/// <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// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +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);
}
public void TestGetPosition()
{
MechanicalUnit mechanicalUnit = this.controller.MotionSystem.ActiveMechanicalUnit;
logger.Debug(mechanicalUnit.GetPosition());
logger.Debug(mechanicalUnit.GetPosition(CoordinateSystemType.WorkObject));
foreach (MechanicalUnit item in this.controller.MotionSystem.MechanicalUnits)
{
logger.Debug(item.Task.Name + ":" + item.GetPosition());
logger.Debug(item.Task.Name + ":" + item.GetPosition(CoordinateSystemType.WorkObject));
}
}
/// <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);
}
