internal static StapleSection readStapleConfig()
{
StapleSection sec = config.Sections["staplePath"] as StapleSection;
if (sec == null)
{
sec = new StapleSection();
sec.staplePath.Path = "C:\\local\\autoLabel\\itsowl-tt-autolabel\\autoLabel-Sim-Models\\stl-files\\";
config.Sections.Add("staplePath", sec);
config.Save();
}
return(sec);
}
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);
}