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);
*/
}
