static List <string> GenerateXMLTags(string partName, MassPropertySet set)
{
List <string> result = new List <string>();
//We create properties that can be used by urdf.xacro xml structure
/* ex:
* < xacro:property name = "proprerty_name" value = "0.01" />
*/
string xacroPropertyTemplate = " <xacro:property name=\"{0}\" value=\"{1:F15}\" />";
if (set.IsValid())
{
result.Add(String.Format(xacroPropertyTemplate, (partName + "_Mass"), set.Mass()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_XX"), set.MoI_XX()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_XY"), set.MoI_XY()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_XZ"), set.MoI_XZ()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_YY"), set.MoI_YY()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_YZ"), set.MoI_YZ()));
result.Add(String.Format(xacroPropertyTemplate, (partName + "_MoI_ZZ"), set.MoI_ZZ()));
result.Add(" "); //Add an empty line
}
else
{
Console.WriteLine(String.Format("Could not generate tags for part: {0}, could not retrieve good data", partName));
}
return(result);
}
static void Main(string[] args)
{
if (args.Length != 2 || args[0] == "-h")
{
PrintUsage();
return;
}
List <string> filesToParse = new List <string>();
List <string> meshTitles = new List <string>();
if (!ParseIndexFile(args[0], ref filesToParse, ref meshTitles))
{
Console.WriteLine("Couldn't read index file");
return;
}
if (filesToParse.Count != meshTitles.Count)
{
Console.WriteLine("Something amiss: Had different number of files than mesh names. Maybe the index file specified is malformed?");
Console.WriteLine("Num Files: " + filesToParse.Count + ", Num Mesh Names: " + meshTitles.Count);
return;
}
SldWorks.SldWorks swApp = new SldWorks.SldWorks();
List <string> xmlTags = new List <string>();
try {
for (int i = 0; i < filesToParse.Count; i++)
{
SldWorks.ModelDoc2 doc = OpenDoc(swApp, filesToParse[i]);
if (doc == null)
{
Console.WriteLine("Null Doc: " + filesToParse[i]);
Console.WriteLine("Check that the index file specified is properly formed.");
}
else
{
MassPropertySet mpSet = GetMassPropertiesFromDoc(doc);
xmlTags.AddRange(GenerateXMLTags(meshTitles[i], mpSet));
/* It makes the most sense to close the solidworks document at this point...
* but for some reason that was giving errors... maybe something about lazy loading?
* So instead we leave them all open until we are done with them */
// doc.Close();
}
}
}
catch
{
Console.WriteLine("Problem while reading from solidworks files");
}
swApp.ExitApp();
swApp = null;
Console.WriteLine("Outputting to xacro");
OutputToXacroFile(args[1], xmlTags);
}
static MassPropertySet GetMassPropertiesFromDoc(SldWorks.ModelDoc2 doc)
{
/* Open the model doc extension object
* I think they just made this so that they didnt have to change the original model object interface?
* Their API is a piece of work... */
SldWorks.ModelDocExtension docExtension = doc.Extension;
/* One option is to use the GetMassProperties function,
* but this will only return mass properties about the centre of mass, aligned with the assemblies default coordinate system
* see: http://help.solidworks.com/2015/English/api/sldworksapi/SOLIDWORKS.Interop.sldworks~SOLIDWORKS.Interop.sldworks.IModelDocExtension~GetMassProperties.html
*/
/* Instead, we probably want to create our own MassProperties object,
* so that we can get mass properties with respect to a coordinate system
* of our choosing.
* see: http://help.solidworks.com/2015/English/api/sldworksapi/SolidWorks.Interop.sldworks~SolidWorks.Interop.sldworks.IModelDocExtension~CreateMassProperty.html
*/
SldWorks.MassProperty massProperty = docExtension.CreateMassProperty();
//Note: we don't call AddBodies or IAddBodies, so that all bodies are calculated by default
//Note: we must set the coordinate system
const string coordSystemName = "urdf_coordinate_system";
SldWorks.MathTransform coordinateSystemTransform = docExtension.GetCoordinateSystemTransformByName(coordSystemName);
MassPropertySet result = null;
//Try to fill result
if (coordinateSystemTransform == null)
{
Console.WriteLine("Coordinate System Transform was null.");
Console.WriteLine("Coordinate System with name: '" + coordSystemName + "' was not found.");
}
else
{
massProperty.SetCoordinateSystem(coordinateSystemTransform);
double[] centreOfMass = massProperty.CenterOfMass;
double mass = massProperty.Mass;
double[] momentsOfInertia = massProperty.GetMomentOfInertia((int)SwConst.swMassPropertyMoment_e.swMassPropertyMomentAboutCoordSys);
result = new MassPropertySet(centreOfMass, mass, momentsOfInertia);
}
return(result);
}