private static RobotSystem Create(XElement element, Plane basePlane)
{
var type = element.Name.LocalName;
var name = element.Attribute(XName.Get("name")).Value;
var manufacturer = (Manufacturers)Enum.Parse(typeof(Manufacturers), element.Attribute(XName.Get("manufacturer")).Value);
var mechanisms = new List <Mechanism>();
var mechanicalGroups = new List <MechanicalGroup>();
foreach (var mechanicalGroup in element.Elements(XName.Get("Mechanisms")))
{
mechanicalGroups.Add(MechanicalGroup.Create(mechanicalGroup));
}
IO io = null;
XElement ioElement = element.Element(XName.Get("IO"));
if (ioElement != null)
{
string[] doNames = null, diNames = null, aoNames = null, aiNames = null;
var doElement = ioElement.Element(XName.Get("DO"));
var diElement = ioElement.Element(XName.Get("DI"));
var aoElement = ioElement.Element(XName.Get("AO"));
var aiElement = ioElement.Element(XName.Get("AI"));
if (doElement != null)
{
doNames = doElement.Attribute(XName.Get("names")).Value.Split(',');
}
if (diElement != null)
{
diNames = diElement.Attribute(XName.Get("names")).Value.Split(',');
}
if (aoElement != null)
{
aoNames = aoElement.Attribute(XName.Get("names")).Value.Split(',');
}
if (aiElement != null)
{
aiNames = aiElement.Attribute(XName.Get("names")).Value.Split(',');
}
io = new IO()
{
DO = doNames, DI = diNames, AO = aoNames, AI = aiNames
};
}
Mesh environment = null;
if (type == "RobotCell")
{
switch (manufacturer)
{
case (Manufacturers.ABB):
return(new RobotCellAbb(name, mechanicalGroups, io, basePlane, environment));
case (Manufacturers.KUKA):
return(new RobotCellKuka(name, mechanicalGroups, io, basePlane, environment));
case (Manufacturers.UR):
return(new RobotCellUR(name, mechanicalGroups[0].Robot, io, basePlane, environment));
case (Manufacturers.FANUC):
return(new RobotCellFanuc(name, mechanicalGroups, io, basePlane, environment));
case (Manufacturers.Staubli):
return(new RobotCellStaubli(name, mechanicalGroups, io, basePlane, environment));
}
}
return(null);
}
