public override bool CastFrom(object source)
{
switch (source)
{
case GH_Number number:
Value = new[] { number.Value };
return(true);
case GH_String text:
{
if (string.IsNullOrWhiteSpace(text.Value))
{
Value = new double[0];
return(true);
}
string[] texts = text.Value.Split(',');
double[] values = new double[texts.Length];
for (int i = 0; i < texts.Length; i++)
{
if (!GH_Convert.ToDouble_Secondary(texts[i], ref values[i]))
{
return(false);
}
}
Value = values;
return(true);
}
}
return(false);
}
public override bool CastFrom(object source)
{
if (source is Zone)
{
Value = source as Zone;
return(true);
}
if (source is GH_Number)
{
Value = new Zone((source as GH_Number).Value);
return(true);
}
double value = 0;
if (GH_Convert.ToDouble_Secondary(source, ref value))
{
Value = new Zone(value);
return(true);
}
else
{
return(false);
}
}
public override bool CastFrom(object source)
{
switch (source)
{
case Zone zone:
Value = zone;
return(true);
case GH_Number number:
Value = new Zone(number.Value);
return(true);
case GH_String text:
{
string[] texts = text.Value.Split(',');
double[] values = new double[texts.Length];
for (int i = 0; i < texts.Length; i++)
{
if (!GH_Convert.ToDouble_Secondary(texts[i], ref values[i]))
{
return(false);
}
}
if (texts.Length == 1)
{
Value = new Zone(values[0]);
return(true);
}
else if (texts.Length == 2)
{
Value = new Zone(values[0], values[1]);
return(true);
}
break;
}
}
double value = 0;
if (GH_Convert.ToDouble_Secondary(source, ref value))
{
Value = new Zone(value);
return(true);
}
else
{
return(false);
}
}
public override bool CastFrom(object source)
{
if (source is Zone)
{
Value = source as Zone;
return(true);
}
if (source is GH_Number)
{
Value = new Zone((source as GH_Number).Value);
return(true);
}
if (source is GH_String)
{
string[] texts = (source as GH_String).Value.Split(',');
double[] values = new double[texts.Length];
for (int i = 0; i < texts.Length; i++)
{
if (!GH_Convert.ToDouble_Secondary(texts[i], ref values[i]))
{
return(false);
}
}
if (texts.Length == 1)
{
Value = new Zone(values[0]);
return(true);
}
else if (texts.Length == 2)
{
Value = new Zone(values[0], values[1]);
return(true);
}
}
double value = 0;
if (GH_Convert.ToDouble_Secondary(source, ref value))
{
Value = new Zone(value);
return(true);
}
else
{
return(false);
}
}
public override bool CastFrom(object source)
{
if (source is Target)
{
Value = source as Target;
return(true);
}
if (source is GH_Point)
{
Value = new CartesianTarget(new Plane((source as GH_Point).Value, Vector3d.XAxis, Vector3d.YAxis));
return(true);
}
if (source is GH_Plane)
{
Value = new CartesianTarget((source as GH_Plane).Value);
return(true);
}
if (source is GH_String)
{
string text = (source as GH_String).Value;
string[] jointsText = text.Split(',');
if (jointsText.Length != 6)
{
return(false);
}
var joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return(false);
}
}
Value = new JointTarget(joints);
return(true);
}
return(false);
}
public override bool CastFrom(object source)
{
switch (source)
{
case Target target:
Value = target;
return(true);
case GH_Point point:
Value = new CartesianTarget(new Plane(point.Value, Vector3d.XAxis, Vector3d.YAxis));
return(true);
case GH_Plane plane:
Value = new CartesianTarget(plane.Value);
return(true);
case GH_String text:
{
string[] jointsText = text.Value.Split(',');
if (jointsText.Length != 6)
{
return(false);
}
var joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return(false);
}
}
Value = new JointTarget(joints);
return(true);
}
}
return(false);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_RobotSystem robotSystem = null;
var targets = new List <GH_Target>();
var prevJointsText = new List <GH_String>();
bool drawMeshes = false;
if (!DA.GetData(0, ref robotSystem))
{
return;
}
if (!DA.GetDataList(1, targets))
{
return;
}
DA.GetDataList(2, prevJointsText);
if (!DA.GetData(3, ref drawMeshes))
{
return;
}
List <double[]> prevJoints = null;
if (prevJointsText.Count > 0)
{
prevJoints = new List <double[]>();
foreach (var text in prevJointsText)
{
if (text != null)
{
string[] jointsText = text.Value.Split(',');
var prevJoint = new double[jointsText.Length];
for (int i = 0; i < jointsText.Length; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref prevJoint[i]))
{
throw new Exception(" Previous joints not formatted correctly.");
}
}
prevJoints.Add(prevJoint);
}
}
}
var kinematics = robotSystem.Value.Kinematics(targets.Select(x => x.Value), prevJoints, drawMeshes);
var errors = kinematics.SelectMany(x => x.Errors);
if (errors.Count() > 0)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Errors in solution");
}
var strings = kinematics.SelectMany(x => x.Joints).Select(x => new GH_Number(x).ToString());
var joints = string.Join(",", strings);
var planes = kinematics.SelectMany(x => x.Planes);
if (drawMeshes)
{
var meshes = kinematics.SelectMany(x => x.Meshes);
DA.SetDataList(0, meshes.Select(x => new GH_Mesh(x)));
}
DA.SetData(1, joints);
DA.SetDataList(2, planes.Select(x => new GH_Plane(x)));
DA.SetDataList(3, errors);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
bool hasTarget = Params.Input.Any(x => x.Name == "Target");
bool hasJoints = Params.Input.Any(x => x.Name == "Joints");
bool hasPlane = Params.Input.Any(x => x.Name == "Plane");
bool hasConfig = Params.Input.Any(x => x.Name == "RobConf");
bool hasMotion = Params.Input.Any(x => x.Name == "Motion");
bool hasTool = Params.Input.Any(x => x.Name == "Tool");
bool hasSpeed = Params.Input.Any(x => x.Name == "Speed");
bool hasZone = Params.Input.Any(x => x.Name == "Zone");
bool hasCommand = Params.Input.Any(x => x.Name == "Command");
bool hasFrame = Params.Input.Any(x => x.Name == "Frame");
bool hasExternal = Params.Input.Any(x => x.Name == "External");
GH_Target sourceTarget = null;
if (hasTarget)
{
if (!DA.GetData("Target", ref sourceTarget))
{
return;
}
}
double[] joints = null;
var plane = new Plane();
Target.RobotConfigurations?configuration = null;
Target.Motions motion = Target.Motions.Joint;
Tool tool = null;
Speed speed = null;
Zone zone = null;
Command command = null;
Frame frame = null;
double[] external = null;
if (hasJoints)
{
GH_String jointsGH = null;
if (!DA.GetData("Joints", ref jointsGH))
{
return;
}
string[] jointsText = jointsGH.Value.Split(',');
if (jointsText.Length != 6)
{
return;
}
joints = new double[6];
for (int i = 0; i < 6; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref joints[i]))
{
return;
}
}
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is JointTarget)
{
joints = (sourceTarget.Value as JointTarget).Joints;
}
}
if (hasPlane)
{
GH_Plane planeGH = null;
if (hasPlane)
{
if (!DA.GetData("Plane", ref planeGH))
{
return;
}
}
plane = planeGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
plane = (sourceTarget.Value as CartesianTarget).Plane;
}
}
if (hasConfig)
{
GH_Integer configGH = null;
if (hasConfig)
{
DA.GetData("RobConf", ref configGH);
}
configuration = (configGH == null) ? null : (Target.RobotConfigurations?)configGH.Value;
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
configuration = (sourceTarget.Value as CartesianTarget).Configuration;
}
}
if (hasMotion)
{
GH_String motionGH = null;
DA.GetData("Motion", ref motionGH);
motion = (motionGH == null) ? Target.Motions.Joint : (Target.Motions)Enum.Parse(typeof(Target.Motions), motionGH.Value);
}
else if (sourceTarget != null)
{
if (sourceTarget.Value is CartesianTarget)
{
motion = (sourceTarget.Value as CartesianTarget).Motion;
}
}
if (hasTool)
{
GH_Tool toolGH = null;
DA.GetData("Tool", ref toolGH);
tool = toolGH?.Value;
}
else if (sourceTarget != null)
{
tool = sourceTarget.Value.Tool;
}
if (hasSpeed)
{
GH_Speed speedGH = null;
DA.GetData("Speed", ref speedGH);
speed = speedGH?.Value;
}
else if (sourceTarget != null)
{
speed = sourceTarget.Value.Speed;
}
if (hasZone)
{
GH_Zone zoneGH = null;
DA.GetData("Zone", ref zoneGH);
zone = zoneGH?.Value;
}
else if (sourceTarget != null)
{
zone = sourceTarget.Value.Zone;
}
if (hasCommand)
{
GH_Command commandGH = null;
DA.GetData("Command", ref commandGH);
command = commandGH?.Value;
}
else if (sourceTarget != null)
{
command = sourceTarget.Value.Command;
}
if (hasFrame)
{
GH_Frame frameGH = null;
DA.GetData("Frame", ref frameGH);
frame = frameGH?.Value;
}
else if (sourceTarget != null)
{
frame = sourceTarget.Value.Frame;
}
if (hasExternal)
{
GH_String externalGH = null;
if (!DA.GetData("External", ref externalGH))
{
external = new double[0];
}
else
{
string[] externalText = externalGH.Value.Split(',');
int length = externalText.Length;
external = new double[length];
for (int i = 0; i < length; i++)
{
if (!GH_Convert.ToDouble_Secondary(externalText[i], ref external[i]))
{
return;
}
}
}
}
else if (sourceTarget != null)
{
external = sourceTarget.Value.External;
}
Target target;
bool localCartesian = isCartesian;
if (hasTarget && !hasPlane && !hasJoints)
{
localCartesian = sourceTarget.Value is CartesianTarget;
}
if (localCartesian)
{
target = new CartesianTarget(plane, configuration, motion, tool, speed, zone, command, frame, external);
}
else
{
target = new JointTarget(joints, tool, speed, zone, command, frame, external);
}
if (sourceTarget != null)
{
target.ExternalCustom = sourceTarget.Value.ExternalCustom;
}
DA.SetData(0, new GH_Target(target));
}
protected override void SolveInstance(IGH_DataAccess DA)
{
List <double> angles = new List <double>();
double lin = 0;
double rot = 0;
Tool tool = ABBTool.Default;
GH_ObjectWrapper speedIn = new GH_ObjectWrapper();
GH_ObjectWrapper zoneIn = new GH_ObjectWrapper();
bool hasTool = true;
bool hasSpeed = true;
bool hasZone = true;
if (!DA.GetDataList(0, angles))
{
angles = new List <double> {
0, 0, 0, 0, 0, 0
}
}
;
if (!DA.GetData(1, ref tool))
{
hasTool = false;
}
if (!DA.GetData(2, ref speedIn))
{
hasSpeed = false;
}
if (!DA.GetData(3, ref zoneIn))
{
hasZone = false;
}
Speed speed = Speed.Default;
Zone zone = Zone.Default;
// Check to see if we have speeds, and if they are custom speed objects, otherwise use values.
if (hasSpeed)
{
// Default speed dictionary.
Dictionary <double, Speed> defaultSpeeds = Util.ABBSpeeds();
double speedVal = 0;
GH_ObjectWrapper speedObj = speedIn;
Type cType = speedObj.Value.GetType();
GH_Convert.ToDouble_Secondary(speedObj.Value, ref speedVal);
if (cType.Name == "Speed")
{
speed = speedObj.Value as Speed;
}
else
{
if (!defaultSpeeds.ContainsKey(speedVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied speed value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Speed for more info) or create a custom speed using the Speed component.");
}
else
{
speed = defaultSpeeds[speedVal];
}
}
}
// If we don't have any speed values, use the default speed.
else
{
speed = Speed.Default;
}
// Check to see if we have zones, and if they are custom zones objects, otherwise use values.
if (hasZone)
{
// Default zone dictionary.
Dictionary <double, Zone> defaultZones = Util.ABBZones();
double zoneVal = 0;
GH_ObjectWrapper zoneObj = zoneIn;
Type cType = zoneObj.Value.GetType();
GH_Convert.ToDouble_Secondary(zoneObj.Value, ref zoneVal);
if (cType.Name == "Zone")
{
zone = zoneObj.Value as Zone;
}
else
{
if (!defaultZones.ContainsKey(zoneVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied zone value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Zone for more info) or create a custom zone using the Zoe component.");
}
else
{
zone = defaultZones[zoneVal];
}
}
}
// If we don't have any zone values, use the default zone.
else
{
zone = Zone.Default;
}
if (useRotary)
{
if (!DA.GetData("Rotary", ref rot))
{
return;
}
}
if (useLinear)
{
if (!DA.GetData("Linear", ref lin))
{
return;
}
}
//Poor mans temporary fix
var rType = Manufacturer.ABB;
if (manufacturer)
{
rType = Manufacturer.Kuka;
}
Target jointTarget = new ABBTarget(angles, speed, zone, tool, rot, lin);
DA.SetData(0, jointTarget);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
this.Message = m_Manufacturer.ToString();
List <Plane> planes = new List <Plane>();
List <GH_ObjectWrapper> speedsIn = new List <GH_ObjectWrapper>();
List <GH_ObjectWrapper> zonesIn = new List <GH_ObjectWrapper>();
List <Tool> tools = new List <Tool>();
List <CSystem> wobjs = new List <CSystem>();
List <int> methods = new List <int>();
// Store the input lists of external axis values to synchronise with the targets.
List <double> eRotVals = new List <double>();
List <double> eLinVals = new List <double>();
bool hasSpeed = true;
bool hasZone = true;
if (!DA.GetDataList(0, planes))
{
return;
}
if (!DA.GetDataList(1, speedsIn))
{
hasSpeed = false;
}
if (!DA.GetDataList(2, zonesIn))
{
hasZone = false;
}
if (!DA.GetDataList(3, tools))
{
tools.Add(ABBTool.Default);
}
if (!DA.GetDataList(4, wobjs))
{
wobjs.Add(CSystem.Default);
}
// If interpolation types are specified, get them.
if (m_interpolationTypes)
{
if (!DA.GetDataList("*Method", methods))
{
return;
}
}
// If the inputs are present, get the external axis values.
if (extRotary)
{
if (!DA.GetDataList("Rotary", eRotVals))
{
return;
}
}
if (extLinear)
{
if (!DA.GetDataList("Linear", eLinVals))
{
return;
}
}
List <Speed> speeds = new List <Speed>();
List <Zone> zones = new List <Zone>();
// Check to see if we have speeds, and if they are custom speed objects, otherwise use values.
if (hasSpeed)
{
// Default speed dictionary.
Dictionary <double, Speed> defaultSpeeds = Util.ABBSpeeds();
double speedVal = 0;
foreach (GH_ObjectWrapper speedIn in speedsIn)
{
GH_ObjectWrapper speedObj = speedIn;
Type cType = speedObj.Value.GetType();
GH_Convert.ToDouble_Secondary(speedObj.Value, ref speedVal);
if (cType.Name == "Speed")
{
speeds.Add(speedObj.Value as Speed);
}
else
{
if (!defaultSpeeds.ContainsKey(speedVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied speed value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Speed for more info) or create a custom speed using the Speed component.");
}
else
{
speeds.Add(defaultSpeeds[speedVal]);
}
}
}
}
// If we don't have any speed values, use the default speed.
else
{
speeds.Add(Speed.Default);
}
// Check to see if we have zones, and if they are custom zones objects, otherwise use values.
if (hasZone)
{
// Default zone dictionary.
Dictionary <double, Zone> defaultZones = Util.ABBZones();
double zoneVal = 0;
foreach (GH_ObjectWrapper zoneIn in zonesIn)
{
GH_ObjectWrapper zoneObj = zoneIn;
Type cType = zoneObj.Value.GetType();
GH_Convert.ToDouble_Secondary(zoneObj.Value, ref zoneVal);
if (cType.Name == "Zone")
{
zones.Add(zoneObj.Value as Zone);
}
else
{
if (!defaultZones.ContainsKey(zoneVal))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Supplied zone value is non-standard. Please supply a default value (check the Axis Wiki - Controlling Zone for more info) or create a custom zone using the Zoe component.");
}
else
{
zones.Add(defaultZones[zoneVal]);
}
}
}
}
// If we don't have any zone values, use the default zone.
else
{
zones.Add(Zone.Default);
}
List <Target> targets = new List <Target>();
List <string> code = new List <string>();
Speed speed = Speed.Default;
Zone zone = Zone.Default;
Tool tool = ABBTool.Default;
CSystem wobj = CSystem.Default;
int method = 0;
// External axis placeholders
double extRot = Util.ExAxisTol;
double extLin = Util.ExAxisTol;
for (int i = 0; i < planes.Count; i++)
{
if (m_interpolationTypes)
{
// Method
if (i < methods.Count)
{
method = methods[i];
}
else if (methods != null && i >= methods.Count)
{
method = methods[methods.Count - 1];
}
else
{
method = 0;
}
}
if (speeds.Count > 0)
{
if (i < speeds.Count)
{
speed = speeds[i];
}
else
{
speed = speeds[speeds.Count - 1];
}
}
else
{
speed = Speed.Default;
}
// Zone
if (i < zones.Count)
{
zone = zones[i];
}
else
{
zone = zones[zones.Count - 1];
}
// External rotary axis
if (extRotary)
{
if (i < eRotVals.Count)
{
extRot = Math.Round(eRotVals[i], 3);
}
else
{
extRot = Math.Round(eRotVals[eRotVals.Count - 1], 3);
}
}
// External linear axis
if (extLinear)
{
if (i < eLinVals.Count)
{
extLin = Math.Round(eLinVals[i], 3);
}
else
{
extLin = Math.Round(eLinVals[eLinVals.Count - 1], 3);
}
}
// Tools
if (tools.Count > 0)
{
if (i < tools.Count)
{
tool = tools[i];
}
else
{
tool = tools[tools.Count - 1];
}
}
else
{
tool = ABBTool.Default;
}
// Wobjs
if (wobjs.Count > 0)
{
if (i < wobjs.Count)
{
wobj = wobjs[i];
}
else
{
wobj = wobjs[wobjs.Count - 1];
}
}
else
{
wobj = CSystem.Default;
}
// Methods
MotionType mType = MotionType.Linear;
if (method == 1)
{
mType = MotionType.Joint;
}
else if (method == 2)
{
mType = MotionType.AbsoluteJoint;
}
// Create the robot target.
Target robTarg = new ABBTarget(planes[i], mType, speed, zone, tool, wobj, extRot, extLin);
targets.Add(robTarg);
code.Add(robTarg.RobStr(m_Manufacturer));
}
DA.SetDataList(0, targets);
m_targets = targets;
List <Point3d> points = new List <Point3d>();
foreach (Target t in targets)
{
points.Add(t.Position);
}
m_bBox = new BoundingBox(points);
/*
* if (m_outputTarget)
* DA.SetDataList("Code", code);
*/
}
