// Beginning method for exporting the full package
public void exportRobot()
{
//Setting up the progress bar
int progressBarBound = Common.getCount(mRobot.BaseLink);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
mRobot.name = mPackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
manifest Manifest = new manifest(mPackageName);
Manifest.writeElement(manifestWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(mPackageName, mRobot.name + ".URDF");
rviz.writeFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".URDF");
gazebo.writeFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
string filename = exportFiles(mRobot.BaseLink, package, 0);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
Common.showAllComponents(ActiveSWModel, hiddenComponents);
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
progressBar.End();
}
// 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 = Common.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 = Common.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");
Common.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();
}
//Hides the components from a list
public static void HideComponents(ModelDoc2 model, List <Component2> components)
{
SelectComponents(model, components, true);
model.HideComponent2();
}
//Hides the components from a link
public static void hideComponents(ModelDoc2 model, link Link)
{
selectComponents(model, Link, true);
model.HideComponent2();
}
private bool HideCompAndShowCross(ModelDoc2 swModel, string f1, string f2, out string comp1Name, out string comp2Name,
out List<Component2> list)
{
bool ret = false;
Component2 swComp1, swComp2;
list = new List<Component2>();
comp1Name = " ";
comp2Name = " ";
if (GetComponentByName(swModel, f1, false, out swComp1) &&
GetComponentByName(swModel, f2, false, out swComp2))
{
var swComponents = new LinkedList<Component2>();
comp1Name = swComp1.Name;
comp2Name = swComp2.Name;
if (comp1Name != comp2Name)
{
var swConfig = (Configuration)swModel.GetActiveConfiguration();
if (swConfig != null)
{
var swRootComponent = (Component2)swConfig.GetRootComponent();
if (GetComponents(swRootComponent,
swComponents, false, false))
{
foreach (var component in swComponents)
{
if ((component.Name != swComp1.Name) && (component.Name != swComp2.Name) &&
(component.Visible == 1))
{
component.Select(false);
swModel.HideComponent2();
swModel.ClearSelection();
list.Add(component);
ret = true;
}
}
return ret;
}
}
}
}
return false;
}
/// <summary>
/// 当结果返回True 时 表示两个零件不一样，结果false时表示 两个零件一样
/// </summary>
/// <param name="sendTocustomer"></param>
/// <param name="localModel"></param>
/// <returns></returns>
public bool CheckTwoParts(string sendTocustomer, string localModel)
{
bool different1 = false;
bool different2 = false;
swApp = ConnectToSolidWorks();
// swApp = ConnectToSolidWorks();
//加载参考关系零件
swApp.SetUserPreferenceIntegerValue((int)swUserPreferenceIntegerValue_e.swLoadExternalReferences, (int)swLoadExternalReferences_e.swLoadExternalReferences_ChangedOnly);
//后台模式 前台不显示界面
swApp.EnableBackgroundProcessing = true;
//禁止记录文件路径
swApp.SetUserPreferenceToggle((int)swUserPreferenceToggle_e.swLockRecentDocumentsList, true);
swApp.OpenDoc(localModel, 1);
swApp.OpenDoc(sendTocustomer, 1);
ModelDoc2 swModel = (ModelDoc2)swApp.ActiveDoc;
string LocalPath = System.IO.Directory.GetParent(swModel.GetPathName()).ToString();
string tempAssembly = swApp.GetUserPreferenceStringValue((int)swUserPreferenceStringValue_e.swDefaultTemplateAssembly);
AssemblyDoc assemblyDoc = (AssemblyDoc)swApp.NewDocument(tempAssembly, 0, 0, 0);
Component2 insertComponentSendtoCustomer = assemblyDoc.AddComponent5(sendTocustomer, 0, "", false, "", 0, 0, 0);
Component2 insertComponentLocal = assemblyDoc.AddComponent5(localModel, 0, "", false, "", 0, 0, 0);
string sendSelect = insertComponentSendtoCustomer.GetSelectByIDString();
string localSelect = insertComponentLocal.GetSelectByIDString();
swModel = (ModelDoc2)swApp.ActiveDoc;
bool b1 = swModel.Extension.SelectByID2("Point1@Origin" + "@" + sendSelect, "EXTSKETCHPOINT", 0, 0, 0, false, 0, null, 0);
bool b2 = swModel.Extension.SelectByID2("Point1@Origin" + "@" + localSelect, "EXTSKETCHPOINT", 0, 0, 0, true, 0, null, 0);
int longstatus;
Mate2 mate2 = assemblyDoc.AddMate5(20, -1, false, 0, 0.001, 0.001, 0.001, 0.001, 0, 0, 0, false, false, 0, out longstatus);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.SaveAs(LocalPath + @"\TopCheck.sldasm");
//不显示特征树
//swModel.Extension.HideFeatureManager(true);
swModel.ClearSelection2(true);
//swModel.FeatureManager.ViewFeatures = false;
//FeatureManager featureManager = swModel.FeatureManager;
//禁用特征树
//featureManager.EnableFeatureTree = false;
// swModel.FeatureManager.EnableFeatureTreeWindow = false;
#region first join
Component2 sendToCustomerBodies = default(Component2);
List <Component2> sendToCustomerBodiesList = new List <Component2>();
object swFaceOrPlane = default(object);
assemblyDoc.InsertNewVirtualPart(swFaceOrPlane, out sendToCustomerBodies);
sendToCustomerBodies.Select(true);
assemblyDoc.FixComponent();
sendToCustomerBodies.Select(true);
assemblyDoc.EditPart();
insertComponentSendtoCustomer.Select(false);
insertComponentLocal.Select(true);
assemblyDoc.InsertJoin2(false, false);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.BreakAllExternalReferences();
object[] splits = sendToCustomerBodies.Name2.Split('^');
// string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + splits[0];
string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + "localBodies-1";
ModelDoc2 compModel = default(ModelDoc2);
compModel = (ModelDoc2)sendToCustomerBodies.GetModelDoc();
if (compModel.GetType() == (int)swDocumentTypes_e.swDocPART)
{
compName = compName + ".sldprt";
}
else
{
compName = compName + ".sldasm";
}
bool ret;
ret = sendToCustomerBodies.SaveVirtualComponent(compName);
sendToCustomerBodiesList.Add(sendToCustomerBodies);
insertComponentSendtoCustomer.Select(false);
swModel = (ModelDoc2)sendToCustomerBodies.GetModelDoc2();
#region 获取所有零件中的零件，每一个实体做一次反切
List <string> bodyNamesCustomer = new List <string>();
PartDoc swPart = null;
object vBody;
swPart = (PartDoc)swModel;
// Solid bodies
object[] vBodyArr = null;
Body2 swBody = default(Body2);
MathTransform swMathTrans = null;
vBodyArr = (object[])swPart.GetBodies2((int)swBodyType_e.swSolidBody, true);
if ((vBodyArr != null))
{
// Debug.Print(" Number of solid bodies: " + vBodyArr.Length);
foreach (object vBody_loopVariable in vBodyArr)
{
vBody = vBody_loopVariable;
swBody = (Body2)vBody;
string[] vConfigName = null;
vConfigName = (string[])swModel.GetConfigurationNames();
string sMatDB = "";
string sMatName = swBody.GetMaterialPropertyName("", out sMatDB);
//bRet = swBody.RemoveMaterialProperty((int)swInConfigurationOpts_e.swAllConfiguration, (vConfigName));
//Debug.Print("Body--> " + swBody.Name + " " + "");
bodyNamesCustomer.Add(swBody.Name);
}
}
//如果实体数量大于1，则继续新建对应数量的join 实体。
OnlyKeepNamedBody(bodyNamesCustomer[0], sendToCustomerBodies.GetSelectByIDString(), assemblyDoc, sendToCustomerBodies, insertComponentSendtoCustomer, ref different1);
if (bodyNamesCustomer.Count > 1)
{
assemblyDoc.EditAssembly();
for (int i = 0; i < bodyNamesCustomer.Count - 1; i++)
{
Component2 returnpart = default(Component2);
var partSelect = CreateNewJoinPart(assemblyDoc, insertComponentSendtoCustomer, insertComponentLocal, swModel, "localBodies-" + (i + 2), out returnpart);
sendToCustomerBodiesList.Add(returnpart);
OnlyKeepNamedBody(bodyNamesCustomer[i + 1], partSelect, assemblyDoc, returnpart, insertComponentSendtoCustomer, ref different1);
}
}
// boolstatus = Part.Extension.SelectByID2("Join1[2]@localBodies-1@TopCheck", "SOLIDBODY", 0, 0, 0, True, 0, Nothing, 0)
//Dim myFeature As Object
//Set myFeature = Part.FeatureManager.InsertDeleteBody2(True)
#endregion 获取所有零件中的零件，每一个实体做一次反切
//assemblyDoc.InsertCavity4(0, 0, 0, true, 1, -1);
Feature theFeature;
//theFeature = swModel.FeatureByPositionReverse(0);
//if (theFeature.Name.Contains("Cavity"))
//{
// //theFeature.Select(true);
// swModel = (ModelDoc2)swApp.ActiveDoc;
// bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
// swModel.BreakAllExternalReferences();
// different1 = true;
// //JoinPart1 留下的: 发给客户的没有此部分。 而本地零件中有
//}
//else
//{
// //无法Join时表示 全切了。
// swModel = (ModelDoc2)swApp.ActiveDoc;
// bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
// swModel.EditSuppress();
//}
//sendToCustomerBodies.Select(true);
assemblyDoc.EditAssembly();
#endregion first join
#region sercond join2
Component2 localBodies = default(Component2);
List <Component2> LocalBodiesList = new List <Component2>();
assemblyDoc.InsertNewVirtualPart(swFaceOrPlane, out localBodies);
localBodies.Select(true);
assemblyDoc.FixComponent();
localBodies.Select(true);
assemblyDoc.EditPart();
insertComponentSendtoCustomer.Select(false);
insertComponentLocal.Select(true);
assemblyDoc.InsertJoin2(false, false);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.BreakAllExternalReferences();
splits = localBodies.Name2.Split('^');
// string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + splits[0];
compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + "sendToCustomerBodies-1";
compModel = default(ModelDoc2);
compModel = (ModelDoc2)localBodies.GetModelDoc();
if (compModel.GetType() == (int)swDocumentTypes_e.swDocPART)
{
compName = compName + ".sldprt";
}
else
{
compName = compName + ".sldasm";
}
ret = localBodies.SaveVirtualComponent(compName);
LocalBodiesList.Add(localBodies);
insertComponentLocal.Select(false);
swModel = (ModelDoc2)localBodies.GetModelDoc2();
#region 获取所有零件中的零件，每一个实体做一次反切
List <string> bodyNamesLocal = new List <string>();
PartDoc swPart2 = null;
object vBody2;
swPart2 = (PartDoc)swModel;
// Solid bodies
object[] vBodyArr2 = null;
Body2 swBody2 = default(Body2);
MathTransform swMathTrans2 = null;
vBodyArr2 = (object[])swPart2.GetBodies2((int)swBodyType_e.swSolidBody, true);
if ((vBodyArr2 != null))
{
// Debug.Print(" Number of solid bodies: " + vBodyArr.Length);
foreach (object vBody_loopVariable in vBodyArr2)
{
vBody2 = vBody_loopVariable;
swBody2 = (Body2)vBody2;
string[] vConfigName = null;
vConfigName = (string[])swModel.GetConfigurationNames();
string sMatDB = "";
string sMatName = swBody2.GetMaterialPropertyName("", out sMatDB);
//bRet = swBody.RemoveMaterialProperty((int)swInConfigurationOpts_e.swAllConfiguration, (vConfigName));
bodyNamesLocal.Add(swBody2.Name);
}
}
//如果实体数量大于1，则继续新建对应数量的join 实体。
OnlyKeepNamedBody(bodyNamesLocal[0], localBodies.GetSelectByIDString(), assemblyDoc, localBodies, insertComponentLocal, ref different2);
if (bodyNamesLocal.Count > 1)
{
assemblyDoc.EditAssembly();
for (int i = 0; i < bodyNamesLocal.Count - 1; i++)
{
Component2 returnpart = default(Component2);
var partSelect = CreateNewJoinPart(assemblyDoc, insertComponentSendtoCustomer, insertComponentLocal, swModel, "sendToCustomerBodies-" + (i + 2), out returnpart);
LocalBodiesList.Add(returnpart);
OnlyKeepNamedBody(bodyNamesLocal[i + 1], partSelect, assemblyDoc, returnpart, insertComponentLocal, ref different2);
}
}
// boolstatus = Part.Extension.SelectByID2("Join1[2]@localBodies-1@TopCheck", "SOLIDBODY", 0, 0, 0, True, 0, Nothing, 0)
//Dim myFeature As Object
//Set myFeature = Part.FeatureManager.InsertDeleteBody2(True)
#endregion 获取所有零件中的零件，每一个实体做一次反切
//assemblyDoc.InsertCavity4(0, 0, 0, true, 1, -1);
//theFeature = swModel.FeatureByPositionReverse(0);
//swModel = (ModelDoc2)localBodies.GetModelDoc2();
//theFeature = swModel.FeatureByPositionReverse(0);
//if (theFeature.Name.Contains("Cavity"))
//{
// //theFeature.Select(true);
// swModel = (ModelDoc2)swApp.ActiveDoc;
// bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + localBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
// swModel.BreakAllExternalReferences();
// different2 = true;
// //JoinPart2 留下的: 发给客户的有此部分。 而本地零件中没有
//}
//else
//{
// //无法Join时表示 全切了。
// swModel = (ModelDoc2)swApp.ActiveDoc;
// bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
// swModel.EditSuppress();
//}
//localBodies.Select(true);
//assemblyDoc.EditAssembly();
#endregion sercond join2
#region joinPartPublic
Component2 publicBodies = default(Component2);
assemblyDoc.InsertNewVirtualPart(swFaceOrPlane, out publicBodies);
publicBodies.Select(true);
assemblyDoc.FixComponent();
publicBodies.Select(true);
assemblyDoc.EditPart();
insertComponentSendtoCustomer.Select(false);
insertComponentLocal.Select(true);
assemblyDoc.InsertJoin2(false, false);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.BreakAllExternalReferences();
splits = publicBodies.Name2.Split('^');
// string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + splits[0];
compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + "publicBodies";
compModel = default(ModelDoc2);
compModel = (ModelDoc2)publicBodies.GetModelDoc();
if (compModel.GetType() == (int)swDocumentTypes_e.swDocPART)
{
compName = compName + ".sldprt";
}
else
{
compName = compName + ".sldasm";
}
ret = publicBodies.SaveVirtualComponent(compName);
swModel.ClearSelection();
foreach (var item in sendToCustomerBodiesList)
{
item.Select(false);
assemblyDoc.InsertCavity4(0, 0, 0, true, 1, -1);
theFeature = (Feature)swModel.FeatureByPositionReverse(0);
swModel = (ModelDoc2)publicBodies.GetModelDoc2();
theFeature = (Feature)swModel.FeatureByPositionReverse(0);
if (theFeature.Name.Contains("Cavity"))
{
//theFeature.Select(true);
swModel = (ModelDoc2)swApp.ActiveDoc;
bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + publicBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
swModel.BreakAllExternalReferences();
//joinPartPublic 留下的: 发给客户的有此部分。 而本地零件中没有
}
else
{
}
}
foreach (var item in LocalBodiesList)
{
item.Select(false);
assemblyDoc.InsertCavity4(0, 0, 0, true, 1, -1);
theFeature = (Feature)swModel.FeatureByPositionReverse(0);
swModel = (ModelDoc2)publicBodies.GetModelDoc2();
theFeature = (Feature)swModel.FeatureByPositionReverse(0);
if (theFeature.Name.Contains("Cavity"))
{
//theFeature.Select(true);
swModel = (ModelDoc2)swApp.ActiveDoc;
bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + publicBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
swModel.BreakAllExternalReferences();
//joinPartPublic 留下的: 发给客户的有此部分。 而本地零件中没有
}
else
{
}
}
publicBodies.Select(true);
assemblyDoc.EditAssembly();
#endregion joinPartPublic
foreach (var item in sendToCustomerBodiesList)
{
item.Select(false);
setColour(Color.Red);
}
foreach (var item in LocalBodiesList)
{
item.Select(false);
setColour(Color.Blue);
}
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.ClearSelection2(true);
insertComponentLocal.Select(false);
insertComponentSendtoCustomer.Select(true);
swModel.HideComponent2();
swModel.ClearSelection2(true);
publicBodies.Select(false);
assemblyDoc.SetComponentTransparent(true);
setColour(Color.Green);
swModel.EditRebuild3();
swModel.Save();
swModel.SaveAs3(LocalPath + @"\01_CheckResult.sldprt", 0, 0);
swApp.CloseDoc("TopCheck.sldasm");
swApp.CloseAllDocuments(true);
swApp.OpenDoc(LocalPath + @"\01_CheckResult.sldprt", 1);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.ShowNamedView2("*Isometric", 7);
swModel.ViewZoomtofit2();
swApp.SetUserPreferenceToggle((int)swUserPreferenceToggle_e.swLockRecentDocumentsList, false);
try
{
System.IO.File.Delete(LocalPath + @"\TopCheck.sldasm");
System.IO.File.Delete(LocalPath + @"\localBodies.sldprt");
System.IO.File.Delete(LocalPath + @"\sendToCustomerBodies.sldprt");
System.IO.File.Delete(LocalPath + @"\publicBodies.sldprt");
}
catch (Exception)
{
}
//第二次反向剪切
swApp.CloseDoc(sendTocustomer);
swApp.CloseDoc(localModel);
swModel.FeatureManager.EnableFeatureTree = true;
swApp.SetUserPreferenceIntegerValue((int)swUserPreferenceIntegerValue_e.swLoadExternalReferences, 2);
if (different1 == false && different2 == false)
{
return(false);
}
else
{
return(true);
}
}
// Beginning method for exporting the full package
public void exportRobot()
{
//Setting up the progress bar
System.Diagnostics.Debug.WriteLine("Beginning the export process");
int progressBarBound = Common.getCount(mRobot.BaseLink);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
System.Diagnostics.Debug.WriteLine("Creating package directories");
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
mRobot.name = mPackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".urdf";
string windowsPackageXMLFileName = package.WindowsPackageDirectory + "package.xml";
//Create CMakeLists
System.Diagnostics.Debug.WriteLine("Creating CMakeLists.txt at " + package.WindowsCMakeLists);
package.createCMakeLists();
//Create Config joint names, not sure how this is used...
System.Diagnostics.Debug.WriteLine("Creating joint names config at " + package.WindowsConfigYAML);
package.createConfigYAML(mRobot.getJointNames(false));
//Creating package.xml file
PackageXMLWriter packageXMLWriter = new PackageXMLWriter(windowsPackageXMLFileName);
PackageXML packageXML = new PackageXML(mPackageName);
packageXML.writeElement(packageXMLWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(mPackageName, mRobot.name + ".urdf");
System.Diagnostics.Debug.WriteLine("Creating RVIZ launch file");
rviz.writeFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
System.Diagnostics.Debug.WriteLine("Creating Gazebo launch file");
Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".urdf");
gazebo.writeFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
string filename = exportFiles(mRobot.BaseLink, package, 0);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
Common.showAllComponents(ActiveSWModel, hiddenComponents);
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
progressBar.End();
}
//Hides the components from a list
public static void hideComponents(ModelDoc2 model, List<Component2> components)
{
selectComponents(model, components, true);
model.HideComponent2();
}
//Hides the components from a link
public static void hideComponents(ModelDoc2 model, link Link)
{
selectComponents(model, Link, true);
model.HideComponent2();
}
