/// <summary>
/// 从服务器xml中定义到robot
/// </summary>
public void LoadRobot(string strXml)
{
XmlDocument doc = new XmlDocument();
doc.LoadXml(strXml);
XmlNode rootNode = doc.DocumentElement;
robotName = ((XmlElement)rootNode).GetAttribute("Name");
brand = ((XmlElement)rootNode).GetAttribute("Brand");
model = ((XmlElement)rootNode).GetAttribute("Model");
XmlNode modelPathNode = rootNode.SelectSingleNode("ModelPath");
mainModelPath = modelPathNode.SelectSingleNode("MainModel").InnerText;
XmlNodeList othersList = modelPathNode.SelectNodes("OtherModel");
foreach (XmlNode other in othersList)
{
otherModelPaths.Add(other.InnerText);
}
XmlNode listNode = rootNode.SelectSingleNode("PartList");
XmlNodeList partNode = listNode.SelectNodes("PartObj");
foreach (XmlNode node in partNode)
{
Part_U onePart = new Part_U();
XmlElement robotEle = (XmlElement)node;
onePart.partObjName = robotEle.GetAttribute("Name");
string partIDStr = robotEle.GetAttribute("ID");
if (!String.IsNullOrEmpty(partIDStr))
{
try
{
onePart.partID = int.Parse(partIDStr);
}
catch (Exception e)
{
}
}
if (false)
{
onePart.modelPath = node.SelectSingleNode("ModelPath").InnerText;
}
string partPQstr = node.SelectSingleNode("PQ").InnerText;
if (!String.IsNullOrEmpty(partPQstr))
{
try
{
partPQstr = partPQstr.Replace(" ", "");
string[] strList = partPQstr.Split(new char[] { ',' });
for (int i = 0; i < strList.Length; i++)
{
onePart.partPQ_initial.Add(float.Parse(strList[i]));
}
}
catch (Exception e)
{
}
}
partList.Add(onePart);
}
XmlNode jointNode = rootNode.SelectSingleNode("JointList");
XmlNodeList jointNodeList = jointNode.SelectNodes("Axis");
foreach (XmlNode joint in jointNodeList)
{
Joint_U oneJoint = new Joint_U();
try
{
oneJoint.jointID = int.Parse(((XmlElement)joint).GetAttribute("ID"));
oneJoint.partID_1 = int.Parse(((XmlElement)joint).GetAttribute("PartID1"));
oneJoint.partID_2 = int.Parse(((XmlElement)joint).GetAttribute("PartID2"));
oneJoint.jointType = int.Parse(((XmlElement)joint).GetAttribute("Type"));
string posStr = joint.SelectSingleNode("Pos").InnerText;
posStr = posStr.Replace(" ", "");
string[] posStrList = posStr.Split(new char[] { ',' });
string dirStr = joint.SelectSingleNode("Dir").InnerText;
dirStr = dirStr.Replace(" ", "");
string[] dirStrList = dirStr.Split(new char[] { ',' });
for (int i = 0; i < 3; i++)
{
oneJoint.jointAxisPos.Add(float.Parse(posStrList[i]));
oneJoint.jointAxisDir.Add(float.Parse(dirStrList[i]));
}
}
catch (Exception e)
{
}
jointList.Add(oneJoint);
}
XmlNode eeNode = rootNode.SelectSingleNode("EndEffectorList");
XmlNodeList eeList = eeNode.SelectNodes("EE");
foreach (XmlNode ee in eeList)
{
EE_U oneEE = new EE_U();
try
{
oneEE.eeID = int.Parse(((XmlElement)ee).GetAttribute("ID"));
oneEE.eePartID = int.Parse(((XmlElement)ee).GetAttribute("PartID"));
oneEE.eeObj_Name = ((XmlElement)ee).GetAttribute("ObjName");
string pqStr = ee.SelectSingleNode("PQ").InnerText;
pqStr = pqStr.Replace(" ", "");
string[] strList = pqStr.Split(new char[] { ',' });
for (int i = 0; i < strList.Length; i++)
{
oneEE.eePQ_initial.Add(float.Parse(strList[i]));
}
}
catch (Exception e)
{
}
endEList.Add(oneEE);
}
}
/// <summary>
/// 从服务器xml中定义到robot, aris格式
/// </summary>
public void LoadRobot_Aris(string strXml, bool isPath)
{
XmlDocument doc = new XmlDocument();
if (isPath)
{
doc.Load(strXml);
}
else
{
doc.LoadXml(strXml);
}
XmlNode rootNode = doc.DocumentElement;
robotName = "AnyRobot";
brand = "AnyBrand";
model = "AnyModel";
//brand = ((XmlElement)rootNode).GetAttribute("Brand");
//model = ((XmlElement)rootNode).GetAttribute("Model");
XmlNode modelNode = rootNode.SelectSingleNode("model");
XmlNode part_pool_node = modelNode.SelectSingleNode("part_pool");
XmlNodeList part_list_node = part_pool_node.ChildNodes;
foreach (XmlNode oneNode in part_list_node)
{
Part_U onePart = new Part_U();
onePart.partObjName = oneNode.Name;
XmlElement oneElement = (XmlElement)oneNode;
string peStr = oneElement.GetAttribute("pq");
//Debug.Log(peStr);
peStr = peStr.Replace("{", "");
peStr = peStr.Replace("}", "");
peStr = peStr.Replace(" ", "");
//Debug.Log(peStr);
string[] peStr_List = peStr.Split(new char[] { ',' });
for (int str_i = 0; str_i < peStr_List.Length; str_i++)
{
if (!String.IsNullOrEmpty(peStr_List[str_i]))
{
try
{
onePart.partPQ_initial.Add(float.Parse(peStr_List[str_i]));
}
catch (Exception e)
{
//Debug.Log(e.ToString());
Console.WriteLine(e.ToString());
}
}
}
XmlNode geometry_pool_node = oneNode.SelectSingleNode("geometry_pool");
XmlNodeList geo_list_node = geometry_pool_node.ChildNodes;
foreach (XmlNode oneGeoNode in geo_list_node)
{
XmlElement oneGeoElement = (XmlElement)oneGeoNode;
Console.WriteLine(oneGeoElement.GetAttribute("graphic_file_path"));
onePart.geometryPathList.Add(oneGeoElement.GetAttribute("graphic_file_path"));
string geoPeStr = oneGeoElement.GetAttribute("pq");
geoPeStr = geoPeStr.Replace("{", "");
geoPeStr = geoPeStr.Replace("}", "");
geoPeStr = geoPeStr.Replace(" ", "");
foreach (string str in geoPeStr.Split(new char[] { ',' }))
{
try
{
onePart.geometryPQ_List.Add(float.Parse(str));
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
//throw;
}
}
//string[] geoPeStr_list = geoPeStr.Split(new char[] { ',' });
}
partList.Add(onePart);
}
}