/// <summary>
/// GenerateRobot: Recreates a robot given the proper specifications by:
/// 1. Recreating all of the joints and links as Unity objects, as well as setting their parents and children.
/// 2. Setting the transforms of all of the individual objects.
///
/// <param name="structure"> A protobuf object holding all of the necessary information to recreate a robot. </param>
/// </summary>
public static void GenerateRobot(RobotStructure structure)
{
Dictionary <int, GameObject> jointDict = new Dictionary <int, GameObject>();
Dictionary <int, GameObject> linkDict = new Dictionary <int, GameObject>();
// We should have all of the objects with their IDs in the dict now.
foreach (KeyValuePair <int, JointStorage> joints in structure.JointDict)
{
GameObject GeneratedJoint = GenerateJoint(joints.Value);
jointDict.Add(joints.Key, GeneratedJoint);
}
foreach (KeyValuePair <int, LinkStorage> links in structure.LinkDict)
{
GameObject GeneratedLink = GenerateLink(links.Value);
linkDict.Add(links.Key, GeneratedLink);
}
if (jointDict.ContainsKey(structure.RootJointID))
{
SetTransforms(jointDict[structure.RootJointID], jointDict, linkDict, true);
}
else
{
Debug.Log("RootJoint not found.");
}
}
// Helper function to determine if Robot has an active project open
private bool IsRobotActive()
{
// Initialise connection to Robot if none exists
if (!(iapp is RobotApplication))
{
iapp = new RobotApplication();
}
try
{
structure = iapp.Project.Structure;
nodes = structure.Nodes;
bars = structure.Bars;
}
catch (System.Runtime.InteropServices.COMException)
{
ErrorDialog("Robot does not appear to be running", "ERROR: Robot not running");
return(false);
}
if (iapp.Project.IsActive == 0)
{
ErrorDialog("No active Robot project was found", "ERROR: No active project");
return(false);
}
return(true);
}
public static int AddNode(RobotStructure structureRSA, double x, double y, double z)
{
RobotNodeServer nodesRSA = structureRSA.Nodes;
int freeNum = nodesRSA.FreeNumber;
nodesRSA.Create(freeNum, x, y, z);
return(freeNum);
}
public static int AddBar(RobotStructure structureRSA, RobotNode node1, RobotNode node2)
{
int num1 = node1.Number;
int num2 = node2.Number;
RobotBarServer barsRSA = structureRSA.Bars;
int freeNum = barsRSA.FreeNumber;
barsRSA.Create(freeNum, num1, num2);
return(freeNum);
}
public static void Bot()
{
RobotApplication rob = new RobotApplication();
RobotStructure str = rob.Project.Structure;
str.Nodes.Create(1, 0, 0, 0);
Console.WriteLine("Node Added.");
str = null;
rob = null;
Console.ReadKey();
}
public static void AddBar(RobotStructure structureRSA, RobotNode node1, RobotNode node2, IRobotLabel labelSect)
{
int num1 = node1.Number;
int num2 = node2.Number;
RobotBarServer barsRSA = structureRSA.Bars;
int freeNum = barsRSA.FreeNumber;
barsRSA.Create(freeNum, num1, num2);
RobotSelection selection = structureRSA.Selections.Create(IRobotObjectType.I_OT_BAR);
selection.FromText(freeNum.ToString());
barsRSA.SetLabel(selection, IRobotLabelType.I_LT_BAR_SECTION, labelSect.Name);
}
/// <summary>
/// Goes here after receiving a signal
/// </summary>
public static void ReadCallBack(IAsyncResult res)
{
UdpClient client = (UdpClient)res.AsyncState;
IPEndPoint RemoteIPEndPoint = new IPEndPoint(IPAddress.Any, listenPort);
Console.WriteLine("----------------------");
Console.WriteLine("UDP Connection made. Receiving data...");
byte[] received = client.EndReceive(res, ref RemoteIPEndPoint);
listenPort = ((IPEndPoint)client.Client.LocalEndPoint).Port;
Console.WriteLine("Data received from: {0} at Port: {1}", RemoteIPEndPoint.Address.ToString(), listenPort.ToString());
Console.WriteLine("Sending back changed position for debugging/testing purposes...");
using (MemoryStream ms = new MemoryStream())
{
ms.Write(received, 0, received.Length);
ms.Position = 0;
if (listenPort == 8888)
{
replyPort = 9999;
MessageParser<RobotStructure> parser = new MessageParser<RobotStructure>(() => new RobotStructure());
receivedStructure = parser.ParseFrom(ms);
receivedStructure.RootJointID = 1;
ms.Position = 0;
SendBackStructure(receivedStructure);
}
else if (listenPort == 7777)
{
replyPort = 6666;
MessageParser<PositionList> parser = new MessageParser<PositionList>(() => new PositionList());
receivedList = parser.ParseFrom(ms);
receivedList.PList[0].Rotation = 30;
ms.Position = 0;
SendBackPositions(receivedList);
}
else if (listenPort == 1234)
{
replyPort = 4321;
MessageParser<MeshList> parser = new MessageParser<MeshList>(() => new MeshList());
receivedMeshes = parser.ParseFrom(ms);
Console.WriteLine("RECEIVED MESHES... LENGTH = {0}", receivedMeshes.Meshes.Count);
StartBoth.ListeningMessage();
StartBoth._MeshListening = false;
}
}
}
private void Init(IRobotApplication iapp)
{
if (iapp != null)
{
robot = iapp;
}
else
{
robot = new RobotApplication();
}
str = robot.Project.Structure;
Panel = new List <RSA_FE>();
PanelEdges = new List <Panel>();
ErrorList = new List <string>();
}
public static void SendBackStructure(RobotStructure received)
{
using (MemoryStream ms = new MemoryStream())
{
received.WriteTo(ms);
Socket tempSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
IPEndPoint replyEndPoint = new IPEndPoint(IPAddress.Parse("127.0.0.1"), replyPort);
ms.Position = 0;
tempSocket.SendTo(received.ToByteArray(), replyEndPoint);
tempSocket.Close();
}
Console.WriteLine("Data sent!");
StartBoth.ListeningMessage();
StartBoth._Structurelistening = false;
}
public void test()
{
RobotApplication appRSA = new RobotApplication();
getMaterialNameListRSA(appRSA);
getBarSectionNamesRSA(appRSA);
RobotStructure structureRSA = appRSA.Project.Structure;
RobotBarServer barsRSA = structureRSA.Bars;
RobotNodeServer nodesRSA = structureRSA.Nodes;
RobotObjObjectServer objRSA = structureRSA.Objects;
RobotLabelServer labelsRSA = appRSA.Project.Structure.Labels;
//Определение выборок выделенных в модели объектов
RobotSelection barSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_BAR);
RobotSelection plateSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_PANEL);
RobotSelection holesSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_GEOMETRY);
RobotBarCollection barsMany = (RobotBarCollection)barsRSA.GetMany(barSel);
RobotObjObjectCollection platesMany = (RobotObjObjectCollection)objRSA.GetMany(plateSel);
IRobotBar barRSA = barsMany.Get(3);
IRobotObjObject plate = platesMany.Get(1);
IRobotLabel labelPlate = plate.GetLabel(IRobotLabelType.I_LT_PANEL_THICKNESS);
RobotGeoPoint3DCollection defPoints = (RobotGeoPoint3DCollection)plate.Main.DefPoints;
RobotGeoPoint3D pt1 = defPoints.Get(1);
RobotGeoPoint3D pt2 = defPoints.Get(2);
RobotGeoPoint3D pt3 = defPoints.Get(defPoints.Count);
//IRobotGeoContour geoContour=(IRobotGeoContour)plate.Main.Geometry;
//IRobotGeoObject geoObj=plate.Main.Geometry;
IRobotLabel labelBar = barRSA.GetLabel(IRobotLabelType.I_LT_BAR_SECTION);
RobotBarSectionData data = labelBar.Data;
RobotBarSectionConcreteData cData = data.Concrete;
double b = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_B);
double h = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H);
double l1 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_L1);
double l2 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_L2);
double h1 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H1);
double h2 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H2);
double de = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_DE);
double alfa = barRSA.Gamma;
}
private void Update()
{
// This is for first movement in the sequence
if (Input.GetKeyDown(KeyCode.A))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// This is for the second movement in the sequence (repeate this and 3)
if (Input.GetKeyDown(KeyCode.S))
{
testList.PList[4].Rotation = 45;
testList.PList[5].Rotation = 45;
testList.PList[8].Rotation = -90;
testList.PList[9].Rotation = -90;
testList.PList[2].Rotation = -45;
testList.PList[3].Rotation = -45;
testList.PList[6].Rotation = 90;
testList.PList[7].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// Third movement in the sequence
if (Input.GetKeyDown(KeyCode.D))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
testList.PList[2].Rotation = 45;
testList.PList[3].Rotation = 45;
testList.PList[6].Rotation = -90;
testList.PList[7].Rotation = -90;
GameObject root = GameObject.Find("Sphere");
root.transform.Translate(Vector3.left * Time.deltaTime * 100);
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
#if ServerTesting
// Configuring the robot with server test
if (Input.GetKeyDown(KeyCode.A))
{
RobotStructure test = ClientUDP <RobotStructure> .UDPSend(8888, testStructure);
ConstructionManager.GenerateRobot(test);
ObjectJoint.GetJoints(GameObject.Find("Sphere").GetComponent <ObjectJoint>().ChildObjectJoints, GameObject.Find("Sphere"));
}
// Moving the thing
if (Input.GetKeyDown(KeyCode.Space))
{
PositionListCreator.CreateList(GameObject.Find("Sphere"), testList.PList);
PositionList newList = ClientUDP <PositionList> .UDPSend(7777, testList);
ObjectJoint.SetJoints(newList, GameObject.Find("Sphere"));
}
#endif
}
/// <summary>
/// Gets the FE meshes from a Robot model using the fast query method
/// </summary>
/// <param name="panel_ids"></param>
/// <param name="coords"></param>
/// <param name="vertex_indices"></param>
/// <param name="str_nodes"></param>
/// <param name="filePath"></param>
/// <returns></returns>
public static bool GetFEMeshQuery(out int[] panel_ids, out double[][] coords, out Dictionary <int, int[]> vertex_indices, string filePath = "LiveLink")
{
RobotApplication robot = null;
if (filePath == "LiveLink")
{
robot = new RobotApplication();
}
//First call getnodesquery to get node points
double[][] nodeCoords = null;
//Dictionary<int, BHoM.Structural.Node> _str_nodes = new Dictionary<int, BHoM.Structural.Node>();
//RobotToolkit.Node.GetNodesQuery(project, filePath);
//Dictionary<int, int> _nodeIds = new Dictionary<int, int>();
//for (int i = 0; i < _str_nodes.Count; i++)
//{
// _nodeIds.Add(_str_nodes.ElementAt(i).Value.Number, i);
//}
RobotResultQueryParams result_params = (RobotResultQueryParams)robot.Kernel.CmpntFactory.Create(IRobotComponentType.I_CT_RESULT_QUERY_PARAMS);
RobotStructure rstructure = robot.Project.Structure;
RobotSelection FE_sel = rstructure.Selections.CreateFull(IRobotObjectType.I_OT_FINITE_ELEMENT);
IRobotResultQueryReturnType query_return = IRobotResultQueryReturnType.I_RQRT_MORE_AVAILABLE;
RobotSelection cas_sel = rstructure.Selections.Create(IRobotObjectType.I_OT_CASE);
try { cas_sel.FromText(robot.Project.Structure.Cases.Get(1).Number.ToString()); } catch { }
if (cas_sel.Count > 0)
{
result_params.Selection.Set(IRobotObjectType.I_OT_CASE, cas_sel);
}
//result_params.Selection.Set(IRobotObjectType.I_OT_NODE, FE_sel);
result_params.SetParam(IRobotResultParamType.I_RPT_MULTI_THREADS, true);
result_params.SetParam(IRobotResultParamType.I_RPT_THREAD_COUNT, 4);
result_params.SetParam(IRobotResultParamType.I_RPT_SMOOTHING, IRobotFeResultSmoothing.I_FRS_NO_SMOOTHING);
result_params.SetParam(IRobotResultParamType.I_RPT_DIR_X_DEFTYPE, IRobotObjLocalXDirDefinitionType.I_OLXDDT_CARTESIAN);
result_params.SetParam(IRobotResultParamType.I_RPT_DIR_X, new double[] { 1, 0, 0 });
result_params.SetParam(IRobotResultParamType.I_RPT_NODE, 1);
result_params.SetParam(IRobotResultParamType.I_RPT_PANEL, 1);
result_params.SetParam(IRobotResultParamType.I_RPT_ELEMENT, 1);
result_params.SetParam(IRobotResultParamType.I_RPT_RESULT_POINT_COORDINATES, 1);
result_params.ResultIds.SetSize(2);
result_params.ResultIds.Set(1, (int)IRobotFeResultType.I_FRT_DETAILED_MXX);
result_params.ResultIds.Set(2, (int)IRobotFeResultType.I_FRT_DETAILED_MYY);
RobotResultRowSet row_set = new RobotResultRowSet();
bool ok = false;
RobotResultRow result_row = default(RobotResultRow);
List <int> _panel_ids = new List <int>();
Dictionary <int, int[]> _vertex_indices = new Dictionary <int, int[]>();
int kounta = 0;
while (!(query_return == IRobotResultQueryReturnType.I_RQRT_DONE))
{
query_return = rstructure.Results.Query(result_params, row_set);
ok = row_set.MoveFirst();
while (ok)
{
//int panel_num = (int)row_set.CurrentRow.GetValue(1252);
//_panel_ids.Add(panel_num);
int nodeId = (int)row_set.CurrentRow.GetParam(IRobotResultParamType.I_RPT_NODE);
//int panelId = (int)row_set.CurrentRow.GetParam(IRobotResultParamType.I_RPT_PANEL);
int elementId = (int)row_set.CurrentRow.GetParam(IRobotResultParamType.I_RPT_ELEMENT);
//int number_of_indices = (row_set.CurrentRow.IsAvailable(567)) ? 4 : 3;
//int[] temp_indices = new int[number_of_indices];
//for (int i = 0; i < number_of_indices; i++)
//{
// temp_indices[i] = (int)row_set.CurrentRow.GetValue(564 + i);
//}
var resultIds = row_set.ResultIds;
var xxxx = row_set.CurrentRow.GetParam(IRobotResultParamType.I_RPT_RESULT_POINT_COORDINATES);
//_vertex_indices.Add(kounta, temp_indices);
//kounta++;
ok = row_set.MoveNext();
}
row_set.Clear();
}
result_params.Reset();
panel_ids = _panel_ids.ToArray();
vertex_indices = _vertex_indices;
coords = nodeCoords;
//str_nodes = _str_nodes;
return(true);
}
