Esempio n. 1
0
        public void ExportLink(bool zIsUp)
        {
            CreateBaseRefOrigin(zIsUp);
            MathTransform coordSysTransform =
                ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
            Matrix <double> GlobalTransform = MathOps.GetTransformation(coordSysTransform);

            LocalizeLink(URDFRobot.BaseLink, GlobalTransform);

            //Creating package directories
            URDFPackage package = new URDFPackage(PackageName, SavePath);

            package.CreateDirectories();
            string meshFileName            = package.MeshesDirectory + URDFRobot.BaseLink.Name + ".STL";
            string windowsMeshFileName     = package.WindowsMeshesDirectory + URDFRobot.BaseLink.Name + ".STL";
            string windowsURDFFileName     = package.WindowsRobotsDirectory + URDFRobot.Name + ".urdf";
            string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";

            //Creating manifest file
            PackageXMLWriter manifestWriter = new PackageXMLWriter(windowsManifestFileName);
            PackageXML       Manifest       = new PackageXML(URDFRobot.Name);

            Manifest.WriteElement(manifestWriter);

            //Customizing STL preferences to how I want them
            SaveUserPreferences();
            SetSTLExportPreferences();
            SetLinkSpecificSTLPreferences("", URDFRobot.BaseLink.STLQualityFine, ActiveSWModel);
            int errors   = 0;
            int warnings = 0;

            //Saving part as STL mesh

            ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion,
                                           (int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
            URDFRobot.BaseLink.Visual.Geometry.Mesh.Filename    = meshFileName;
            URDFRobot.BaseLink.Collision.Geometry.Mesh.Filename = meshFileName;

            URDFRobot.BaseLink.Visual.Material.Texture.Filename =
                package.TexturesDirectory + Path.GetFileName(URDFRobot.BaseLink.Visual.Material.Texture.wFilename);
            string textureSavePath =
                package.WindowsTexturesDirectory + Path.GetFileName(URDFRobot.BaseLink.Visual.Material.Texture.wFilename);

            if (!String.IsNullOrWhiteSpace(URDFRobot.BaseLink.Visual.Material.Texture.wFilename))
            {
                File.Copy(URDFRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
            }

            //Writing URDF to file
            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);

            //mRobot.addLink(mLink);
            URDFRobot.WriteURDF(uWriter.writer);

            ResetUserPreferences();
        }
Esempio n. 2
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        //Recursive method for exporting each link (and writing it to the URDF)
        private void ExportFiles(Link link, URDFPackage package, int count, bool exportSTL = true)
        {
            progressBar.UpdateProgress(count);
            progressBar.UpdateTitle("Exporting mesh: " + link.Name);
            logger.Info("Exporting link: " + link.Name);
            // Iterate through each child and export its files
            logger.Info("Link " + link.Name + " has " + link.Children.Count + " children");
            foreach (Link child in link.Children)
            {
                count += 1;
                if (!child.isFixedFrame)
                {
                    ExportFiles(child, package, count, exportSTL);
                }
            }

            // Copy the texture file (if it was specified) to the textures directory
            if (!link.isFixedFrame && !String.IsNullOrWhiteSpace(link.Visual.Material.Texture.wFilename))
            {
                if (File.Exists(link.Visual.Material.Texture.wFilename))
                {
                    link.Visual.Material.Texture.Filename =

                        package.TexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
                    string textureSavePath =
                        package.WindowsTexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
                    File.Copy(link.Visual.Material.Texture.wFilename, textureSavePath, true);
                }
            }

            // Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
            string linkName            = link.Name.Replace('/', '_');
            string meshFilename        = package.MeshesDirectory + linkName + ".STL";
            string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";

            // Export STL
            if (exportSTL)
            {
                SaveSTL(link, windowsMeshFileName);
            }

            link.Visual.Geometry.Mesh.Filename    = meshFilename;
            link.Collision.Geometry.Mesh.Filename = meshFilename;
        }
Esempio n. 3
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        private void CopyLogFile(URDFPackage package)
        {
            string destination  = package.WindowsPackageDirectory + "export.log";
            string log_filename = Logger.GetFileName();

            if (log_filename != null)
            {
                if (!File.Exists(log_filename))
                {
                    System.Windows.Forms.MessageBox.Show("The log file was expected to be located at " + log_filename +
                                                         ", but it was not found. Please contact your maintainer with this error message.");
                }
                else
                {
                    logger.Info("Copying " + log_filename + " to " + destination);
                    File.Copy(log_filename, destination, true);
                }
            }
        }
Esempio n. 4
0
        // Beginning method for exporting the full package
        public void ExportRobot(bool exportSTL = true)
        {
            //Setting up the progress bar
            logger.Info("Beginning the export process");
            int progressBarBound = Common.GetCount(URDFRobot.BaseLink);

            iSwApp.GetUserProgressBar(out progressBar);
            progressBar.Start(0, progressBarBound, "Creating package directories");

            //Creating package directories
            logger.Info("Creating package directories with name " + PackageName + " and save path " + SavePath);
            URDFPackage package = new URDFPackage(PackageName, SavePath);

            package.CreateDirectories();
            URDFRobot.Name = PackageName;
            string windowsURDFFileName       = package.WindowsRobotsDirectory + URDFRobot.Name + ".urdf";
            string windowsCSVFileName        = package.WindowsRobotsDirectory + URDFRobot.Name + ".csv";
            string windowsPackageXMLFileName = package.WindowsPackageDirectory + "package.xml";

            //Create CMakeLists
            logger.Info("Creating CMakeLists.txt at " + package.WindowsCMakeLists);
            package.CreateCMakeLists();

            //Create Config joint names, not sure how this is used...
            logger.Info("Creating joint names config at " + package.WindowsConfigYAML);
            package.CreateConfigYAML(URDFRobot.GetJointNames(false));

            //Creating package.xml file
            logger.Info("Creating package.xml at " + windowsPackageXMLFileName);
            PackageXMLWriter packageXMLWriter = new PackageXMLWriter(windowsPackageXMLFileName);
            PackageXML       packageXML       = new PackageXML(PackageName);

            packageXML.WriteElement(packageXMLWriter);

            //Creating RVIZ launch file
            Rviz rviz = new Rviz(PackageName, URDFRobot.Name + ".urdf");

            logger.Info("Creating RVIZ launch file in " + package.WindowsLaunchDirectory);
            rviz.WriteFiles(package.WindowsLaunchDirectory);

            //Creating Gazebo launch file
            Gazebo gazebo = new Gazebo(URDFRobot.Name, PackageName, URDFRobot.Name + ".urdf");

            logger.Info("Creating Gazebo launch file in " + package.WindowsLaunchDirectory);

            gazebo.WriteFile(package.WindowsLaunchDirectory);

            //Customizing STL preferences to how I want them
            logger.Info("Saving existing STL preferences");
            SaveUserPreferences();

            logger.Info("Modifying STL preferences");
            SetSTLExportPreferences();

            //Saving part as STL mesh
            AssemblyDoc   assyDoc          = (AssemblyDoc)ActiveSWModel;
            List <string> hiddenComponents = Common.FindHiddenComponents(assyDoc.GetComponents(false));

            logger.Info("Found " + hiddenComponents.Count + " hidden components " + String.Join(", ", hiddenComponents));
            logger.Info("Hiding all components");
            ActiveSWModel.Extension.SelectAll();
            ActiveSWModel.HideComponent2();

            bool success = false;

            try
            {
                logger.Info("Beginning individual files export");
                ExportFiles(URDFRobot.BaseLink, package, 0, exportSTL);
                success = true;
            }
            catch (Exception e)
            {
                logger.Error("An exception was thrown attempting to export the URDF", e);
            }
            finally
            {
                logger.Info("Showing all components except previously hidden components");
                Common.ShowAllComponents(ActiveSWModel, hiddenComponents);

                logger.Info("Resetting STL preferences");
                ResetUserPreferences();
            }

            if (!success)
            {
                MessageBox.Show("Exporting the URDF failed unexpectedly. Email your maintainer " +
                                "with the log file found at " + Logger.GetFileName());
                return;
            }

            logger.Info("Writing URDF file to " + windowsURDFFileName);
            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);

            URDFRobot.WriteURDF(uWriter.writer);

            ImportExport.WriteRobotToCSV(URDFRobot, windowsCSVFileName);

            logger.Info("Copying log file");
            CopyLogFile(package);

            logger.Info("Resetting STL preferences");
            ResetUserPreferences();
            progressBar.End();
        }