public void ExportLink(bool zIsUp)
{
CreateBaseRefOrigin(zIsUp);
MathTransform coordSysTransform =
ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
Matrix <double> GlobalTransform = MathOps.GetTransformation(coordSysTransform);
LocalizeLink(URDFRobot.BaseLink, GlobalTransform);
//Creating package directories
URDFPackage package = new URDFPackage(PackageName, SavePath);
package.CreateDirectories();
string meshFileName = package.MeshesDirectory + URDFRobot.BaseLink.Name + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + URDFRobot.BaseLink.Name + ".STL";
string windowsURDFFileName = package.WindowsRobotsDirectory + URDFRobot.Name + ".urdf";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
PackageXMLWriter manifestWriter = new PackageXMLWriter(windowsManifestFileName);
PackageXML Manifest = new PackageXML(URDFRobot.Name);
Manifest.WriteElement(manifestWriter);
//Customizing STL preferences to how I want them
SaveUserPreferences();
SetSTLExportPreferences();
SetLinkSpecificSTLPreferences("", URDFRobot.BaseLink.STLQualityFine, ActiveSWModel);
int errors = 0;
int warnings = 0;
//Saving part as STL mesh
ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion,
(int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
URDFRobot.BaseLink.Visual.Geometry.Mesh.Filename = meshFileName;
URDFRobot.BaseLink.Collision.Geometry.Mesh.Filename = meshFileName;
URDFRobot.BaseLink.Visual.Material.Texture.Filename =
package.TexturesDirectory + Path.GetFileName(URDFRobot.BaseLink.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(URDFRobot.BaseLink.Visual.Material.Texture.wFilename);
if (!String.IsNullOrWhiteSpace(URDFRobot.BaseLink.Visual.Material.Texture.wFilename))
{
File.Copy(URDFRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
}
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
//mRobot.addLink(mLink);
URDFRobot.WriteURDF(uWriter.writer);
ResetUserPreferences();
}
//Recursive method for exporting each link (and writing it to the URDF)
private void ExportFiles(Link link, URDFPackage package, int count, bool exportSTL = true)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + link.Name);
logger.Info("Exporting link: " + link.Name);
// Iterate through each child and export its files
logger.Info("Link " + link.Name + " has " + link.Children.Count + " children");
foreach (Link child in link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
ExportFiles(child, package, count, exportSTL);
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!link.isFixedFrame && !String.IsNullOrWhiteSpace(link.Visual.Material.Texture.wFilename))
{
if (File.Exists(link.Visual.Material.Texture.wFilename))
{
link.Visual.Material.Texture.Filename =
package.TexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
File.Copy(link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = link.Name.Replace('/', '_');
string meshFilename = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
if (exportSTL)
{
SaveSTL(link, windowsMeshFileName);
}
link.Visual.Geometry.Mesh.Filename = meshFilename;
link.Collision.Geometry.Mesh.Filename = meshFilename;
}
private void CopyLogFile(URDFPackage package)
{
string destination = package.WindowsPackageDirectory + "export.log";
string log_filename = Logger.GetFileName();
if (log_filename != null)
{
if (!File.Exists(log_filename))
{
System.Windows.Forms.MessageBox.Show("The log file was expected to be located at " + log_filename +
", but it was not found. Please contact your maintainer with this error message.");
}
else
{
logger.Info("Copying " + log_filename + " to " + destination);
File.Copy(log_filename, destination, true);
}
}
}
// Beginning method for exporting the full package
public void ExportRobot(bool exportSTL = true)
{
//Setting up the progress bar
logger.Info("Beginning the export process");
int progressBarBound = Common.GetCount(URDFRobot.BaseLink);
iSwApp.GetUserProgressBar(out progressBar);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
logger.Info("Creating package directories with name " + PackageName + " and save path " + SavePath);
URDFPackage package = new URDFPackage(PackageName, SavePath);
package.CreateDirectories();
URDFRobot.Name = PackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + URDFRobot.Name + ".urdf";
string windowsCSVFileName = package.WindowsRobotsDirectory + URDFRobot.Name + ".csv";
string windowsPackageXMLFileName = package.WindowsPackageDirectory + "package.xml";
//Create CMakeLists
logger.Info("Creating CMakeLists.txt at " + package.WindowsCMakeLists);
package.CreateCMakeLists();
//Create Config joint names, not sure how this is used...
logger.Info("Creating joint names config at " + package.WindowsConfigYAML);
package.CreateConfigYAML(URDFRobot.GetJointNames(false));
//Creating package.xml file
logger.Info("Creating package.xml at " + windowsPackageXMLFileName);
PackageXMLWriter packageXMLWriter = new PackageXMLWriter(windowsPackageXMLFileName);
PackageXML packageXML = new PackageXML(PackageName);
packageXML.WriteElement(packageXMLWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(PackageName, URDFRobot.Name + ".urdf");
logger.Info("Creating RVIZ launch file in " + package.WindowsLaunchDirectory);
rviz.WriteFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
Gazebo gazebo = new Gazebo(URDFRobot.Name, PackageName, URDFRobot.Name + ".urdf");
logger.Info("Creating Gazebo launch file in " + package.WindowsLaunchDirectory);
gazebo.WriteFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
logger.Info("Saving existing STL preferences");
SaveUserPreferences();
logger.Info("Modifying STL preferences");
SetSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.FindHiddenComponents(assyDoc.GetComponents(false));
logger.Info("Found " + hiddenComponents.Count + " hidden components " + String.Join(", ", hiddenComponents));
logger.Info("Hiding all components");
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
bool success = false;
try
{
logger.Info("Beginning individual files export");
ExportFiles(URDFRobot.BaseLink, package, 0, exportSTL);
success = true;
}
catch (Exception e)
{
logger.Error("An exception was thrown attempting to export the URDF", e);
}
finally
{
logger.Info("Showing all components except previously hidden components");
Common.ShowAllComponents(ActiveSWModel, hiddenComponents);
logger.Info("Resetting STL preferences");
ResetUserPreferences();
}
if (!success)
{
MessageBox.Show("Exporting the URDF failed unexpectedly. Email your maintainer " +
"with the log file found at " + Logger.GetFileName());
return;
}
logger.Info("Writing URDF file to " + windowsURDFFileName);
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
URDFRobot.WriteURDF(uWriter.writer);
ImportExport.WriteRobotToCSV(URDFRobot, windowsCSVFileName);
logger.Info("Copying log file");
CopyLogFile(package);
logger.Info("Resetting STL preferences");
ResetUserPreferences();
progressBar.End();
}
