public GH_Tool(GH_Tool goo)
{
this.Value = goo.Value;
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool hasTarget = Params.Input.Any(x => x.Name == "Target");
bool hasJoints = Params.Input.Any(x => x.Name == "Joints");
bool hasPlane = Params.Input.Any(x => x.Name == "Plane");
bool hasConfig = Params.Input.Any(x => x.Name == "RobConf");
bool hasMotion = Params.Input.Any(x => x.Name == "Motion");
bool hasTool = Params.Input.Any(x => x.Name == "Tool");
bool hasSpeed = Params.Input.Any(x => x.Name == "Speed");
bool hasZone = Params.Input.Any(x => x.Name == "Zone");
bool hasCommand = Params.Input.Any(x => x.Name == "Command");
bool hasFrame = Params.Input.Any(x => x.Name == "Frame");
bool hasExternal = Params.Input.Any(x => x.Name == "External");
GH_Target sourceTarget = null;
if (hasTarget)
{
if (!DA.GetData("Target", ref sourceTarget))
{
return;
}
}
double[] joints = null;
var plane = new Plane();
Target.RobotConfigurations?configuration = null;
Target.Motions motion = Target.Motions.Joint;
Tool tool = null;
Speed speed = null;
Zone zone = null;
Command command = null;
Frame frame = null;
double[] external = null;
if (hasJoints)
{
GH_String jointsGH = null;
if (!DA.GetData("Joints", ref jointsGH))
{
return;
}
string[] jointsText = jointsGH.Value.Split(',');
if (jointsText.Length != 6)
{
return;
}
joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return;
}
}
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is JointTarget)
{
joints = (sourceTarget.Value as JointTarget).Joints;
}
}
if (hasPlane)
{
GH_Plane planeGH = null;
if (hasPlane)
{
if (!DA.GetData("Plane", ref planeGH))
{
return;
}
}
plane = planeGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
plane = (sourceTarget.Value as CartesianTarget).Plane;
}
}
if (hasConfig)
{
GH_Integer configGH = null;
if (hasConfig)
{
DA.GetData("RobConf", ref configGH);
}
configuration = (configGH == null) ? null : (Target.RobotConfigurations?)configGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
configuration = (sourceTarget.Value as CartesianTarget).Configuration;
}
}
if (hasMotion)
{
GH_String motionGH = null;
DA.GetData("Motion", ref motionGH);
motion = (motionGH == null) ? Target.Motions.Joint : (Target.Motions)Enum.Parse(typeof(Target.Motions), motionGH.Value);
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
motion = (sourceTarget.Value as CartesianTarget).Motion;
}
}
if (hasTool)
{
GH_Tool toolGH = null;
DA.GetData("Tool", ref toolGH);
tool = toolGH?.Value;
}
else if (sourceTarget != null)
{
tool = sourceTarget.Value.Tool;
}
if (hasSpeed)
{
GH_Speed speedGH = null;
DA.GetData("Speed", ref speedGH);
speed = speedGH?.Value;
}
else if (sourceTarget != null)
{
speed = sourceTarget.Value.Speed;
}
if (hasZone)
{
GH_Zone zoneGH = null;
DA.GetData("Zone", ref zoneGH);
zone = zoneGH?.Value;
}
else if (sourceTarget != null)
{
zone = sourceTarget.Value.Zone;
}
if (hasCommand)
{
GH_Command commandGH = null;
DA.GetData("Command", ref commandGH);
command = commandGH?.Value;
}
else if (sourceTarget != null)
{
command = sourceTarget.Value.Command;
}
if (hasFrame)
{
GH_Frame frameGH = null;
DA.GetData("Frame", ref frameGH);
frame = frameGH?.Value;
}
else if (sourceTarget != null)
{
frame = sourceTarget.Value.Frame;
}
if (hasExternal)
{
GH_String externalGH = null;
if (!DA.GetData("External", ref externalGH))
{
external = new double[0];
}
else
{
string[] externalText = externalGH.Value.Split(',');
int length = externalText.Length;
external = new double[length];
for (int i = 0; i < length; i++)
{
if (!GH_Convert.ToDouble_Secondary(externalText[i], ref external[i]))
{
return;
}
}
}
}
else if (sourceTarget != null)
{
external = sourceTarget.Value.External;
}
Target target;
bool localCartesian = isCartesian;
if (hasTarget && !hasPlane && !hasJoints)
{
localCartesian = sourceTarget.Value is CartesianTarget;
}
if (localCartesian)
{
target = new CartesianTarget(plane, configuration, motion, tool, speed, zone, command, frame, external);
}
else
{
target = new JointTarget(joints, tool, speed, zone, command, frame, external);
}
if (sourceTarget != null)
{
target.ExternalCustom = sourceTarget.Value.ExternalCustom;
}
DA.SetData(0, new GH_Target(target));
}