/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
Plane positionPlane = Plane.WorldXY;
RobotTool tool = null;
List <ExternalAxis> externalAxis = new List <ExternalAxis>();
if (!DA.GetData(0, ref positionPlane))
{
return;
}
if (!DA.GetData(1, ref tool))
{
tool = new RobotTool();
}
if (!DA.GetDataList(2, externalAxis))
{
externalAxis = new List <ExternalAxis>()
{
};
}
Robot robot = new Robot();
if (_robotPreset == RobotPreset.EMPTY | _fromMenu)
{
_robotPreset = GetRobotPreset();
}
try
{
robot = Robot.GetRobotPreset(_robotPreset, positionPlane, tool, externalAxis);
int position = robot.Name.IndexOf("-");
if (position < 0)
{
this.Message = robot.Name;
}
else
{
this.Message = robot.Name.Substring(0, position);
}
this.ExpirePreview(true);
}
catch (Exception ex)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, ex.Message);
}
DA.SetData(0, robot);
}
/// <summary>
/// Returns the Robot preset name.
/// </summary>
/// <param name="preset"> The Robot preset. </param>
/// <returns> The name of the Robot preset. </returns>
private static string GetRobotPresetName(RobotPreset preset)
{
string name = Enum.GetName(typeof(RobotPreset), preset);
name = name.ReplaceFirst("_", "-");
name = name.ReplaceFirst("_", "/");
name = name.ReplaceFirst("/0", "/0.");
name = name.ReplaceFirst("/1", "/1.");
name = name.ReplaceFirst("/2", "/2.");
name = name.ReplaceFirst("/3", "/3.");
name = name.ReplaceFirst("/4", "/4.");
return(name);
}
/// <summary>
/// Read our own fields. Needed for (de)serialization of the variable input parameters.
/// </summary>
/// <param name="reader"> Provides access to a subset of GH_Chunk methods used for reading archives. </param>
/// <returns> True on success, false on failure. </returns>
public override bool Read(GH_IReader reader)
{
byte[] array = reader.GetByteArray("Robot Preset");
_robotPreset = (RobotPreset)RobotComponents.Utils.HelperMethods.ByteArrayToObject(array);
return(base.Read(reader));
}
/// <summary>
/// Returns a predefined ABB Robot preset.
/// </summary>
/// <param name="preset"> The Robot preset type. </param>
/// <param name="positionPlane"> The position and orientation of the Robot in world coordinate space. </param>
/// <param name="tool"> The Robot Tool. </param>
/// <param name="externalAxes"> The external axes attached to the Robot. </param>
/// <returns></returns>
public static Robot GetRobotPreset(RobotPreset preset, Plane positionPlane, RobotTool tool, List <ExternalAxis> externalAxes = null)
{
// Check Robot Tool data
if (tool == null)
{
tool = new RobotTool();
}
// Check External Axes
if (externalAxes == null)
{
externalAxes = new List <ExternalAxis>()
{
};
}
else if (preset == RobotPreset.EMPTY)
{
return(new Robot());
}
if (preset == RobotPreset.IRB1100_4_0475)
{
return(IRB1100_4_0475.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1100_4_058)
{
return(IRB1100_4_058.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB120_3_058)
{
return(IRB120_3_058.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1200_5_090)
{
return(IRB1200_5_090.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1200_7_070)
{
return(IRB1200_7_070.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_10_115)
{
return(IRB1300_10_115.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_11_090)
{
return(IRB1300_11_090.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_7_140)
{
return(IRB1300_7_140.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB140_6_081)
{
return(IRB140_6_081.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1600_X_120)
{
return(IRB1600_X_120.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1600_X_145)
{
return(IRB1600_X_145.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1660ID_X_155)
{
return(IRB1660ID_X_155.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600_12_185)
{
return(IRB2600_12_185.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600_X_165)
{
return(IRB2600_X_165.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600ID_15_185)
{
return(IRB2600ID_15_185.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600ID_8_200)
{
return(IRB2600ID_8_200.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_20_250)
{
return(IRB4600_20_250.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_40_255)
{
return(IRB4600_40_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_X_205)
{
return(IRB4600_X_205.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6620_150_220)
{
return(IRB6620_150_220.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6640_235_255)
{
return(IRB6640_235_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650_125_320)
{
return(IRB6650_125_320.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650_200_275)
{
return(IRB6650_200_275.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_125_350)
{
return(IRB6650S_125_350.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_200_300)
{
return(IRB6650S_200_300.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_90_390)
{
return(IRB6650S_90_390.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_150_320)
{
return(IRB6700_150_320.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_155_285)
{
return(IRB6700_155_285.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_175_305)
{
return(IRB6700_175_305.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_200_260)
{
return(IRB6700_200_260.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_205_280)
{
return(IRB6700_205_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_235_265)
{
return(IRB6700_235_265.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_245_300)
{
return(IRB6700_245_300.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_300_270)
{
return(IRB6700_300_270.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6790_205_280)
{
return(IRB6790_205_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6790_235_265)
{
return(IRB6790_235_265.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_150_350)
{
return(IRB7600_150_350.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_325_310)
{
return(IRB7600_325_310.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_340_280)
{
return(IRB7600_340_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_400_255)
{
return(IRB7600_400_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_500_255)
{
return(IRB7600_500_255.GetRobot(positionPlane, tool, externalAxes));
}
else
{
throw new Exception("Could not find the data of the defined Robot preset type.");
}
}
