protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
DA.GetData(0, ref program);
var path = DA.ParameterTargetPath(0);
var cellTargets = program.Value.Targets;
var groupCount = cellTargets[0].ProgramTargets.Count;
var planes = new GH_Structure <GH_Plane>();
var joints = new GH_Structure <GH_Number>();
var configuration = new GH_Structure <GH_String>();
var deltaTime = new GH_Structure <GH_Number>();
for (int i = 0; i < groupCount; i++)
{
var tempPath = path.AppendElement(i);
for (int j = 0; j < cellTargets.Count; j++)
{
planes.AppendRange(cellTargets[j].ProgramTargets[i].Kinematics.Planes.Select(x => new GH_Plane(x)), tempPath.AppendElement(j));
joints.AppendRange(cellTargets[j].ProgramTargets[i].Kinematics.Joints.Select(x => new GH_Number(x)), tempPath.AppendElement(j));
configuration.Append(new GH_String(cellTargets[j].ProgramTargets[i].Kinematics.Configuration.ToString()), tempPath);
deltaTime.Append(new GH_Number(cellTargets[j].DeltaTime), tempPath);
}
}
DA.SetDataTree(0, planes);
DA.SetDataTree(1, joints);
DA.SetDataTree(2, configuration);
DA.SetDataTree(3, deltaTime);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program ghProgram = null;
double length = 0;
int mechanicalGroup = 0;
if (!DA.GetData(0, ref ghProgram))
{
return;
}
if (!DA.GetData(1, ref length))
{
return;
}
if (!DA.GetData(2, ref mechanicalGroup))
{
return;
}
if (ghProgram.Value != program)
{
program = ghProgram.Value;
trail = new SimpleTrail(program, length, mechanicalGroup);
}
if (trail != null)
{
trail.Length = length;
trail.Update();
if (trail.Polyline.Count >= 2)
{
DA.SetData(0, new GH_Curve(trail.Polyline.ToNurbsCurve()));
}
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
GH_String ip = null;
if (!DA.GetData(0, ref program))
{
return;
}
var robotCellUR = program.Value.RobotSystem as RobotCellUR;
if (DA.GetData(1, ref ip) && ip != null)
{
robotCellUR.Remote.IP = ip.Value;
}
bool connect = false, upload = false, play = false, pause = false;
if (!DA.GetData("Connect", ref connect))
{
return;
}
if (!DA.GetData("Upload", ref upload))
{
return;
}
if (!DA.GetData("Play", ref play))
{
return;
}
if (!DA.GetData("Pause", ref pause))
{
return;
}
if (connect && !connected)
{
robotCellUR.Remote.Connect(); connected = true;
}
if (!connect && connected)
{
robotCellUR.Remote.Disconnect(); connected = false;
}
if (upload && connected)
{
robotCellUR.Remote.UploadProgram(program.Value);
}
if (play && connected)
{
robotCellUR.Remote.Play();
}
if (pause && connected)
{
robotCellUR.Remote.Pause();
}
DA.SetDataList(0, robotCellUR.Remote.Log);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool connect = false;
DA.GetData("Connect", ref connect);
if (!connect && Connected)
{
Dispose();
}
if (Connected)
{
GH_Program program = null;
if (!DA.GetData(0, ref program))
{
return;
}
SendJoints(program.Value);
}
if (connect && !Connected)
{
GH_Number port = new GH_Number();
GH_String ip = new GH_String();
if (!DA.GetData("PO", ref port))
{
_log.Add("No Port found"); return;
}
if (!DA.GetData("IP", ref ip))
{
_log.Add("No IP found"); return;
}
_port = (int)port.Value;
_ip = ip.ToString();
_log.Clear();
ConnectToUnreal();
// if (_task == null || _task.Status != TaskStatus.Running)
// {
//_task = Task.Run(async () => await ConnectToUnreal())
// .ContinueWith(task =>
// {
// this.ExpireSolution(true);
// }, TaskScheduler.FromCurrentSynchronizationContext());
// }
//else
// {
// _log.Add("Trying to connect to Unreal");
// }
}
DA.SetDataList("Log", _log);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
GH_Number sliderTimeGH = null;
GH_Boolean isNormalized = null;
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetData(1, ref sliderTimeGH))
{
return;
}
if (!DA.GetData(2, ref isNormalized))
{
return;
}
sliderTime = (isNormalized.Value) ? sliderTimeGH.Value * program.Value.Duration : sliderTimeGH.Value;
if (!form.Visible)
{
time = sliderTime;
}
program.Value.Animate(time, false);
var currentTarget = program.Value.CurrentSimulationTarget;
var errors = currentTarget.ProgramTargets.SelectMany(x => x.Kinematics.Errors);
var meshes = currentTarget.ProgramTargets.SelectMany(x => x.Kinematics.Meshes);
var joints = currentTarget.ProgramTargets.SelectMany(x => x.Kinematics.Joints);
var planes = currentTarget.ProgramTargets.SelectMany(x => x.Kinematics.Planes);
if (errors.Count() > 0)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Errors in solution");
}
DA.SetDataList(0, meshes?.Select(x => new GH_Mesh(x)));
DA.SetDataList(1, joints);
DA.SetDataList(2, planes.Select(x => new GH_Plane(x)));
DA.SetData(3, currentTarget.Index);
DA.SetData(4, program.Value.CurrentSimulationTime);
DA.SetData(5, new GH_Program(program.Value));
DA.SetDataList(6, errors);
if (form.Visible && form.play.Checked.Value)
{
var currentTime = DateTime.Now;
TimeSpan delta = currentTime - lastTime;
time += delta.TotalSeconds * speed;
lastTime = currentTime;
this.ExpireSolution(true);
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
GH_String ip = null;
if (!DA.GetData(0, ref program))
{
return;
}
var remote = program.Value.RobotSystem.Remote;
if (remote == null)
{
throw new Exception("No remote functionality for this robot.");
}
if (DA.GetData(1, ref ip) && ip != null)
{
remote.IP = ip.Value;
}
bool upload = false, play = false, pause = false;
if (!DA.GetData("Upload", ref upload))
{
return;
}
if (!DA.GetData("Play", ref play))
{
return;
}
if (!DA.GetData("Pause", ref pause))
{
return;
}
if (upload)
{
remote.Upload(program.Value);
}
if (play)
{
remote.Play();
}
if (pause)
{
remote.Pause();
}
DA.SetDataList(0, remote.Log);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
var first = new List <GH_Integer>();
var second = new List <GH_Integer>();
GH_Mesh environment = null;
int environmentPlane = -1;
double linearStep = 100;
double angularStep = PI / 4;
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetDataList(1, first))
{
return;
}
if (!DA.GetDataList(2, second))
{
return;
}
DA.GetData(3, ref environment);
if (!DA.GetData(4, ref environmentPlane))
{
return;
}
if (!DA.GetData(5, ref linearStep))
{
return;
}
if (!DA.GetData(6, ref angularStep))
{
return;
}
var collision = program.Value.CheckCollisions(first.Select(x => x.Value), second.Select(x => x.Value), environment?.Value, environmentPlane, linearStep, angularStep);
DA.SetData(0, collision.HasCollision);
if (collision.HasCollision)
{
DA.SetData(1, collision.CollisionTarget.Index);
}
if (collision.HasCollision)
{
DA.SetDataList(2, collision.Meshes);
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
//var code = new List<string>();
string folder = null;
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetData(1, ref folder))
{
return;
}
program.Value.Save(folder);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetDataTree(1, out GH_Structure <GH_String> codeTree))
{
return;
}
var code = new List <List <List <string> > >
{
new List <List <string> >()
};
foreach (var branch in codeTree.Branches)
{
code[0].Add(branch.Select(s => s.Value).ToList());
}
var programCode = program.Value.Code;
if (programCode?.Count > 0)
{
//var copyCode = programCode.ToList();
//for (int i = 0; i < copyCode.Count; i++)
//{
// copyCode[i] = copyCode[i].ToList();
// for (int j = 0; j < copyCode[i].Count; j++)
// copyCode[i][j] = copyCode[i][j].ToList();
//}
//copyCode[0][0] = code;
var newProgram = program.Value.CustomCode(code);
DA.SetData(0, new GH_Program(newProgram));
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
var code = new List <string>();
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetDataList(1, code))
{
return;
}
var programCode = program.Value.Code;
if (programCode != null && programCode.Count > 0)
{
programCode[0][0] = code;
}
var newProgram = program.Value.CustomCode(programCode);
DA.SetData(0, new GH_Program(newProgram));
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Program program = null;
var code = new List <string>();
if (!DA.GetData(0, ref program))
{
return;
}
if (!DA.GetDataList(1, code))
{
return;
}
var programCode = program.Value.Code;
if (programCode != null && programCode.Count > 0)
{
var copyCode = programCode.ToList();
for (int i = 0; i < copyCode.Count; i++)
{
copyCode[i] = copyCode[i].ToList();
for (int j = 0; j < copyCode[i].Count; j++)
{
copyCode[i][j] = copyCode[i][j].ToList();
}
}
copyCode[0][0] = code;
var newProgram = program.Value.CustomCode(copyCode);
DA.SetData(0, new GH_Program(newProgram));
}
}
public GH_Program(GH_Program goo)
{
this.Value = goo.Value;
}
