private void SetConfigTree(LinkNode baseNode)
{
if (baseNode == null)
{
logger.Info("Starting new configuration");
baseNode = CreateEmptyNode(null);
}
else
{
List <string> problemLinks = new List <string>();
CommonSwOperations.LoadSWComponents(ActiveSWModel, baseNode, problemLinks);
if (problemLinks.Count > 0)
{
string msg = "The following links had issues loading their associated SolidWorks components. " +
"Please inspect before exporting\r\n\r\n" +
string.Join(", ", problemLinks);
MessageBox.Show(msg);
}
}
AddDocMenu(baseNode);
Tree.Nodes.Clear();
Tree.Nodes.Add(baseNode);
Tree.ExpandAll();
Tree.SelectedNode = Tree.Nodes[0];
}
//Sets all the controls in the Property Manager from the Selected Node
public void FillPropertyManager(LinkNode node)
{
PMTextBoxLinkName.Text = node.Link.Name;
PMNumberBoxChildCount.Value = node.Nodes.Count;
//Selecting the associated link components
CommonSwOperations.SelectComponents(ActiveSWModel, node.Link.SWComponents, true, PMSelection.Mark);
//Setting joint properties
if (!node.IsBaseNode && node.Parent != null)
{
//Combobox needs to be blanked before de-activating
SelectComboBox(PMComboBoxGlobalCoordsys, "");
//Labels need to be activated before changing them
EnableControls(!node.IsBaseNode);
PMTextBoxJointName.Text = node.Link.Joint.Name;
PMLabelParentLink.Caption = node.Parent.Name;
FillComboBox(PMComboBoxCoordSys, Exporter.GetRefCoordinateSystems());
FillComboBox(PMComboBoxAxes, Exporter.GetRefAxes());
PMComboBoxAxes.AddItems("None");
SelectComboBox(PMComboBoxCoordSys, node.Link.Joint.CoordinateSystemName);
SelectComboBox(PMComboBoxAxes, node.Link.Joint.AxisName);
SelectComboBox(PMComboBoxJointType, node.Link.Joint.Type);
}
else
{
//Labels and text box have be blanked before de-activating them
PMLabelParentLink.Caption = " ";
SelectComboBox(PMComboBoxCoordSys, "");
SelectComboBox(PMComboBoxAxes, "");
SelectComboBox(PMComboBoxJointType, "");
//Activate controls before changing them
EnableControls(!node.IsBaseNode);
FillComboBox(PMComboBoxGlobalCoordsys, Exporter.GetRefCoordinateSystems());
SelectComboBox(PMComboBoxGlobalCoordsys, node.Link.Joint.CoordinateSystemName);
}
}
// When the selected node is changed, the previously active node needs to be saved
public void SaveActiveNode()
{
if (previouslySelectedNode != null)
{
previouslySelectedNode.Link.Name = PMTextBoxLinkName.Text;
if (!previouslySelectedNode.IsBaseNode)
{
previouslySelectedNode.Link.Joint.Name = PMTextBoxJointName.Text;
previouslySelectedNode.Link.Joint.AxisName = PMComboBoxAxes.get_ItemText(-1);
previouslySelectedNode.Link.Joint.CoordinateSystemName = PMComboBoxCoordSys.get_ItemText(-1);
previouslySelectedNode.Link.Joint.Type = PMComboBoxJointType.get_ItemText(-1);
}
else
{
previouslySelectedNode.Link.Joint.CoordinateSystemName =
PMComboBoxGlobalCoordsys.get_ItemText(-1);
}
CommonSwOperations.GetSelectedComponents(
ActiveSWModel, previouslySelectedNode.Link.SWComponents, PMSelection.Mark);
}
}
private bool SaveSTL(Link link, string windowsMeshFilename)
{
int errors = 0;
int warnings = 0;
string coordsysName = link.Joint.CoordinateSystemName;
logger.Info(link.Name + ": Exporting STL with coordinate frame " + coordsysName);
Dictionary <string, string> names = GetComponentRefGeoNames(coordsysName);
ModelDoc2 ActiveDoc = ActiveSWModel;
logger.Info(link.Name + ": Reference geometry name " + names["component"]);
CommonSwOperations.ShowComponents(ActiveSWModel, link.SWComponents);
int saveOptions = (int)swSaveAsOptions_e.swSaveAsOptions_Silent |
(int)swSaveAsOptions_e.swSaveAsOptions_Copy;
SetLinkSpecificSTLPreferences(names["geo"], link.STLQualityFine, ActiveDoc);
logger.Info("Saving STL to " + windowsMeshFilename);
ActiveDoc.Extension.SaveAs(windowsMeshFilename,
(int)swSaveAsVersion_e.swSaveAsCurrentVersion, saveOptions, null, ref errors, ref warnings);
if (errors + warnings != 0)
{
logger.Warn("Exporting STL for link " + link.Name + " failed with error " + errors +
" or warnings " + warnings);
}
CommonSwOperations.HideComponents(ActiveSWModel, link.SWComponents);
bool success = CorrectSTLMesh(windowsMeshFilename);
if (!success)
{
logger.Warn("There was an issue exporting the STL for " + link.Name + ". It " +
"may not be readable by CAD programs that aren't SolidWorks");
}
return(success);
}
// Adds the number of empty nodes to the currently active node
private void CreateNewNodes(LinkNode currentNode, int number)
{
for (int i = 0; i < number; i++)
{
LinkNode node = CreateEmptyNode(currentNode);
currentNode.Nodes.Add(node);
}
for (int i = 0; i < -number; i++)
{
currentNode.Nodes.RemoveAt(currentNode.Nodes.Count - 1);
}
int itemsCount = CommonSwOperations.GetCount(Tree.Nodes);
int itemHeight = 1 + itemsCount * Tree.ItemHeight;
int min = 163;
int max = 600;
int height = MathOps.Envelope(itemHeight, min, max);
Tree.Height = height;
PMTree.Height = height;
currentNode.ExpandAll();
}
public void SaveConfigTree(ModelDoc2 model, LinkNode BaseNode, bool warnUser)
{
CommonSwOperations.RetrieveSWComponentPIDs(model, BaseNode);
ConfigurationSerialization.SaveConfigTreeXML(swApp, model, BaseNode, warnUser);
}
// 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 = CommonSwOperations.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 = CommonSwOperations.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");
CommonSwOperations.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();
}
