public void TestSelectComponentsList(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
Link baseLink = baseNode.RebuildLink();
List <Component2> componentsToSelect = baseLink.SWComponents;
HashSet <string> componentsToSelectNames =
new HashSet <string>(componentsToSelect.Select(component => component.Name2));
CommonSwOperations.SelectComponents(doc, componentsToSelect, true);
SelectionMgr selManager = doc.SelectionManager;
// -1 is the Mark, set to negative one if it's not being used.
int numSelected = selManager.GetSelectedObjectCount2(-1);
Assert.Equal(componentsToSelect.Count, numSelected);
for (int i = 0; i < selManager.GetSelectedObjectCount2(-1); i++)
{
// -1 is the Mark, set to negative one if it's not being used.
Component2 comp = selManager.GetSelectedObjectsComponent4(i, -1);
Assert.Contains(comp.Name2, componentsToSelectNames);
}
SwApp.CloseAllDocuments(true);
}
public void TestLoadBaseNodeFromModel(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Xunit.Assert.False(error);
Xunit.Assert.NotNull(baseNode);
Xunit.Assert.Equal(expNumLinks, CommonSwOperations.GetCount(baseNode.RebuildLink()));
}
public void TestFindHiddenComponens(string modelName, int expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
Assert.Equal(expected, CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(false)).Count);
SwApp.CloseAllDocuments(true);
}
public void TestShowAllComponents(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
CommonSwOperations.ShowAllComponents(doc, new List <string>());
Assert.Equal(0, CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(false)).Count);
SwApp.CloseAllDocuments(true);
}
public void TestGetCountNodeCollection(string modelName, int expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
Assert.Equal(expected, CommonSwOperations.GetCount(baseNode.Nodes));
SwApp.CloseAllDocuments(true);
}
public void TestLoadSWComponentsList(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
List <Component2> components = CommonSwOperations.LoadSWComponents(doc, baseNode.Link.SWComponentPIDs);
Assert.Equal(baseNode.Link.SWComponentPIDs.Count, components.Count);
SwApp.CloseAllDocuments(true);
}
public void TestLoadSWComponent(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
baseNode.Link.SWMainComponentPID = baseNode.Link.SWComponentPIDs[0];
Component2 component = CommonSwOperations.LoadSWComponent(doc, baseNode.Link.SWMainComponentPID);
Assert.NotNull(component);
SwApp.CloseAllDocuments(true);
}
public void TestLoadSWComponentsLinkNode(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
List <string> problemLinks = new List <string>();
CommonSwOperations.LoadSWComponents(doc, baseNode, problemLinks);
Assert.Empty(problemLinks);
SwApp.CloseAllDocuments(true);
}
public void TestSaveSWComponentsList(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
object[] componentObjs = assyDoc.GetComponents(false);
List <Component2> components = componentObjs.Cast <Component2>().ToList();
List <byte[]> pids = CommonSwOperations.SaveSWComponents(doc, components);
Assert.Equal(pids.Count, components.Count);
SwApp.CloseAllDocuments(true);
}
public void TestSaveSWComponent(string modelName, string componentName, byte[] expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
Component2 component = assyDoc.GetComponentByName(componentName);
Assert.NotNull(component);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
baseNode.Link.SWMainComponent = component;
byte[] pid = CommonSwOperations.SaveSWComponent(doc, baseNode.Link.SWMainComponent);
Assert.NotNull(pid);
Assert.Equal(expected.Length, pid.Length);
SwApp.CloseAllDocuments(true);
}
public void TestHideComponents(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
List <string> hiddenComponentNames = CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(false));
List <Component2> hiddenComponents =
hiddenComponentNames.Select(name => assyDoc.GetComponentByName(name)).ToList();
CommonSwOperations.ShowAllComponents(doc, new List <string>());
CommonSwOperations.HideComponents(doc, hiddenComponents);
List <string> hiddenComponentNames2 = CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(false));
Assert.Equal(hiddenComponentNames.Count, hiddenComponentNames2.Count);
SwApp.CloseAllDocuments(true);
}
public void TestExportRobotSkipVisual(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
ExportHelper helper = new ExportHelper(SwApp);
helper.SetComputeInertial(true);
helper.SetComputeJointKinematics(true);
helper.SetComputeJointLimits(true);
helper.SetComputeVisualCollision(false);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Assert.False(error);
helper.CreateRobotFromTreeView(baseNode);
helper.ExportRobot(true);
Assert.NotNull(helper.URDFRobot);
Assert.Equal(expNumLinks, CommonSwOperations.GetCount(helper.URDFRobot.BaseLink));
Assert.True(SwApp.CloseAllDocuments(true));
}
public void TestShowComponents(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
// AssemblyDoc.GetComponentsByName only works on top level components.
List <string> hiddenComponentNames = CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(true));
List <Component2> hiddenComponents = new List <Component2>();
foreach (string name in hiddenComponentNames)
{
Component2 hiddenComp = assyDoc.GetComponentByName(name);
Assert.NotNull(hiddenComp);
hiddenComponents.Add(hiddenComp);
}
CommonSwOperations.ShowComponents(doc, hiddenComponents);
Assert.Equal(0, CommonSwOperations.FindHiddenComponents(assyDoc.GetComponents(true)).Count);
SwApp.CloseAllDocuments(true);
}
public void TestGetSelectedComponents(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
Link baseLink = baseNode.RebuildLink();
List <Component2> componentsToSelect = baseLink.SWComponents;
HashSet <string> componentsToSelectNames =
new HashSet <string>(componentsToSelect.Select(component => component.Name2));
CommonSwOperations.SelectComponents(doc, componentsToSelect, true);
List <Component2> selectedComponents = new List <Component2>();
CommonSwOperations.GetSelectedComponents(doc, selectedComponents);
Assert.Equal(componentsToSelect.Count, selectedComponents.Count);
SwApp.CloseAllDocuments(true);
}
public void TestSaveSWComponentsLink(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
List <string> problemLinks = new List <string>();
CommonSwOperations.LoadSWComponents(doc, baseNode, problemLinks);
Assert.Empty(problemLinks);
Link baseLink = baseNode.RebuildLink();
baseLink.SWMainComponent = baseLink.SWComponents[0];
CommonSwOperations.SaveSWComponents(doc, baseLink);
Assert.Equal(baseLink.SWComponents.Count, baseLink.SWComponentPIDs.Count);
Assert.NotNull(baseLink.SWMainComponentPID);
SwApp.CloseAllDocuments(true);
}
public void TestLoadConfigFromStringXML(string modelName, int expNumLinks)
{
ModelDoc2 doc = OpenSWDocument(modelName);
PrivateType serialization = new PrivateType(typeof(ConfigurationSerialization));
object swAttObj = serialization.InvokeStatic(
"FindSWSaveAttribute", new object[] { doc, "URDF Export Configuration" });
Xunit.Assert.NotNull(swAttObj);
Attribute swAtt = (Attribute)swAttObj;
Parameter param = swAtt.GetParameter("data");
Xunit.Assert.NotNull(param);
string data = param.GetStringValue();
Xunit.Assert.NotNull(data);
Xunit.Assert.NotEmpty(data);
LinkNode baseNode = (LinkNode)serialization.InvokeStatic(
"LoadConfigFromStringXML", new object[] { data });
Link link = baseNode.RebuildLink();
Xunit.Assert.Equal(expNumLinks, CommonSwOperations.GetCount(link));
}
public void SaveConfigTree(ModelDoc2 model, LinkNode BaseNode, bool warnUser)
{
CommonSwOperations.RetrieveSWComponentPIDs(model, BaseNode);
ConfigurationSerialization.SaveConfigTreeXML(swApp, model, BaseNode, warnUser);
}
public void TestPIDToString(byte[] pid, string expected)
{
Assert.Equal(expected, CommonSwOperations.PIDToString(pid));
}
