/// <summary>
/// Exports the robot
/// </summary>
/// <param name="log"> Logger to be used to write messeges </param>
/// <param name="path"> File path to export robot to </param>
public override void Export(ProgressLogger log, String path)
{
this.log = log;
path += "\\" + robot.Name +"_Exported";
folderPath = path + "\\" + robot.Name;
tempFilePath = folderPath + "\\";
visualSTLPath = folderPath + "\\visualSTL\\";
collisionSTLPath = folderPath + "\\collisionSTL\\";
if (Directory.Exists(path))
Directory.Delete(path, true);
Directory.CreateDirectory(path);
Directory.CreateDirectory(folderPath);
Directory.CreateDirectory(visualSTLPath);
Directory.CreateDirectory(collisionSTLPath);
try
{
log.WriteMessage("Setting up exporter", false);
//Export STLs
log.WriteMessage("Starting STL exports", false);
ModelDoc2 ActiveDoc = (ModelDoc2)asm;
//switchs to the visual configuration and hides all components
Configuration currentConfig = ActiveDoc.ConfigurationManager.ActiveConfiguration;
ActiveDoc.ShowConfiguration2(robot.VisualConfig);
STLExporter meshMaker = new STLExporter(iSwApp, asm);
Component2[] hiddenComps = meshMaker.HideAllComponents();
//exports each Link's visual models
foreach (Link L in robot.GetLinksAsArray())
{
if (!robot.ContinueExport)
{
meshMaker.UnhideComponents(hiddenComps);
meshMaker.close();
ActiveDoc.ShowConfiguration2(currentConfig.Name);
return;
}
meshMaker.ExportLink(L, robot.VisualConfig, visualSTLPath + L.Name + ".stl", log);
}
//unhides all components, switches to collision configuration, then hides all components
meshMaker.UnhideComponents(hiddenComps);
ActiveDoc.ShowConfiguration2(robot.CollisionConfig);
hiddenComps = meshMaker.HideAllComponents();
//exports each Link's collision model
foreach (Link L in robot.GetLinksAsArray())
{
if (!robot.ContinueExport)
{
meshMaker.UnhideComponents(hiddenComps);
meshMaker.close();
ActiveDoc.ShowConfiguration2(currentConfig.Name);
return;
}
meshMaker.ExportLink(L, robot.CollisionConfig, collisionSTLPath + L.Name + ".stl", log);
}
//restores the model to its original configuration
meshMaker.UnhideComponents(hiddenComps);
ActiveDoc.ShowConfiguration(currentConfig.Name);
meshMaker.close();
log.WriteMessage("Finished exporting STL files", false);
//Make URDF
log.WriteMessage("Creating URDF file", false);
XmlWriterSettings settings = new XmlWriterSettings();
settings.Encoding = new UTF8Encoding(false);
settings.Indent = true;
settings.NewLineOnAttributes = false;
XmlWriter URDFwriter = XmlWriter.Create(tempFilePath+robot.Name+".URDF", settings);
URDFwriter.WriteStartDocument();
WriteURDF(URDFwriter);
URDFwriter.WriteEndDocument();
URDFwriter.Close();
log.WriteMessage("URDF file complete");
CreateConfigFile();
log.WriteMessage("Config file complete");
log.WriteMessage("Export Complete");
}
catch (Exception e)
{
log.WriteError("Unhandled Exception thrown when exporting robot: "+e.Message);
}
}
/// <summary>
/// Exports the robot
/// </summary>
/// <param name="log"> Logger to be used to write messeges </param>
/// <param name="path"> File path to export robot to </param>
public override void Export(ProgressLogger log, String path)
{
this.log = log;
robotName = robot.Name.Replace(" ", "_");
try
{
if (path.Equals(System.Environment.ExpandEnvironmentVariables("%HOMEDRIVE%%HOMEPATH%") + "\\wpilib\\simulation"))
{
folderPath = path + "\\models\\" + robotName;
tempFilePath = folderPath + "\\";
MeshesPath = folderPath + "\\meshes\\";
RobotPath = folderPath + "\\robots\\";
if (Directory.Exists(folderPath))
{
ClearReadOnly(new DirectoryInfo(path));
Directory.Delete(folderPath, true);
}
Directory.CreateDirectory(folderPath);
Directory.CreateDirectory(MeshesPath);
Directory.CreateDirectory(RobotPath);
folderPath = path + "\\worlds";
if(File.Exists(folderPath+"\\"+robotName+".world"))
File.Delete(folderPath+"\\"+robotName+".world");
}
else
{
path += "\\" + robotName + "_Exported";
folderPath = path + "\\" + robotName;
tempFilePath = folderPath + "\\";
MeshesPath = folderPath + "\\meshes\\";
RobotPath = folderPath + "\\robots\\";
if (Directory.Exists(path))
{
ClearReadOnly(new DirectoryInfo(path));
Directory.Delete(path, true);
}
Directory.CreateDirectory(path);
Directory.CreateDirectory(folderPath);
Directory.CreateDirectory(MeshesPath);
Directory.CreateDirectory(RobotPath);
folderPath = path;
}
}
catch (IOException e)
{
log.WriteMessage("Failed to create directory. Another application may be accesing the file");
return;
}
try
{
log.WriteMessage("Setting up exporter", false);
//Export STLs
log.WriteMessage("Starting STL exports", false);
ModelDoc2 ActiveDoc = (ModelDoc2)asm;
//switches to the visual configuration and hides all components
Configuration currentConfig = ActiveDoc.ConfigurationManager.ActiveConfiguration;
//ActiveDoc.ShowConfiguration2(robot.VisualConfig);
STLExporter meshMaker = new STLExporter(iSwApp, asm);
Dictionary<string, List<ModelConfiguration>> VisualModels = new Dictionary<string, List<ModelConfiguration>>();
Dictionary<string, List<ModelConfiguration>> CollisionModels = new Dictionary<string, List<ModelConfiguration>>();
//Stopwatch watch = new Stopwatch();
//watch.Start();
//sort configurations
foreach (Link l in robot.GetLinksAsArray())
{
if(!l.VisualModel.EmptyModel)
if (VisualModels.ContainsKey(l.VisualModel.swConfiguration))
VisualModels[l.VisualModel.swConfiguration].Add(l.VisualModel);
else
{
List<ModelConfiguration> tempList = new List<ModelConfiguration>();
tempList.Add(l.VisualModel);
VisualModels.Add(l.VisualModel.swConfiguration, tempList);
}
if(!l.CollisionModel.EmptyModel)
if (CollisionModels.ContainsKey(l.CollisionModel.swConfiguration))
CollisionModels[l.CollisionModel.swConfiguration].Add(l.CollisionModel);
else
{
List<ModelConfiguration> tempList = new List<ModelConfiguration>();
tempList.Add(l.CollisionModel);
CollisionModels.Add(l.CollisionModel.swConfiguration, tempList);
}
}
//Debug.WriteLine("Finished sorting configs=" + watch.ElapsedMilliseconds);
string[] configs = VisualModels.Keys.Union(CollisionModels.Keys).ToArray();
//Export each config
foreach (string config in configs)
{
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = false;
ActiveDoc.ShowConfiguration2(config);
//Debug.WriteLine("switched config " + config +"=" + watch.ElapsedMilliseconds);
ActiveDoc.ClearSelection2(true);
Component2[] hiddenComps = meshMaker.HideAllComponents();
//Debug.WriteLine("hid components=" + watch.ElapsedMilliseconds);
if(VisualModels.ContainsKey(config))
foreach (ModelConfiguration m in VisualModels[config])
{
Application.DoEvents();
if (!robot.ContinueExport)
{
meshMaker.UnhideComponents(hiddenComps);
meshMaker.close();
ActiveDoc.ShowConfiguration2(currentConfig.Name);
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = true;
return;
}
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = false;
meshMaker.ExportLink(m.Owner, m, MeshesPath + m.Owner.Name.Replace(" ", "_") + ".stl", log);
//Debug.WriteLine("exported visual=" + watch.ElapsedMilliseconds);
}
if(CollisionModels.ContainsKey(config))
foreach (ModelConfiguration m in CollisionModels[config])
{
Application.DoEvents();
if (!robot.ContinueExport)
{
meshMaker.UnhideComponents(hiddenComps);
meshMaker.close();
ActiveDoc.ShowConfiguration2(currentConfig.Name);
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = true;
return;
}
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = false;
meshMaker.ExportLink(m.Owner, m, MeshesPath + m.Owner.Name.Replace(" ", "_") + "_col.stl", log);
// Debug.WriteLine("exported col=" + watch.ElapsedMilliseconds);
}
meshMaker.UnhideComponents(hiddenComps);
//Debug.WriteLine("unhid comps=" + watch.ElapsedMilliseconds);
}
ActiveDoc.ShowConfiguration(currentConfig.Name);
meshMaker.close();
((ModelView)ActiveDoc.ActiveView).EnableGraphicsUpdate = true;
log.WriteMessage("Finished exporting STL files", false);
//Make SDF
log.WriteMessage("Creating SDF file", false);
XmlWriterSettings settings = new XmlWriterSettings();
settings.Encoding = new UTF8Encoding(false);
settings.Indent = true;
settings.NewLineOnAttributes = false;
XmlWriter SDFwriter = XmlWriter.Create(RobotPath+robotName+".sdf", settings);
SDFwriter.WriteStartDocument();
WriteSDF(SDFwriter);
SDFwriter.WriteEndDocument();
SDFwriter.Close();
log.WriteMessage("SDF file complete");
CreateConfigFile();
log.WriteMessage("Config file complete");
log.WriteMessage("Export Complete");
}
catch (Exception e)
{
log.WriteError("Unhandled Exception thrown when exporting robot: "+e.Message);
}
}
