/// <summary>
/// Simple function to update the size of the cylinder which visualizes the current separation distance.
/// </summary>
/// <param name="robot"></param>The robot for which the update should be made.
private void UpdateVisualizationDistance(IRobot robot)
{
if (robot != null && robot.IsValid && app.World.FindComponent("SeparationVisualization_" + robot.Name) != null)
{
ISimComponent comp = app.World.FindComponent("SeparationVisualization_" + robot.Name);
ISimNode node = robot.Component.FindNode("mountplate");
Matrix matrix = comp.TransformationInReference;
matrix.SetP(new Vector3(node.TransformationInWorld.Px, node.TransformationInWorld.Py, 201));
comp.TransformationInReference = matrix;
ICylinderFeature cylinder = (ICylinderFeature)app.World.FindComponent("SeparationVisualization_" + robot.Name).FindFeature("SeparationVisualization");
if (robotList[robot].currentSeperationDistance <= 100)
{
cylinder.GetProperty("Radius").Value = "100";
comp.GetProperty("SeparationDistance").Value = "100";
}
else
{
cylinder.GetProperty("Radius").Value =
robotList[robot].currentSeperationDistance.ToString();
comp.GetProperty("SeparationDistance").Value = robotList[robot].currentSeperationDistance;
}
cylinder.Rebuild();
}
else
{
ms.AppendMessage("UpdateVisualizationDistance: Failed to find robot component!", MessageLevel.Warning);
}
}
/// <summary>
/// Initialization at Simulation startup. Each time the play button is pressed, this is triggered.
/// </summary>
/// <param name="sender"></param>The source of the simulation start event.
/// <param name="e"></param>The simulation start event.
public void SimulationStarted(object sender, EventArgs e)
{
ms.AppendMessage("Simulation Started", MessageLevel.Warning);
timer = statisticsManager.CreateTimer(RegularTick, TICK_INTERVAL);
timer.StartStopTimer(true);
if (app.World.FindComponent("WorksHuman") != null)
{
human = app.World.FindComponent("WorksHuman");
if (human.GetProperty("AngleIndicatorZRotation") != null)
{
humanAngleIndicatorZRotation = human.GetProperty("AngleIndicatorZRotation");
}
}
}
/// <summary>
/// Sets value of OPCUA node property to corresponding VC property
/// </summary>
private void UpdateValueToVcProperty(NodeState node)
{
Debug.Assert(System.Threading.Thread.CurrentThread == System.Windows.Application.Current.Dispatcher.Thread);
if (!UaBrowseName2VcComponentName.ContainsKey(node.BrowseName.Name))
{
_vcUtils.VcWriteWarningMsg(String.Format("Component with property {0} not found", node.BrowseName.Name));
return;
}
// Cast property OPCUA node to BaseDataVariableState type
BaseDataVariableState uaProperty = (BaseDataVariableState)node;
// Get property component as VC object
ISimComponent vcComponent = _vcUtils.GetComponent(UaBrowseName2VcComponentName[node.BrowseName.Name]);
IProperty vcProperty = vcComponent.GetProperty(node.DisplayName.ToString());
if (uaProperty.DataType == new NodeId(DataTypeIds.String))
{
if ((string)uaProperty.Value == (string)vcProperty.Value)
{
return;
}
vcProperty.Value = (string)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Boolean))
{
if ((bool)uaProperty.Value == (bool)vcProperty.Value)
{
return;
}
vcProperty.Value = (bool)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Double))
{
if ((double)uaProperty.Value == (double)vcProperty.Value)
{
return;
}
vcProperty.Value = (double)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Integer))
{
if ((int)uaProperty.Value == (int)vcProperty.Value)
{
return;
}
vcProperty.Value = (int)uaProperty.Value;
}
else
{
_vcUtils.VcWriteWarningMsg("OPCUA property type not supported" + uaProperty.DataType.ToString());
return;
}
}
/// <summary>
/// Sets value of OPCUA node property to corresponding VC property
/// </summary>
private void ua_PropertyChanged(ISystemContext context, NodeState node, NodeStateChangeMasks changes)
{
if (!UaBrowseName2VcComponentName.ContainsKey(node.BrowseName.Name))
{
_vcUtils.VcWriteWarningMsg(String.Format("Component with property {0} not found", node.BrowseName.Name));
return;
}
// Cast property OPCUA node to BaseDataVariableState type
BaseDataVariableState uaProperty = (BaseDataVariableState)node;
// Get property component as VC object
ISimComponent vcComponent = _vcUtils.GetComponent(UaBrowseName2VcComponentName[node.BrowseName.Name]);
IProperty vcProperty = vcComponent.GetProperty(node.DisplayName.ToString());
if (uaProperty.DataType == new NodeId(DataTypeIds.String))
{
if ((string)uaProperty.Value == (string)vcProperty.Value)
{
return;
}
vcProperty.Value = (string)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Boolean))
{
if ((bool)uaProperty.Value == (bool)vcProperty.Value)
{
return;
}
vcProperty.Value = (bool)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Double))
{
if ((double)uaProperty.Value == (double)vcProperty.Value)
{
return;
}
vcProperty.Value = (double)uaProperty.Value;
}
else if (uaProperty.DataType == new NodeId(DataTypeIds.Integer))
{
if ((int)uaProperty.Value == (int)vcProperty.Value)
{
return;
}
vcProperty.Value = (int)uaProperty.Value;
}
else
{
_vcUtils.VcWriteWarningMsg("OPCUA property type not supported" + uaProperty.DataType.ToString());
return;
}
}
private void stapleConfig(String stapleComponentName)
{
StapleSection parameterStaple = ConfigReader.readStapleConfig();
ISimComponent stapleComponent = app.Value.World.FindComponent(stapleComponentName);
if (stapleComponentName != "" && stapleComponent == null)
{
ms.AppendMessage("Failed to find staple component with name\"" + stapleComponentName + "\"! Planning of motion aborted...", MessageLevel.Warning);
return;
}
String stapleFileFolder = parameterStaple.staplePath.Path;
if (stapleComponent.GetProperty("stlID") == null)
{
ms.AppendMessage("Component with name \"" + stapleComponentName + "\" has no property \"stlID\"! Planning of motion aborted...", MessageLevel.Warning);
return;
}
String stlID = (String)stapleComponent.GetProperty("stlID").Value;
String obstacleFilePath = stapleFileFolder + stlID + ".stl";
if (!File.Exists(obstacleFilePath))
{
ms.AppendMessage("A path planning request requested stlID with \"" + stlID + "\" failed, because file \"" + obstacleFilePath + "\" does not exist...", MessageLevel.Warning);
return;
}
;
if (stapleComponent.GetProperty("StackHeight") == null)
{
ms.AppendMessage("Failed to find StackHeight property in component with name \"" + stapleComponentName + "\"! Planning of motion aborted!", MessageLevel.Warning);
return;
}
Vector3 staplePosition = stapleComponent.TransformationInWorld.GetP();
IDoubleProperty stackwidth = (IDoubleProperty)stapleComponent.GetProperty("StackWidth");
IDoubleProperty stacklength = (IDoubleProperty)stapleComponent.GetProperty("StackLength");
float translate_x = (float)staplePosition.X - (float)(stacklength.Value / 2.0);
float translate_y = (float)staplePosition.Y - (float)(stackwidth.Value / 2.0);
IDoubleProperty stackheight = (IDoubleProperty)stapleComponent.GetProperty("StackHeight");
float translate_z = (float)stackheight.Value;
// setup staple obstacle
int obstacleId = motionPlan.addObstacle(obstacleFilePath, translate_x / 1000.0f, translate_y / 1000.0f, translate_z / 1000.0f, 0.0f, 0.0f, 0.0f);
}
