/// <summary>
/// Creates a new joint editor proptery manager page that allows the user to edit joint properties.
/// </summary>
/// <param name="robot">Active robot model</param>
/// <param name="joint">Joint to be edited</param>
/// <param name="document">Active assembly document</param>
/// <param name="swApp">Solidworks application environment</param>
public JointPMPage(RobotModel robot, Joint joint, AssemblyDoc document, SldWorks swApp)
{
//Validate parameters
if (robot == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null robot model.");
if (document == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null assembly document.");
if (swApp == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null solidworks application interface.");
//Initialize fields
this.robot = robot;
this.swApp = swApp;
currentJoint = joint;
mathUtil = ((IMathUtility)swApp.GetMathUtility());
//AssemblyDoc inherits ModelDoc2 but the relationship dosn't carry through the COM interface
//Having two fields prevents having to cast half of the time
modelDoc = (ModelDoc2)document;
assemblyDoc = document;
//Setup the page, its controls and their visual layout
SetupPage();
SelectionObservers = new List<SelectionObserver>();
ButtonObservers = new List<ButtonObserver>();
CheckboxObservers = new List<CheckboxObserver>();
}
public bool ConnectToSW(object ThisSW, int Cookie)
{
_swApp = (SldWorks)ThisSW;
mSWCookie = Cookie;
// Set-up add-in call back info
bool result = _swApp.SetAddinCallbackInfo(0, this, Cookie);
swMathUtility = (MathUtility)_swApp.GetMathUtility();
orientation = swMathUtility.CreateTransform(new double[1]);
this.UISetup();
_swApp.SendMsgToUser2("timer started",
(int)swMessageBoxIcon_e.swMbInformation,
(int)swMessageBoxBtn_e.swMbOk);
return(true);
}
public AssemblyContext(string assemblyPath)
{
//var sw = Activator.GetObject(Type.GetTypeFromProgID("SldWorks.Application")) as SldWorks;
//var sw = (SldWorks)System.Runtime.InteropServices.Marshal.GetActiveObject("SldWorks.Application");
sw = new SldWorks();
sw.Visible = true;
workingFolder = Path.GetDirectoryName(assemblyPath);
sw.SetCurrentWorkingDirectory(workingFolder);
var filePath = assemblyPath;
doc = sw.OpenDoc6(filePath,
(int)swDocumentTypes_e.swDocASSEMBLY,
(int)swOpenDocOptions_e.swOpenDocOptions_Silent, "",
ref error, ref warning);
drag = (DragOperator)((AssemblyDoc)doc).GetDragOperator();
math = (MathUtility)sw.GetMathUtility();
}
public AssemblyContext(string assemblyPath)
{
//var sw = Activator.GetObject(Type.GetTypeFromProgID("SldWorks.Application")) as SldWorks;
//var sw = (SldWorks)System.Runtime.InteropServices.Marshal.GetActiveObject("SldWorks.Application");
sw = new SldWorks();
sw.Visible = true;
workingFolder = Path.GetDirectoryName(assemblyPath);
sw.SetCurrentWorkingDirectory(workingFolder);
var filePath = assemblyPath;
doc = sw.OpenDoc6(filePath,
(int)swDocumentTypes_e.swDocASSEMBLY,
(int)swOpenDocOptions_e.swOpenDocOptions_Silent, "",
ref error, ref warning);
drag = (DragOperator)((AssemblyDoc)doc).GetDragOperator();
math = (MathUtility)sw.GetMathUtility();
}
internal static bool processModel(SldWorks swApp, string file, string targetFile, string calcFile, CancellationToken cancellationToken)
{
// Initiate variables
Thread.CurrentThread.CurrentCulture = CultureInfo.CreateSpecificCulture("en-GB");
StreamWriter toFile = new StreamWriter(targetFile);
toFile.AutoFlush = true;
StreamWriter toCalc = new StreamWriter(calcFile);
toCalc.AutoFlush = true;
MathUtility swMathUtil = default(MathUtility);
ModelDoc2 swModel = default(ModelDoc2);
Feature swFeat = default(Feature);
Feature swMateFeat = null;
Feature swSubFeat = default(Feature);
Mate2 swMate = default(Mate2);
Component2 swComp = default(Component2);
MateEntity2[] swMateEnt = new MateEntity2[3];
MathTransform swTrans = default(MathTransform);
MathPoint swOrig = default(MathPoint);
AssemblyDoc swAssembly = default(AssemblyDoc);
double[] corners = new double[6];
int[] swAssyDir = new int[6];
double[] nPt = new double[3];
object vPt = null;
double height = 0;
double width = 0;
double depth = 0;
int Warning = 0;
int Error = 0;
int i = 0;
double[] entityParameters = new double[8];
// Start function
try
{
if (cancellationToken.IsCancellationRequested)
{
return(false);
}
string extention = Path.GetExtension(file);
int type = 0;
if (extention.ToLower().Contains("sldprt"))
{
type = (int)swDocumentTypes_e.swDocPART;
}
else
{
type = (int)swDocumentTypes_e.swDocASSEMBLY;
}
// Get assembly model
swModel = swApp.OpenDoc6(file, type, (int)swOpenDocOptions_e.swOpenDocOptions_Silent, "", ref Error, ref Warning) as ModelDoc2;
if (Error != 0)
{
return(false);
}
if (swModel == null)
{
return(false);
}
swModel.Visible = true;
// Get first assembly feature
swFeat = (Feature)swModel.FirstFeature();
// Iterate over features in FeatureManager design tree
while ((swFeat != null))
{
if ("MateGroup" == swFeat.GetTypeName())
{
swMateFeat = swFeat;
break;
}
swFeat = swFeat = swFeat.GetNextFeature();
}
toFile.WriteLine(" " + swMateFeat.Name);
toFile.WriteLine("");
// Get first mate, which is a subfeature
swSubFeat = (Feature)swMateFeat.GetFirstSubFeature();
while ((swSubFeat != null))
{
swMate = (Mate2)swSubFeat.GetSpecificFeature2();
if ((swMate != null))
{
for (i = 0; i <= 1; i++)
{
swMateEnt[i] = swMate.MateEntity(i);
swComp = swMateEnt[i].ReferenceComponent;
// Initate point
nPt[0] = 0.0;
nPt[1] = 0.0;
nPt[2] = 0.0;
vPt = nPt;
// Get component origin point
swTrans = swComp.Transform2;
swMathUtil = (MathUtility)swApp.GetMathUtility();
swOrig = (MathPoint)swMathUtil.CreatePoint(vPt);
swOrig = (MathPoint)swOrig.MultiplyTransform(swTrans);
// Write parameters to readable ASCII file
toFile.WriteLine(" " + swSubFeat.Name);
toFile.WriteLine(" Type = " + swMate.Type);
toFile.WriteLine(" Alignment = " + swMate.Alignment);
toFile.WriteLine(" Can be flipped = " + swMate.CanBeFlipped);
toFile.WriteLine("");
toFile.WriteLine(" Component = " + swComp.Name2);
toFile.WriteLine(" Origin = (" + ((double[])swOrig.ArrayData)[0] * 1000.0 + ", " + ((double[])swOrig.ArrayData)[1] * 1000.0 + ", " + ((double[])swOrig.ArrayData)[2] * 1000.0 + ")");
toFile.WriteLine(" Mate enity type = " + swMateEnt[i].ReferenceType);
entityParameters = (double[])swMateEnt[i].EntityParams;
toFile.WriteLine(" (x,y,z) = (" + entityParameters[0] * 1000 + ", " + entityParameters[1] * 1000 + ", " + entityParameters[2] * 1000 + ")");
toFile.WriteLine(" (i,j,k) = (" + entityParameters[3] + ", " + entityParameters[4] + ", " + entityParameters[5] + ")");
toFile.WriteLine(" Radius 1 = " + entityParameters[6] * 1000);
toFile.WriteLine(" Radius 2 = " + entityParameters[7] * 1000);
toFile.WriteLine("");
// Write parameters to a simplified ASCII file for computation
toCalc.Write(swSubFeat.Name);
toCalc.Write(" " + swMate.Type);
toCalc.Write(" " + swMate.Alignment);
toCalc.Write(" " + swMate.CanBeFlipped);
toCalc.Write(" " + swComp.Name2);
toCalc.Write(" " + ((double[])swOrig.ArrayData)[0] * 1000.0 + "," + ((double[])swOrig.ArrayData)[1] * 1000.0 + "," + ((double[])swOrig.ArrayData)[2] * 1000.0);
toCalc.Write(" " + swMateEnt[i].ReferenceType);
toCalc.Write(" " + entityParameters[0] * 1000.0 + "," + entityParameters[1] * 1000.0 + "," + entityParameters[2] * 1000.0);
toCalc.Write(" " + entityParameters[3] + "," + entityParameters[4] + "," + entityParameters[5]);
toCalc.Write(" " + entityParameters[6] * 1000.0);
toCalc.WriteLine(" " + entityParameters[7] * 1000.0);
}
toFile.WriteLine(" ");
}
// Get the next mate in MateGroup
swSubFeat = (Feature)swSubFeat.GetNextSubFeature();
}
// Get bounding box around assembly
swAssembly = (AssemblyDoc)swModel;
corners = swAssembly.GetBox(1);
height = (corners[4] - corners[1]) * 1000.0;
width = (corners[3] - corners[0]) * 1000.0;
depth = (corners[5] - corners[2]) * 1000.0;
// Write to file
toFile.WriteLine("Aprx. assembly dimensions");
toFile.WriteLine("(Height, Width, Depth) = (" + height + ", " + width + ", " + depth + ")");
toFile.WriteLine(" ");
toCalc.WriteLine("dims(hwd) " + height + " " + width + " " + depth);
// Get Possible Assembly Directions with interferenceDir function
interference inter = new interference();
swAssyDir = inter.interferenceDir(swApp, swModel, swMateFeat, swMateEnt);
// Write swAssyDir to file
toFile.WriteLine("(x+, x-, y+, y-, z+, z-) = (" + swAssyDir[0] + ", " + swAssyDir[1] + ", " + swAssyDir[2] + ", " + swAssyDir[3] + ", " + swAssyDir[4] + ", " + swAssyDir[5] + ") ");
toFile.WriteLine("1 is possible, 0 is not possible");
toFile.WriteLine("");
toFile.WriteLine("All dimensions are in mm");
toCalc.Write("dir " + swAssyDir[0] + " " + swAssyDir[1] + " " + swAssyDir[2] + " " + swAssyDir[3] + " " + swAssyDir[4] + " " + swAssyDir[5]);
return(true);
}
catch (Exception)
{
return(false);
}
}
/// <summary>
/// Sets the various properties of the current robot
/// </summary>
/// <param name="swApp">The solidworks application</param>
/// <param name="asmDoc">The current assembly</param>
/// <param name="swData">The current storage model</param>
/// <param name="robot">the current robot</param>
public static void SetProperties(SldWorks swApp, AssemblyDoc asmDoc, StorageModel swData, RobotModel robot)
{
SwApp = swApp;
ModelDoc = (ModelDoc2)asmDoc;
AssemDoc = asmDoc;
SwData = swData;
Robot = robot;
mathUtil = SwApp.GetMathUtility();
}
/// <summary>
/// Constructs a new IJointAxis
/// </summary>
/// <param name="path">Path to this joint's storage</param>
/// <param name="current">The joint that this axis is contained in</param>
public IJointAxis(string path, Joint current)
{
this.swApp = RobotInfo.SwApp;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.owner = current;
this.robot = RobotInfo.Robot;
if (EffortLimit == 0)
{
this.EffortLimit = 1;
}
if (Axis != null)
{
CalcAxisVector();
}
mathUtil = (MathUtility)swApp.GetMathUtility();
}
public int[] interferenceDir(SldWorks swApp, ModelDoc2 swModel, Feature swMateFeat, MateEntity2[] swMateEnt)
{
// Initiate variables
MathUtility swMathUtil = default(MathUtility);
AssemblyDoc swAssembly = default(AssemblyDoc);
ModelDocExtension swModelDocExt = default(ModelDocExtension);
DragOperator swDragOp = default(DragOperator);
MathTransform swXform = default(MathTransform);
Feature swSubFeat = default(Feature);
Component2 swComp0 = default(Component2);
Component2 swComp1 = default(Component2);
SelectionMgr swSelMgr = default(SelectionMgr);
Component2[] EntityArray;
bool supstat = false;
bool bRet = false;
int i = 0;
int j = 0;
int k = 0;
double[] dir;
double[] entityParameters = new double[8];
int[] swAssyDir = new int[6];
double[] trans = new double[16];
// Get accesss to the model
swModelDocExt = swModel.Extension;
// Suppressing mates to be able to move them
swSubFeat = (Feature)swMateFeat.GetFirstSubFeature();
while ((swSubFeat != null))
{
supstat = swModelDocExt.SelectByID2(swSubFeat.Name, "MATE", 0, 0, 0, false, 0, null, 0);
supstat = swModel.EditSuppress2();
swSubFeat = (Feature)swSubFeat.GetNextSubFeature();
}
// Get parts
swComp0 = swMateEnt[0].ReferenceComponent;
swComp1 = swMateEnt[1].ReferenceComponent;
// Run .stl meshing function
save.saveAs(swApp, swComp0, swComp1, swModelDocExt);
// Define variables
swAssembly = (AssemblyDoc)swModel;
swDragOp = (DragOperator)swAssembly.GetDragOperator();
swMathUtil = (MathUtility)swApp.GetMathUtility();
swSelMgr = swModel.SelectionManager;
EntityArray = new Component2[] { swComp0, swComp1 };
// Decide parameters for DragOperator interface
bRet = swDragOp.AddComponent(swComp1, false);
bRet = swDragOp.CollisionDetection(EntityArray, true, true);
swDragOp.CollisionDetectionEnabled = true;
swDragOp.DynamicClearanceEnabled = false;
swDragOp.UseAbsoluteTransform = false;
swDragOp.IgnoreComplexSurfaces = true;
swDragOp.HearClashes = false;
swDragOp.HighlightClashes = false;
swDragOp.TransformType = 0;
swDragOp.DragMode = 0;
// Begin moving component
bRet = swDragOp.BeginDrag();
for (i = 0; i < 6; i++)
{
if (i == 0)
{
dir = new double[] { 0.005, 0, 0 }
}
;
else if (i == 1)
{
dir = new double[] { -0.005, 0, 0 }
}
;
else if (i == 2)
{
dir = new double[] { 0, 0.005, 0 }
}
;
else if (i == 3)
{
dir = new double[] { 0, -0.005, 0 }
}
;
else if (i == 4)
{
dir = new double[] { 0, 0, 0.005 }
}
;
else
{
dir = new double[] { 0, 0, -0.005 }
};
// Move up to five steps along vector (dir)
for (j = 0; j < 5; j++)
{
trans = new double[] { 1, 0, 0, 0, 1, 0, 0, 0, 1, dir[0], dir[1], dir[2], 1, 0, 0, 0 };
swXform = (MathTransform)swMathUtil.CreateTransform(trans);
bRet = swDragOp.Drag(swXform);
// Check return status of interference detector
k = j + 1;
if (bRet == true)
{
swAssyDir[i] = 1;
}
else
{
swAssyDir[i] = 0;
break;
}
}
// Move back the number of steps moved
if (swAssyDir[i] == 1)
{
trans[9] = trans[9] * (-k);
trans[10] = trans[10] * (-k);
trans[11] = trans[11] * (-k);
swXform = (MathTransform)swMathUtil.CreateTransform(trans);
bRet = swDragOp.Drag(swXform);
}
}
bRet = swDragOp.EndDrag();
// Unsuppress mates
swSubFeat = (Feature)swMateFeat.GetFirstSubFeature();
while ((swSubFeat != null))
{
supstat = swModelDocExt.SelectByID2(swSubFeat.Name, "MATE", 0, 0, 0, false, 0, null, 0);
supstat = swModel.EditUnsuppress2();
swSubFeat = (Feature)swSubFeat.GetNextSubFeature();
}
// Return interference vector
return(swAssyDir);
}
}
