/// <summary>
/// Saves the joint information to the most recently loaded assembly file. Returns false if fails.
/// </summary>
/// <returns>True if all data was saved successfully.</returns>
public bool SaveRobotData(AssemblyDocument asmDocument)
{
if (asmDocument == null)
{
return(false);
}
if (RobotBaseNode == null)
{
return(false);
}
var propertySets = asmDocument.PropertySets;
// Save Robot Data
try
{
// Save global robot data
var propertySet = InventorDocumentIOUtils.GetPropertySet(propertySets, "bxd-robotdata");
if (RobotName != null)
{
InventorDocumentIOUtils.SetProperty(propertySet, "robot-name", RobotName);
}
InventorDocumentIOUtils.SetProperty(propertySet, "robot-weight-kg", RobotWeightKg * 10.0f); // x10 for better accuracy
InventorDocumentIOUtils.SetProperty(propertySet, "robot-prefer-metric", RobotPreferMetric);
InventorDocumentIOUtils.SetProperty(propertySet, "robot-driveTrainType", (int)RobotBaseNode.driveTrainType);
// Save joint data
return(SaveJointData(propertySets, RobotBaseNode));
}
catch (Exception e)
{
MessageBox.Show("Robot data could not be save to the inventor file. The following error occured:\n" + e.Message);
return(false);
}
}
/// <summary>
/// Loads the joint information from the Inventor assembly file. Returns false if fails.
/// </summary>
/// <param name="asmDocument">Assembly document to load data from. Data will be saved to this document when <see cref="SaveRobotData"/> is called.</param>
/// <returns>True if all data was loaded successfully.</returns>
public bool LoadRobotData(AssemblyDocument asmDocument)
{
if (asmDocument == null)
{
return(false);
}
if (RobotBaseNode == null)
{
return(false);
}
var propertySets = asmDocument.PropertySets;
// Load Robot Data
try
{
// Load global robot data
var propertySet = InventorDocumentIOUtils.GetPropertySet(propertySets, "bxd-robotdata", false);
if (propertySet != null)
{
RobotName = InventorDocumentIOUtils.GetProperty(propertySet, "robot-name", "");
RobotWeightKg = InventorDocumentIOUtils.GetProperty(propertySet, "robot-weight-kg", 0) / 10.0f; // Stored at x10 for better accuracy
RobotPreferMetric = InventorDocumentIOUtils.GetProperty(propertySet, "robot-prefer-metric", false);
RobotBaseNode.driveTrainType = (RigidNode_Base.DriveTrainType)InventorDocumentIOUtils.GetProperty(propertySet, "robot-driveTrainType", (int)RigidNode_Base.DriveTrainType.NONE);
}
// Load joint data
return(LoadJointData(propertySets, RobotBaseNode) && (propertySet != null));
}
catch (Exception e)
{
MessageBox.Show("Robot data could not be loaded from the inventor file. The following error occured:\n" + e.Message);
return(false);
}
}
/// <summary>
/// Recursive utility for JointDataSave.
/// </summary>
/// <returns>True if all data was saved successfully.</returns>
private static bool SaveJointData(PropertySets assemblyPropertySets, RigidNode_Base currentNode)
{
var allSuccessful = true;
foreach (var connection in currentNode.Children)
{
var joint = connection.Key;
var child = connection.Value;
// Name of the property set in inventor
var setName = "bxd-jointdata-" + child.GetModelID();
// Create the property set if it doesn't exist
var propertySet = InventorDocumentIOUtils.GetPropertySet(assemblyPropertySets, setName);
// Add joint properties to set
// Save driver information
var driver = joint.cDriver;
InventorDocumentIOUtils.SetProperty(propertySet, "has-driver", driver != null);
InventorDocumentIOUtils.SetProperty(propertySet, "weight", joint.weight);
if (driver != null)
{
InventorDocumentIOUtils.SetProperty(propertySet, "driver-type", (int)driver.GetDriveType());
InventorDocumentIOUtils.SetProperty(propertySet, "motor-type", (int)driver.GetMotorType());
InventorDocumentIOUtils.SetProperty(propertySet, "driver-port1", driver.port1);
InventorDocumentIOUtils.SetProperty(propertySet, "driver-port2", driver.port2);
InventorDocumentIOUtils.SetProperty(propertySet, "driver-isCan", driver.isCan);
InventorDocumentIOUtils.SetProperty(propertySet, "driver-lowerLimit", driver.lowerLimit);
InventorDocumentIOUtils.SetProperty(propertySet, "driver-upperLimit", driver.upperLimit);
InventorDocumentIOUtils.SetProperty(propertySet, "driver-inputGear", driver.InputGear); // writes the input gear to the .IAM file incase the user wants to reexport their robot later
InventorDocumentIOUtils.SetProperty(propertySet, "driver-outputGear", driver.OutputGear); // writes the ouotput gear to the .IAM file incase the user wants to reexport their robot later
InventorDocumentIOUtils.SetProperty(propertySet, "driver-hasBrake", driver.hasBrake);
// Save other properties stored in meta
// Wheel information
var wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
InventorDocumentIOUtils.SetProperty(propertySet, "has-wheel", wheel != null);
if (wheel != null)
{
InventorDocumentIOUtils.SetProperty(propertySet, "wheel-type", (int)wheel.type);
InventorDocumentIOUtils.SetProperty(propertySet, "wheel-isDriveWheel", wheel.isDriveWheel);
InventorDocumentIOUtils.SetProperty(propertySet, "wheel-frictionLevel", (int)wheel.GetFrictionLevel());
}
// Pneumatic information
var pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
InventorDocumentIOUtils.SetProperty(propertySet, "has-pneumatic", pneumatic != null);
if (pneumatic != null)
{
InventorDocumentIOUtils.SetProperty(propertySet, "pneumatic-diameter", (double)pneumatic.width);
InventorDocumentIOUtils.SetProperty(propertySet, "pneumatic-pressure", (int)pneumatic.pressureEnum);
}
// Elevator information
var elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
InventorDocumentIOUtils.SetProperty(propertySet, "has-elevator", elevator != null);
if (elevator != null)
{
InventorDocumentIOUtils.SetProperty(propertySet, "elevator-type", (int)elevator.type);
}
}
for (var i = 0; i < InventorDocumentIOUtils.GetProperty(propertySet, "num-sensors", 0); i++) // delete existing sensors
{
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorType" + i);
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorPortA" + i);
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorPortConA" + i);
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorPortB" + i);
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorPortConB" + i);
InventorDocumentIOUtils.RemoveProperty(propertySet, "sensorConversion" + i);
}
InventorDocumentIOUtils.SetProperty(propertySet, "num-sensors", joint.attachedSensors.Count);
for (var i = 0; i < joint.attachedSensors.Count; i++)
{
InventorDocumentIOUtils.SetProperty(propertySet, "sensorType" + i, (int)joint.attachedSensors[i].type);
InventorDocumentIOUtils.SetProperty(propertySet, "sensorPortA" + i, joint.attachedSensors[i].portA);
InventorDocumentIOUtils.SetProperty(propertySet, "sensorPortConA" + i, (int)joint.attachedSensors[i].conTypePortA);
InventorDocumentIOUtils.SetProperty(propertySet, "sensorPortB" + i, joint.attachedSensors[i].portB);
InventorDocumentIOUtils.SetProperty(propertySet, "sensorPortConB" + i, (int)joint.attachedSensors[i].conTypePortB);
InventorDocumentIOUtils.SetProperty(propertySet, "sensorConversion" + i, joint.attachedSensors[i].conversionFactor);
}
// Recur along this child
if (!SaveJointData(assemblyPropertySets, child))
{
allSuccessful = false;
}
}
// Save was successful
return(allSuccessful);
}
/// <summary>
/// Recursive utility for JointDataLoad.
/// </summary>
/// <param name="propertySets">Group of property sets to add any new property sets to.</param>
/// <param name="currentNode">Current node to save joint data of.</param>
/// <returns>True if all data was loaded successfully.</returns>
private static bool LoadJointData(PropertySets propertySets, RigidNode_Base currentNode)
{
var allSuccessful = true;
foreach (var connection in currentNode.Children)
{
var joint = connection.Key;
var child = connection.Value;
// Name of the property set in inventor
var setName = "bxd-jointdata-" + child.GetModelID();
// Attempt to open the property set
var propertySet = InventorDocumentIOUtils.GetPropertySet(propertySets, setName, false);
// If the property set does not exist, stop loading data
if (propertySet == null)
{
return(false);
}
joint.weight = InventorDocumentIOUtils.GetProperty(propertySet, "weight", 10);
// Get joint properties from set
// Get driver information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-driver", false))
{
if (joint.cDriver == null)
{
joint.cDriver = new JointDriver((JointDriverType)InventorDocumentIOUtils.GetProperty(propertySet, "driver-type", (int)JointDriverType.MOTOR));
}
var driver = joint.cDriver;
joint.cDriver.motor = (MotorType)InventorDocumentIOUtils.GetProperty(propertySet, "motor-type", (int)MotorType.GENERIC);
joint.cDriver.port1 = InventorDocumentIOUtils.GetProperty(propertySet, "driver-port1", 0);
joint.cDriver.port2 = InventorDocumentIOUtils.GetProperty(propertySet, "driver-port2", -1);
joint.cDriver.isCan = InventorDocumentIOUtils.GetProperty(propertySet, "driver-isCan", false);
joint.cDriver.lowerLimit = InventorDocumentIOUtils.GetProperty(propertySet, "driver-lowerLimit", 0.0f);
joint.cDriver.upperLimit = InventorDocumentIOUtils.GetProperty(propertySet, "driver-upperLimit", 0.0f);
joint.cDriver.InputGear = InventorDocumentIOUtils.GetProperty(propertySet, "driver-inputGear", 0.0f); // writes the gearing that the user last had in the exporter to the current gearing value
joint.cDriver.OutputGear = InventorDocumentIOUtils.GetProperty(propertySet, "driver-outputGear", 0.0f); // writes the gearing that the user last had in the exporter to the current gearing value
joint.cDriver.hasBrake = InventorDocumentIOUtils.GetProperty(propertySet, "driver-hasBrake", false);
// Get other properties stored in meta
// Wheel information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-wheel", false))
{
if (driver.GetInfo <WheelDriverMeta>() == null)
{
driver.AddInfo(new WheelDriverMeta());
}
var wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
wheel.type = (WheelType)InventorDocumentIOUtils.GetProperty(propertySet, "wheel-type", (int)WheelType.NORMAL);
wheel.isDriveWheel = InventorDocumentIOUtils.GetProperty(propertySet, "wheel-isDriveWheel", false);
wheel.SetFrictionLevel((FrictionLevel)InventorDocumentIOUtils.GetProperty(propertySet, "wheel-frictionLevel", (int)FrictionLevel.MEDIUM));
}
// Pneumatic information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-pneumatic", false))
{
if (driver.GetInfo <PneumaticDriverMeta>() == null)
{
driver.AddInfo(new PneumaticDriverMeta());
}
var pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
pneumatic.width = InventorDocumentIOUtils.GetProperty(propertySet, "pneumatic-diameter", (double)0.5);
pneumatic.pressureEnum = (PneumaticPressure)InventorDocumentIOUtils.GetProperty(propertySet, "pneumatic-pressure", (int)PneumaticPressure.MEDIUM);
}
// Elevator information
if (InventorDocumentIOUtils.GetProperty(propertySet, "has-elevator", false))
{
if (driver.GetInfo <ElevatorDriverMeta>() == null)
{
driver.AddInfo(new ElevatorDriverMeta());
}
var elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
elevator.type = (ElevatorType)InventorDocumentIOUtils.GetProperty(propertySet, "elevator-type", (int)ElevatorType.NOT_MULTI);
if (((int)elevator.type) > 7)
{
elevator.type = ElevatorType.NOT_MULTI;
}
}
for (var i = 0; i < InventorDocumentIOUtils.GetProperty(propertySet, "num-sensors", 0); i++)
{
RobotSensor addedSensor;
addedSensor = new RobotSensor((RobotSensorType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorType" + i, (int)RobotSensorType.ENCODER));
addedSensor.portA = ((int)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortA" + i, 0));
addedSensor.portB = ((int)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortB" + i, 0));
addedSensor.conTypePortA = ((SensorConnectionType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortConA" + i, (int)SensorConnectionType.DIO));
addedSensor.conTypePortB = ((SensorConnectionType)InventorDocumentIOUtils.GetProperty(propertySet, "sensorPortConB" + i, (int)SensorConnectionType.DIO));
addedSensor.conversionFactor = InventorDocumentIOUtils.GetProperty(propertySet, "sensorConversion" + i, 0.0);
joint.attachedSensors.Add(addedSensor);
}
}
// Recur along this child
if (!LoadJointData(propertySets, child))
{
allSuccessful = false;
}
}
// Save was successful
return(allSuccessful);
}
