internal void clearAllData()
{
copy.Clear();
isTheSame = true;
this.m_data.Clear();
this.m_data.Append(new GH_Boolean(isTheSame));
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
GH_Controller controllerGoo = null;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
// Clear output variables
_internalAxisValues.Clear();
_externalAxisValues.Clear();
// Data needed for making the datatree with axis values
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
int internalAxisValuesPath = 0;
int externalAxisValuesPath = 0;
List <double> values;
GH_Path path;
// Make the output datatree with names with a branch for each mechanical unit
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Get the ABB joint target of the mechanical unit
MechanicalUnit mechanicalUnit = mechanicalUnits[i];
JointTarget jointTarget = mechanicalUnit.GetPosition();
// For internal axis values
if (mechanicalUnit.Type == MechanicalUnitType.TcpRobot)
{
values = GetInternalAxisValuesAsList(jointTarget);
path = new GH_Path(internalAxisValuesPath);
_internalAxisValues.AppendRange(values.ConvertAll(val => new GH_Number(val)), path);
internalAxisValuesPath += 1;
}
// For external axis values
else
{
values = GetExternalAxisValuesAsList(jointTarget);
path = new GH_Path(externalAxisValuesPath);
_externalAxisValues.AppendRange(values.GetRange(0, mechanicalUnit.NumberOfAxes).ConvertAll(val => new GH_Number(val)), path);
externalAxisValuesPath += 1;
}
}
// Output
DA.SetDataTree(0, _internalAxisValues);
DA.SetDataTree(1, _externalAxisValues);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
GH_Controller controllerGoo = null;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
// Clear output variables
_robotJointPositions.Clear();
_externalAxisValues.Clear();
// Data needed for making the datatree with axis values
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
int externalAxisValuesPath = 0;
List <double> values;
GH_Path path;
// Make the output datatree with names with a branch for each mechanical unit
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Get the ABB joint target of the mechanical unit
MechanicalUnit mechanicalUnit = mechanicalUnits[i];
ABB.Robotics.Controllers.RapidDomain.JointTarget jointTarget = mechanicalUnit.GetPosition();
// For internal axis values
if (mechanicalUnit.Type == MechanicalUnitType.TcpRobot)
{
values = GetInternalAxisValuesAsList(jointTarget);
_robotJointPositions.Add(new RobotJointPosition(values));
}
// For external axis values
else
{
values = GetExternalAxisValuesAsList(jointTarget);
path = new GH_Path(externalAxisValuesPath);
_externalAxisValues.AppendRange(values.GetRange(0, mechanicalUnit.NumberOfAxes).ConvertAll(val => new GH_Number(val)), path);
externalAxisValuesPath += 1;
}
}
// Output
DA.SetDataList(0, _robotJointPositions);
DA.SetDataTree(1, _externalAxisValues);
}
protected override void CollectVolatileData_FromSources()
{
base.CollectVolatileData_FromSources();
collectedData.Clear();
collectedData = m_data.Duplicate();
List <GH_ValueListItem> ghValueListItemList = new List <GH_ValueListItem>((IEnumerable <GH_ValueListItem>)m_userItems);
m_userItems.Clear();
List <IGH_Goo> ghGooList = new List <IGH_Goo>((IEnumerable <IGH_Goo>)collectedData);
for (int index = 0; index < ghGooList.Count; ++index)
{
IGH_Goo gooIn = ghGooList[index];
m_userItems.Add(new GH_ValueListItem(gooIn.ToString(), "\"" + gooIn.ToString() + "\"", gooIn));
if (index < ghValueListItemList.Count)
{
m_userItems[index].Selected = ghValueListItemList[index].Selected;
}
}
CollectVolatileData_Custom();
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// ===============================================================================================
// Read input parameters
// ===============================================================================================
bool reset = false;
bool clear = true;
GH_Structure <IGH_Goo> data;
//get values from grasshopper
DA.GetDataTree("Data", out data);
DA.GetData("Reset", ref reset);
DA.GetData("Clear", ref clear);
// ===============================================================================================
// Applying Values to Class
// ===============================================================================================
if (reset == true || clear == true)
{
tree.Clear();
}
else
{
for (int i = 0; i < data.PathCount; i++)
{
var list = data.get_Branch(i);
for (var j = 0; j < list.Count; j++)
{
var item = list[j];
tree.Append(item as IGH_Goo, new GH_Path(i, j));
}
}
}
// ===============================================================================================
// Exporting Data to Grasshopper
// ===============================================================================================
var a = tree;
DA.SetDataTree(0, a);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed in the future.");
// Variable for catchint the datatree
GH_Structure <IGH_Goo> actions;
// Clear the list with targets before catching new input data
_targetGoos.Clear();
// Catch the input data
if (!DA.GetDataTree(0, out actions))
{
return;
}
if (!DA.GetData(1, ref _displayNames))
{
return;
}
if (!DA.GetData(2, ref _displayPoints))
{
return;
}
if (!DA.GetData(3, ref _displayDirections))
{
return;
}
if (!DA.GetData(4, ref _color))
{
return;
}
if (!DA.GetData(5, ref _textSize))
{
return;
}
if (!DA.GetData(6, ref _pointSize))
{
return;
}
// Get the paths of the datatree with actions
var paths = actions.Paths;
// Check and concert the input data to the right datatype (target)
for (int i = 0; i < actions.Branches.Count; i++)
{
var branches = actions.Branches[i];
GH_Path iPath = paths[i];
for (int j = 0; j < branches.Count; j++)
{
// Get the target from the movement instance if the input data is a movement
if (actions.Branches[i][j] is GH_Movement)
{
GH_Movement movementGoo = actions.Branches[i][j] as GH_Movement;
GH_Target targetGoo = new GH_Target(movementGoo.Value.Target);
_targetGoos.Append(targetGoo, iPath);
}
// Get the target data directly if the input data is a target
else if (actions.Branches[i][j] is GH_Target)
{
GH_Target targetGoo = actions.Branches[i][j] as GH_Target;
_targetGoos.Append(targetGoo, iPath);
}
// Make a target from the input plane if the input data is a plane
else if (actions.Branches[i][j] is GH_Plane)
{
string targetName;
if (actions.Branches.Count == 1)
{
targetName = "plane" + "_" + j;
}
else
{
targetName = "plane" + "_" + i + "_" + j;
}
GH_Plane planeGoo = actions.Branches[i][j] as GH_Plane;
RobotTarget target = new RobotTarget(targetName, planeGoo.Value);
GH_Target targetGoo = new GH_Target(target);
_targetGoos.Append(targetGoo, iPath);
}
// Let all other data pass (raise no warning or error)
else
{
// empty
}
}
}
}
public override void ClearData()
{
base.ClearData();
_plateName.Clear();
_platePos.Clear();
}
public override void ClearData()
{
base.ClearData();
_frameTags.Clear();
_tagPos.Clear();
}
public override void ClearData()
{
base.ClearData();
_frameName.Clear();
_framePos.Clear();
}
protected override void SolveInstance(IGH_DataAccess DA)
{
int indexs = 0;
if (!DA.GetData(1, ref indexs))
{
return;
}
#region
GH_Structure <IGH_Goo> x = (GH_Structure <IGH_Goo>) this.Params.Input[0].VolatileData;
List <GH_Structure <IGH_Goo> > last = new List <GH_Structure <IGH_Goo> >();
List <int> contains = new List <int>();
for (int i = 0; i < x.PathCount; i++)
{
if (contains.Contains(i))
{
continue; //重复的index
}
GH_Structure <IGH_Goo> tree = new GH_Structure <IGH_Goo>();
GH_Path path = x.get_Path(i);
tree.AppendRange(x.Branches[i], path);
contains.Add(i);
string testPath = System.Text.RegularExpressions.Regex.Replace(path.ToString(), @";\d+}", "");
for (int q = 0; q < x.PathCount; q++)
{
if (i == q || contains.Contains(q))
{
continue;
}
GH_Path path2 = x.get_Path(q);
string testPath2 = System.Text.RegularExpressions.Regex.Replace(path2.ToString(), @";\d+}", "");
if (testPath == testPath2)
{
tree.AppendRange(x.Branches[q], path2);
contains.Add(q);
}
}
last.Add(tree);
}
NewTreePath = last.Count;///////
#endregion
DA.DisableGapLogic();
if (DA.Iteration <= 0 && (x != null) && !x.IsEmpty)
{
if (last.Count > this.Params.Output.Count - 1 && this.Params.Output.Count > 1)
{
int count = newTreePath - this.Params.Output.Count + 1;
string warning = string.Format("还有{0}个单一路径树形数据未显示在输出端", count);
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, warning);
}
int num2 = this.Params.Output.Count;
for (int i = 1; i < num2; i++)///从第二项开始
{
GH_Structure <IGH_Goo> structure2 = (GH_Structure <IGH_Goo>) this.Params.Output[i].VolatileData;
structure2.Clear();
if (i > last.Count)
{
this.Params.Output[i].NickName = "-";
this.Params.Output[i].Name = "空数据";
this.Params.Output[i].Description = "无数据输出";
}
else
{
string newName = System.Text.RegularExpressions.Regex.Replace(last[i - 1].get_Path(0).ToString(), @"\d+}", "");
this.Params.Output[i].NickName = newName + "xx}";
string newName2 = System.Text.RegularExpressions.Regex.Replace(this.Params.Output[i].NickName, @"\d+}", "");
this.Params.Output[i].Description = string.Format("路径类型：{0}", newName2);
this.Params.Output[i].Name = "树形数据";
DA.SetDataTree(i, last[i - 1]);
}
}
}
if ((x != null) && !x.IsEmpty)
{
DA.SetDataTree(0, last[indexs]);
}
}
