers.RunClassConstructor(t.TypeHandle);
}
RobotInfo.WriteToLogFile("Initialized JointTypes = " + String.Join(", ",JointFactory.GetTypesList()) + " (Robot)");
//Setup fields
this.swApp = swApp;
this.asmDoc = asm;
this.modelDoc = (ModelDoc2)asm;
swData = new StorageModel(modelDoc);
Selected = false;
RobotInfo.SetProperties(swApp, asmDoc, swData, this);
RobotInfo.WriteToLogFile("Setup Fields Setup");
//If the robot data dosn't exist yet, create it with default values
if (swData.GetDouble("robot") == 0)
{
swData.SetDouble("robot", 1);
/*PhysicalConfig = "Default";
VisualConfig = "Default";
CollisionConfig = "Default";*/
Name = ((ModelDoc2)asm).GetTitle();
RobotInfo.WriteToLogFile("Robot Data created with Default Values");
}
RobotInfo.WriteToLogFile("Robot Data created");
LinkNums = new DoubleStorageArray(swData, "robot/linkNums");
nextLinkNum = 0;
RobotInfo.WriteToLogFile("LinkNums Storage Array Created");
Links = new Dictionary<int,Link>();
//Load link structure
Link newLink;
if (LinkNums.Count == 0)
{
LinkNums.AddItem(0);
RobotInfo.WriteToLogFile("New Link added to LinkNums");
}
Configuration currentConfig = modelDoc.ConfigurationManager.ActiveConfiguration;
foreach (double d in LinkNums)
{
newLink = new Link("robot/link" + (int)d, (int)d);
RobotInfo.WriteToLogFile("New Link Created");
Links.Add((int)d,newLink);
if (d >= nextLinkNum)
nextLinkNum = (int)d + 1;
}
Links[0].isBaseLink = true;
foreach (Link l in Links.Values.ToArray())
{
l.InitializeJoints();
l.InitializeAttachments();
}
modelDoc.ShowConfiguration2(ConfigName);
CalcAxisVectors();
CalcOrigin();
modelDoc.ShowConfiguration2(currentConfig.Name);
}
/// <summary>
/// Creates a new link belonging to the given assembly
/// </summary>
/// <param name="swApp">The Solidworks App</param>
/// <param name="asm"> The assembly that this Link is in</param>
/// <param name="swData"> The Storage model that this Link is stored in </param>
/// <param name="path"> The path to the StorageModel location of this link </param>
/// <param name="baseLink"> Whether this Link is the base link of the model or not </param>
public Link(String path, int id)
{
this.Selected = false;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.swApp = RobotInfo.SwApp;
this.Id = id;
this.robot = RobotInfo.Robot;
attachments = new List<Attachment>();
ParentJoints = new List<Joint>();
ChildJoints = new List<Joint>();
nextAttachmentNum = 0;
nextJointNum = 0;
isBaseLink = false;
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
Name = "NewLink";
this.color = DefaultColors[0];
}
attachmentNums = new DoubleStorageArray(swData, path + "/attachmentNums");
parentJointNums = new DoubleStorageArray(swData, path + "/jointNums");
ModelConfiguration physical = new ModelConfiguration(path + "/physicalComps", (int)ModelConfiguration.ModelConfigType.Physical,this);
ModelConfiguration visual = new ModelConfiguration(path + "/visualComps", (int)ModelConfiguration.ModelConfigType.Visual,this);
ModelConfiguration collision = new ModelConfiguration(path + "/collisionComps", (int)ModelConfiguration.ModelConfigType.Collision,this);
LinkModels = new ModelConfiguration[] { physical, visual, collision };
}
