/// <summary>
/// Creates a new joint editor proptery manager page that allows the user to edit joint properties.
/// </summary>
/// <param name="robot">Active robot model</param>
/// <param name="joint">Joint to be edited</param>
/// <param name="document">Active assembly document</param>
/// <param name="swApp">Solidworks application environment</param>
public JointPMPage(RobotModel robot, Joint joint, AssemblyDoc document, SldWorks swApp)
{
//Validate parameters
if (robot == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null robot model.");
if (document == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null assembly document.");
if (swApp == null)
throw new ProgramErrorException("Tried to create a JointPMPage with a null solidworks application interface.");
//Initialize fields
this.robot = robot;
this.swApp = swApp;
currentJoint = joint;
mathUtil = ((IMathUtility)swApp.GetMathUtility());
//AssemblyDoc inherits ModelDoc2 but the relationship dosn't carry through the COM interface
//Having two fields prevents having to cast half of the time
modelDoc = (ModelDoc2)document;
assemblyDoc = document;
//Setup the page, its controls and their visual layout
SetupPage();
SelectionObservers = new List<SelectionObserver>();
ButtonObservers = new List<ButtonObserver>();
CheckboxObservers = new List<CheckboxObserver>();
}
public JointAxis(SldWorks swApp, AssemblyDoc asm, StorageModel swData, string path, Joint current, int index, RobotModel robot)
{
this.swApp = swApp;
this.asmDoc = asm;
this.modelDoc = (ModelDoc2)asm;
this.swData = swData;
this.path = path;
this.owner = current;
this.robot = robot;
this.AxisIndex = index;
if (EffortLimit == 0)
{
this.EffortLimit = 1;
}
if (this.VelocityLimit == 0)
{
this.VelocityLimit = 1;
}
if (Axis != null)
{
CalcAxisVectors();
//CalcLimits(null);
}
if (index == 2)
{
IsContinuous = true;
}
}
/// <summary>
/// Выполняет метод для компонентов сборки (подсборки и детали)
/// </summary>
/// <param name="assemblyDoc">Сборка</param>
/// <param name="actionForPart">Метод для детали</param>
/// <param name="actionForAssembly">Метод для подсборок</param>
public static void DoSmthForEachComponent(AssemblyDoc assemblyDoc, Action<ModelDoc2> actionForPart, Action<ModelDoc2> actionForAssembly)
{
object[] components = (object[])assemblyDoc.GetComponents(true);
if (components.Length == 0)
return;
foreach (var item in components)
{
Component2 component = (Component2)item;
ModelDoc2 model = component.IGetModelDoc();
if (model != null)
{
AssemblyDoc ad = model as AssemblyDoc;
if (ad != null)
{
actionForAssembly(model);
DoSmthForEachComponent(ad, actionForPart, actionForAssembly);
continue;
}
PartDoc pd = model as PartDoc;
if (pd != null)
actionForPart(model);
}
}
}
public AssemblyEventHandler(ModelDoc2 modDoc, SwAddin addin)
: base(modDoc, addin)
{
doc = (AssemblyDoc)document;
swModel = modDoc;
swAddin = addin;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="iSwApp">Solidworks app</param>
/// <param name="asm">The assembly document the export takes place in</param>
public STLExporter(SldWorks iSwApp, AssemblyDoc asm)
{
this.iSwApp = iSwApp;
this.asm = asm;
saveUserPreferences();
setSTLExportPreferences();
}
public static AssemblyDom Build(AssemblyDoc asmDoc, Assembly asm, Func<MemberDom, bool> filterMembers, FindOptions findOptions)
{
var ret = new AssemblyDom { _name = asmDoc.Name, ReflectionAssembly = asm };
asmDoc.MergeWithReflection(asm, findOptions, out ret.ErrorUnboundTypes, out ret.ErrorUnboundMembers);
ret.AllTypes = asmDoc.Types.Select(_ => TypeDom.Build(_, ret, filterMembers)).ToArray();
ret.FillNamespaces();
ret.FillNestedTypes();
return ret;
}
public void TestFindHiddenComponens(string modelName, int expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
Assert.Equal(expected, Common.FindHiddenComponents(assyDoc.GetComponents(false)).Count);
SwApp.CloseAllDocuments(true);
}
protected override void SubscribeAssemblyEvents(AssemblyDoc assm)
{
assm.LoadFromStorageNotify += OnLoadFromStorageNotify;
assm.LoadFromStorageStoreNotify += OnLoadFromStorageStoreNotify;
assm.SaveToStorageStoreNotify += OnSaveToStorageStoreNotify;
assm.SaveToStorageNotify += OnSaveToStorageNotify;
SubscribeIdleEvent();
}
public void TestShowAllComponents(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
Common.ShowAllComponents(doc, new List <string>());
Assert.Equal(0, Common.FindHiddenComponents(assyDoc.GetComponents(false)).Count);
SwApp.CloseAllDocuments(true);
}
protected override void Command()
{
_Ass = MdlBase.eAssemblyDoc();
foreach (Component2 cp in ListeComposants)
{
Run(cp);
}
MdlBase.EditRebuild3();
}
public static Mate2 AddAxisCoinMate <TAxisOne, TAxisTwo>(this AssemblyDoc doc, TAxisOne axisOne, TAxisTwo axisTwo)
{
int mateError = 0;
Mate2 swMate = default;
SelectEntityOrFeature <TAxisOne>(axisOne, false);
SelectEntityOrFeature <TAxisTwo>(axisTwo, true);
swMate = doc.AddMate5((int)swMateType_e.swMateCOINCIDENT, AxisAlign(axisOne, axisTwo).SWToInt(), false, 0, 0, 0, 0, 0, 0, 0, 0, false, false, 0, out mateError);
return(swMate);
}
/// <summary>
/// action for specific type components
/// </summary>
/// <param name="doc">assemblydoc instance</param>
/// <param name="action">action you need todo</param>
/// <param name="documentTypes">the doc type whick define with type of <see cref="swDocumentTypes_e"/></param>
/// <param name="topOnly"></param>
public static void UsingAllComponents(this AssemblyDoc doc, Action <Component2> action, swDocumentTypes_e documentTypes, bool topOnly = false)
{
var comps = doc.GetComponents(topOnly) as Object[];
foreach (Component2 comp in comps)
{
if (comp.GetCompType() == documentTypes)
{
action(comp);
}
}
}
public void TestGetCountNodeCollection(string modelName, int expected)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = Serialization.LoadBaseNodeFromModel(SwApp, doc, out bool abortProcess);
Assert.False(abortProcess);
Assert.Equal(expected, Common.GetCount(baseNode.Nodes));
SwApp.CloseAllDocuments(true);
}
public static AssemblyDom Build(AssemblyDoc asmDoc, Assembly asm, Func <MemberDom, bool> filterMembers, FindOptions findOptions)
{
var ret = new AssemblyDom {
_name = asmDoc.Name, ReflectionAssembly = asm
};
asmDoc.MergeWithReflection(asm, findOptions, out ret.ErrorUnboundTypes, out ret.ErrorUnboundMembers);
ret.AllTypes = asmDoc.Types.Select(_ => TypeDom.Build(_, ret, filterMembers)).ToArray();
ret.FillNamespaces();
ret.FillNestedTypes();
return(ret);
}
/// <summary>
/// 轴配合
/// </summary>
/// <typeparam name="TAxisOne"></typeparam>
/// <typeparam name="TAxisTwo"></typeparam>
/// <param name="doc"></param>
/// <param name="axisOne"></param>
/// <param name="compAxisTwo"></param>
/// <param name="mathUtility"></param>
/// <param name="comp"></param>
/// <returns></returns>
public static Mate2 AddAxisCoinMate <TAxisOne, TAxisTwo>(this AssemblyDoc doc, TAxisOne axisOne, TAxisTwo compAxisTwo, MathUtility mathUtility = null, Component2 comp = null)
{
int mateError = 0;
Mate2 swMate = default;
SelectEntityOrFeature <TAxisOne>(axisOne, false);
SelectEntityOrFeature <TAxisTwo>(compAxisTwo, true);
swMate = doc.AddMate5((int)swMateType_e.swMateCOINCIDENT, AxisAlign(axisOne, compAxisTwo, mathUtility, comp).SWToInt(), false, 0, 0, 0, 0, 0, 0, 0, 0, false, false, 0, out mateError);
return(swMate);
}
public static void Set_transparency(ModelDoc2 swModel, string name)
{
AssemblyDoc swAssembly = null;
Component2 swComp = null;
ModelDoc2 swCompDoc = null;
bool boolstatus = false;
try
{
if (swModel.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY)
{
swModel.ClearSelection2(true);
// boolstatus = swModel.Extension.SelectByID2(name + "@" + docname, "COMPONENT", 0, 0, 0, true, 0, null, 0);
// SelectionMgr SwSelMgr = swModel.SelectionManager;
swAssembly = (AssemblyDoc)swModel;
var Components = swAssembly.GetComponents(false);
for (int i = 0; i < Components.Length; i++)
{
//swComp = swAssembly.GetComponentByName(name);
swComp = Components[i];
if (swComp != null)
{
if (swComp.Name2.Contains(name))
{
// MessageBox.Show(name);
var vMatProps = swComp.MaterialPropertyValues;
if (vMatProps == null)
{
swCompDoc = swComp.GetModelDoc();
if (swCompDoc == null)
{
return;
}
vMatProps = swCompDoc.MaterialPropertyValues;
}
vMatProps[7] = 1; //Transparency
swComp.MaterialPropertyValues = vMatProps;
swModel.ClearSelection2(true);
}
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + ex.StackTrace);
}
}
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 = Common.SaveSWComponents(doc, components);
Assert.Equal(pids.Count, components.Count);
SwApp.CloseAllDocuments(true);
}
public void TestLoadSWComponentsList(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = Serialization.LoadBaseNodeFromModel(SwApp, doc, out bool abortProcess);
Assert.False(abortProcess);
List <Component2> components = Common.LoadSWComponents(doc, baseNode.Link.SWComponentPIDs);
Assert.Equal(baseNode.Link.SWComponentPIDs.Count, components.Count);
SwApp.CloseAllDocuments(true);
}
protected override void UnsubscribeAssemblyEvents(AssemblyDoc assm)
{
assm.AddItemNotify -= OnAddItemNotify;
assm.DeleteItemNotify -= OnDeleteItemNotify;
assm.DeleteItemPreNotify -= OnDeleteItemPreNotify;
if (m_DocHandler.App.IsVersionNewerOrEqual(SwVersion_e.Sw2016))
{
assm.PreRenameItemNotify -= OnPreRenameItemNotify;
}
assm.RenameItemNotify -= OnRenameItemNotify;
}
private void ExportButtonClick(object sender, EventArgs e)
{
swModelDoc = swApp.ActiveDoc;
swModelDocExt = swModelDoc.Extension;
swAssDoc = swApp.ActiveDoc as AssemblyDoc;
swFeat = (Feature)swModelDoc.FirstFeature();
swFeatMgr = (FeatureManager)swModelDoc.FeatureManager;
while ((swFeat != null))
{
sFeatType = swFeat.GetTypeName();
if (sFeatType == "CommentsFolder")
{
swCommentFolder = (CommentFolder)swFeat.GetSpecificFeature2();
nbrComments = swCommentFolder.GetCommentCount();
vComments = (object[])swCommentFolder.GetComments();
for (i = 0; i <= (nbrComments - 1); i++)
{
swComment = (Comment)vComments[i];
string name = swComment.Name;
Component2 comp = swAssDoc.GetComponentByName(name);
swModelDocExt.SelectByID2(comp.GetSelectByIDString(), "COMPONENT", 0, 0, 0, false, 0, null, 0);
swAssDoc.HideComponent();
}
for (i = 0; i <= (nbrComments - 1); i++)
{
swComment = (Comment)vComments[i];
string name = swComment.Name;
Component2 comp = swAssDoc.GetComponentByName(name);
swModelDocExt.SelectByID2(comp.GetSelectByIDString(), "COMPONENT", 0, 0, 0, false, 0, null, 0);
swAssDoc.ShowComponent();
swModelDocExt.SetUserPreferenceString((int)swUserPreferenceStringValue_e.swFileSaveAsCoordinateSystem, (int)swUserPreferenceOption_e.swDetailingNoOptionSpecified, "CoordinateSystem");
swModelDocExt.SaveAs("C:/Users/Izmar/Documents/vmpc_models/jan2018/stlexport/" + swComment.Text + ".STL", (int)swSaveAsVersion_e.swSaveAsCurrentVersion, (int)swSaveAsOptions_e.swSaveAsOptions_Silent, 0, ref errors, ref warnings);
swAssDoc.HideComponent();
}
for (i = 0; i <= (nbrComments - 1); i++)
{
swComment = (Comment)vComments[i];
string name = swComment.Name;
Component2 comp = swAssDoc.GetComponentByName(name);
swModelDocExt.SelectByID2(comp.GetSelectByIDString(), "COMPONENT", 0, 0, 0, false, 0, null, 0);
swAssDoc.ShowComponent();
}
}
// Get next feature in FeatureManager design tree
swFeat = (Feature)swFeat.GetNextFeature();
}
}
private void OnlyKeepNamedBody(string v, string s, AssemblyDoc assemblyDoc, Component2 sendToCustomerBodies, Component2 insertComponentSendtoCustomer, ref bool diff1)
{
//var tempswModel = (ModelDoc2)swModel;
var swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.Extension.SelectByID2(v + "@" + s, "SOLIDBODY", 0, 0, 0, false, 0, null, 0);
var myFeature = swModel.FeatureManager.InsertDeleteBody2(true);
insertComponentSendtoCustomer.Select(false);
assemblyDoc.InsertCavity4(0, 0, 0, true, 1, -1);
Feature theFeature;
var tempPart = (ModelDoc2)sendToCustomerBodies.GetModelDoc2();
theFeature = (Feature)tempPart.FeatureByPositionReverse(0);
if (theFeature.Name.Contains("Cavity"))
{
//theFeature.Select(true);
swModel = (ModelDoc2)swApp.ActiveDoc;
bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
swModel.BreakAllExternalReferences();
diff1 = true;
//JoinPart1 留下的: 发给客户的没有此部分。 而本地零件中有
}
else
{
//无法Join时表示 全切了。
swModel = (ModelDoc2)swApp.ActiveDoc;
bool b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
swModel.EditSuppress();
theFeature = (Feature)tempPart.FeatureByPositionReverse(1);
if (theFeature.Name.Contains("Join"))
{
b = swModel.Extension.SelectByID2(theFeature.Name + "@" + sendToCustomerBodies.GetSelectByIDString(), "BODYFEATURE", 0, 0, 0, false, 0, null, 0);
swModel.EditSuppress();
}
}
sendToCustomerBodies.Select(true);
assemblyDoc.EditAssembly();
}
private void Contraindre(Feature plan, Face2 e)
{
AssemblyDoc Ass = MdlBase.eAssemblyDoc();
e.eSelectEntite(MdlBase);
plan.eSelect(true);
int longstatus = 0;
Ass.AddMate5((int)swMateType_e.swMateCOINCIDENT,
(int)swMateAlign_e.swMateAlignCLOSEST, false, 0, 0, 0, 0, 0, 0, 0, 0, false, false, 0, out longstatus);
MdlBase.ClearSelection2(true);
}
public void TestLoadSWComponentsLinkNode(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = Serialization.LoadBaseNodeFromModel(SwApp, doc, out bool abortProcess);
Assert.False(abortProcess);
List <string> problemLinks = new List <string>();
Common.LoadSWComponents(doc, baseNode, problemLinks);
Assert.Empty(problemLinks);
SwApp.CloseAllDocuments(true);
}
public void TestLoadSWComponent(string modelName, byte[] pid)
{
ModelDoc2 doc = OpenSWDocument(modelName);
AssemblyDoc assyDoc = (AssemblyDoc)doc;
LinkNode baseNode = Serialization.LoadBaseNodeFromModel(SwApp, doc, out bool abortProcess);
Assert.False(abortProcess);
baseNode.Link.SWMainComponentPID = baseNode.Link.SWComponentPIDs[0];
Component2 component = Common.LoadSWComponent(doc, baseNode.Link.SWMainComponentPID);
Assert.NotNull(component);
SwApp.CloseAllDocuments(true);
}
private void ExportToDXF(AssemblyDoc assembly)
{
Print("Fetching components...");
var itemExtractor = new AssemblyItemExtractor(assembly);
itemExtractor.TopLevelOnly = false;
var items = itemExtractor.GetItems();
Print("Found " + items.Count);
Print("");
ExportToDXF(items);
}
//Except for an exclusionary list, this shows all the components
public static void ShowAllComponents(ModelDoc2 model, List <string> hiddenComponents)
{
AssemblyDoc assyDoc = (AssemblyDoc)model;
List <Component2> componentsToShow = new List <Component2>();
object[] varComps = assyDoc.GetComponents(false);
foreach (Component2 comp in varComps)
{
if (!hiddenComponents.Contains(comp.Name2))
{
componentsToShow.Add(comp);
}
}
ShowComponents(model, componentsToShow);
}
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 = Common.FindHiddenComponents(assyDoc.GetComponents(false));
List <Component2> hiddenComponents =
hiddenComponentNames.Select(name => assyDoc.GetComponentByName(name)).ToList();
Common.ShowAllComponents(doc, new List <string>());
Common.HideComponents(doc, hiddenComponents);
List <string> hiddenComponentNames2 = Common.FindHiddenComponents(assyDoc.GetComponents(false));
Assert.Equal(hiddenComponentNames.Count, hiddenComponentNames2.Count);
SwApp.CloseAllDocuments(true);
}
public string CreateNewJoinPart(AssemblyDoc assemblyDoc, Component2 insertComponentSendtoCustomer, Component2 insertComponentLocal, ModelDoc2 swModel, string partname, out Component2 returnpart)
{
Component2 sendToCustomerBodies = default(Component2);
object swFaceOrPlane = default(object);
assemblyDoc.InsertNewVirtualPart(swFaceOrPlane, out sendToCustomerBodies);
sendToCustomerBodies.Select(true);
assemblyDoc.FixComponent();
sendToCustomerBodies.Select(true);
assemblyDoc.EditPart();
insertComponentSendtoCustomer.Select(false);
insertComponentLocal.Select(true);
assemblyDoc.InsertJoin2(false, false);
swModel = (ModelDoc2)swApp.ActiveDoc;
swModel.BreakAllExternalReferences();
object[] splits = sendToCustomerBodies.Name2.Split('^');
// string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + splits[0];
string compName = System.IO.Directory.GetParent(swModel.GetPathName()) + "\\" + partname;
ModelDoc2 compModel = default(ModelDoc2);
compModel = (ModelDoc2)sendToCustomerBodies.GetModelDoc();
if (compModel.GetType() == (int)swDocumentTypes_e.swDocPART)
{
compName = compName + ".sldprt";
}
else
{
compName = compName + ".sldasm";
}
bool ret;
ret = sendToCustomerBodies.SaveVirtualComponent(compName);
returnpart = sendToCustomerBodies;
return(sendToCustomerBodies.GetSelectByIDString());
}
public static void createSWAssembly()
{
swApp = SolidWorksSingleton.swApp;
//create a assembly
swAssy = swApp.INewAssembly();
//activate assembly
swModel = swApp.ActiveDoc;
assignAssyProperties();
createPartNumber(2);
//Save the assy under a specific number
swModel.SaveAs(saveName);
}
/// <summary>
/// Convert ModelDoc2 to AssemblyDoc and resolve all light weight components
/// </summary>
/// <param name="document"></param>
/// <returns></returns>
public static AssemblyDoc ToAssemblyDocument(ModelDoc2 document)
{
swComponentResolveStatus_e res = swComponentResolveStatus_e.swResolveOk;
AssemblyDoc swAsm = null;
if ((int)swDocumentTypes_e.swDocASSEMBLY == document.GetType())
{
swAsm = (AssemblyDoc)document;
//res = (swComponentResolveStatus_e)swAsm.ResolveAllLightWeightComponents(false);
//MessageObserver.Instance.SetMessage("Resolve All LightWeight Components: code {" + res + "}");
}
else
{
MessageBox.Show("Unable to cast SolidWorksDocument to AssemblyDoc type, cause it's paart. " + document.GetTitle());
}
return(swAsm);
}
public void SaveAs()
{
IModelDoc2 modDoc = (IModelDoc2)iSwApp.ActiveDoc;
ModelDocExtension mDocExten;
IModelDoc2 swModel;
AssemblyDoc asmDoc = (AssemblyDoc)modDoc;
SelectionMgr selectionMgr = modDoc.SelectionManager;
Component2 component;
string path;
string recentPath;
int errors = 0;
int warnings = 0;
recentPath = iSwApp.GetRecentFiles()[0].Substring(0, modDoc.GetPathName().LastIndexOf("\\"));
int looptime = selectionMgr.GetSelectedObjectCount2(-1);
while (looptime >= 1)
{
try
{
looptime--;
component = selectionMgr.GetSelectedObject6(looptime + 1, -1);
swModel = (IModelDoc2)component.GetModelDoc2();
mDocExten = swModel.Extension;
//todo：校核是否是零件类,现在是直接抛出
//另存为对话框
SaveFileDialog sfd = new SaveFileDialog();
sfd.Title = "另存为";
sfd.InitialDirectory = recentPath;//更改为最近使用
sfd.Filter = "零件| *.sldprt";
sfd.ShowDialog();
path = sfd.FileName;
if (path == "")
{
return;
}
//另存为新零件
mDocExten.SaveAs(path, (int)swSaveAsVersion_e.swSaveAsCurrentVersion, (int)swSaveAsOptions_e.swSaveAsOptions_Copy, null, ref errors, ref warnings);
//替换现有零件
asmDoc.ReplaceComponents(path, "", false, true);
}
catch
{ }
}
}
public FrmEdge(SwAddin swAddin)
{
InitializeComponent();
_mSwAddin = swAddin;
_swModel = (ModelDoc2)_mSwAddin.SwApp.ActiveDoc;
_swSelMgr = (SelectionMgr)_swModel.SelectionManager;
_swAsmDoc = (AssemblyDoc)_swModel;
_swAsmDoc.NewSelectionNotify += NewSelection;
pbEdge11.Image = null;
pbEdge12.Image = null;
pbEdge21.Image = null;
pbEdge22.Image = null;
NewSelection();
Show();
}
public void InitAndRunSwApp()
{
// инициализация объекта приложения Solidworks
swApp = new SldWorks();
int error = 0;
int warning = 0;
// открытие документа сборки муфты
// для локальной сборки
// assemblyPath = ProjectDocument.workPath + ProjectDocument.asmName;
swModel = swApp.OpenDoc6(assemblyPath, (int)swDocumentTypes_e.swDocASSEMBLY, 0, "", ref error, ref warning);
assembly = swModel as AssemblyDoc;
IModelView myModelView = swModel.ActiveView;
myModelView.FrameState = (int)swWindowState_e.swWindowMaximized;
}
public void Main()
{
ModelDoc2 swDoc = null;
PartDoc swPart = null;
DrawingDoc swDrawing = null;
AssemblyDoc swAssembly = null;
bool boolstatus = false;
int longstatus = 0;
int longwarnings = 0;
//
// New Document
double swSheetWidth;
swSheetWidth = 0;
double swSheetHeight;
swSheetHeight = 0;
swDoc = ((ModelDoc2)(swApp.NewDocument("D:\\Program Files\\SolidWorks Corp\\SOLIDWORKS (2)\\lang\\chinese\\Tutorial\\part.prtdot" +
"", 0, swSheetWidth, swSheetHeight)));
swPart = swDoc;
swApp.ActivateDoc2("Part1", false, ref longstatus);
swDoc = ((ModelDoc2)(swApp.ActiveDoc));
ModelView myModelView = null;
myModelView = ((ModelView)(swDoc.ActiveView));
myModelView.FrameState = ((int)(swWindowState_e.swWindowMaximized));
swDoc.SketchManager.InsertSketch(true);
boolstatus = swDoc.Extension.SelectByID2("Front", "PLANE", -0.068230578696965388, 0.046649779711848, 0.0043111746054159822, false, 0, null, 0);
swDoc.ClearSelection2(true);
boolstatus = swDoc.Extension.SetUserPreferenceToggle(((int)(swUserPreferenceToggle_e.swSketchAddConstToRectEntity)), ((int)(swUserPreferenceOption_e.swDetailingNoOptionSpecified)), false);
boolstatus = swDoc.Extension.SetUserPreferenceToggle(((int)(swUserPreferenceToggle_e.swSketchAddConstLineDiagonalType)), ((int)(swUserPreferenceOption_e.swDetailingNoOptionSpecified)), true);
Array vSkLines = null;
vSkLines = ((Array)(swDoc.SketchManager.CreateCornerRectangle(-0.05212005640233669, 0.022239709930839985, 0, 0.043660780232323892, -0.038612502517961472, 0)));
swDoc.ClearSelection2(true);
swDoc.SketchManager.InsertSketch(true);
//
// Named View
swDoc.ShowNamedView2("*Trimetric", 8);
swDoc.ViewZoomtofit2();
Feature myFeature = null;
myFeature = ((Feature)(swDoc.FeatureManager.FeatureExtrusion2(true, false, false, 0, 0, 0.025, 0.01, false, false, false, false, 0.017453292519943334, 0.017453292519943334, false, false, false, false, true, true, true, 0, 0, false)));
swDoc.ISelectionManager.EnableContourSelection = false;
}
//Actualizar el tipo de documento y castear el tipo al swDoc correcto
public void updateSwDoc()
{
//Crear objetos swDoc
if (SwModel.GetType() == (int)swDocumentTypes_e.swDocPART)
{
swPart = (PartDoc)SwModel;
}
else if (SwModel.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY)
{
swAssy = (AssemblyDoc)SwModel;
}
else if (SwModel.GetType() == (int)swDocumentTypes_e.swDocDRAWING)
{
swDraw = (DrawingDoc)SwModel;
}
subToSelectionListeners();
}
/// <summary>
/// Convert ModelDoc2 to AssemblyDoc and resolve all light weight components
/// </summary>
/// <param name="document"></param>
/// <returns></returns>
public static AssemblyDoc ToAssemblyDocument(ModelDoc2 document)
{
AssemblyDoc swAsm = null;
try
{
if ((int)swDocumentTypes_e.swDocASSEMBLY == document.GetType())
{
swAsm = (AssemblyDoc)document;
swAsm.ResolveAllLightWeightComponents(false);
}
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show(ex.Message);
throw;
}
return(swAsm);
}
public FrmSetParameters(SwAddin swAddin)
{
InitializeComponent();
bitmap = Properties.Resources.Brush;
tabMain.AutoSize = true;
KeyDown += FormKeyDown;
_mSwAddin = swAddin;
_swModel = (ModelDoc2)_mSwAddin.SwApp.ActiveDoc;
_swSelMgr = (SelectionMgr)_swModel.SelectionManager;
_swAsmDoc = (AssemblyDoc)_swModel;
_swAsmDoc.NewSelectionNotify += NewSelection;
_swAsmDoc.AddItemNotify += AddNewItem;
tabMain.Selected += TabMainTabSelected;
tabMain.SelectedIndexChanged += TabMainSelectedIndexChanged;
if (!Properties.Settings.Default.SetParentWindow)
TopMost = true;
Show();
NewSelection();
}
/// <summary>
/// Creates a new joint
/// </summary>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="owner">The Link that owns this joint (child Link in the joint)</param>
public Joint(string path, Link parent, Link child)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = parent;
Parent.ChildJoints.Add(this);
this.Child = child;
this.Selected = false;
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Getting Joint Specifics (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type,path,this);
RobotInfo.WriteToLogFile("Successfully created Joint Specifics (Joint)");
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// Выполняет метод для компонентов сборки (подсборки и детали)
/// </summary>
/// <param name="assemblyDoc">Сборка</param>
/// <param name="actionForPart">Метод для компонентов</param>
public static void DoSmthForEachComponent(AssemblyDoc assemblyDoc, Action<ModelDoc2> action)
{
DoSmthForEachComponent(assemblyDoc, action, action);
}
/// <summary>
/// Loads a joint that has already been created
/// </summary>
/// <param name="swApp">Solidworks app</param>
/// <param name="asm">Assembly document this joint and its robot belong to</param>
/// <param name="swData">StorageModel that this joint is tored in</param>
/// <param name="path">Path to this joint in the StorageModel</param>
/// <param name="robot">The Robot model that the joint is in</param>
public Joint(string path)
{
this.swApp = RobotInfo.SwApp;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.robot = RobotInfo.Robot;
this.Parent = robot.GetLink(parentId);
Parent.ChildJoints.Add(this);
this.Child = robot.GetLink(childId);
this.Selected = false;
if(this.Type == null || this.Type.Equals(""))
this.Type = JointFactory.DefaultJointType;
RobotInfo.WriteToLogFile("Loading existing joint (Joint)");
jointSpecifics = JointFactory.GetSpecificJoint(Type, path, this);
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
}
}
/// <summary>
/// Creates a new link belonging to the given assembly
/// </summary>
/// <param name="swApp">The Solidworks App</param>
/// <param name="asm"> The assembly that this Link is in</param>
/// <param name="swData"> The Storage model that this Link is stored in </param>
/// <param name="path"> The path to the StorageModel location of this link </param>
/// <param name="baseLink"> Whether this Link is the base link of the model or not </param>
public Link(String path, int id)
{
this.Selected = false;
this.asmDoc = RobotInfo.AssemDoc;
this.modelDoc = RobotInfo.ModelDoc;
this.swData = RobotInfo.SwData;
this.path = path;
this.swApp = RobotInfo.SwApp;
this.Id = id;
this.robot = RobotInfo.Robot;
attachments = new List<Attachment>();
ParentJoints = new List<Joint>();
ChildJoints = new List<Joint>();
nextAttachmentNum = 0;
nextJointNum = 0;
isBaseLink = false;
if (swData.GetDouble(path) == 0)
{
swData.SetDouble(path, 1);
Name = "NewLink";
this.color = DefaultColors[0];
}
attachmentNums = new DoubleStorageArray(swData, path + "/attachmentNums");
parentJointNums = new DoubleStorageArray(swData, path + "/jointNums");
ModelConfiguration physical = new ModelConfiguration(path + "/physicalComps", (int)ModelConfiguration.ModelConfigType.Physical,this);
ModelConfiguration visual = new ModelConfiguration(path + "/visualComps", (int)ModelConfiguration.ModelConfigType.Visual,this);
ModelConfiguration collision = new ModelConfiguration(path + "/collisionComps", (int)ModelConfiguration.ModelConfigType.Collision,this);
LinkModels = new ModelConfiguration[] { physical, visual, collision };
}
/// <summary>
/// Constructor for setting up the link property manager page
/// </summary>
/// <param name="robot">The robot model</param>
/// <param name="link">The link that will be edited</param>
/// <param name="document">Active assembly document</param>
/// <param name="swApp">The solidworks app</param>
public LinkPMPage(RobotModel robot, AssemblyDoc document, SldWorks swApp, int type)
{
//Validate parameters
if (robot == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null robot model.");
if (document == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null assembly document.");
if (swApp == null)
throw new ProgramErrorException("Tried to create a LinkEditorPMPage with a null solidworks application interface.");
//Initialize fields
this.robot = robot;
this.swApp = swApp;
this.linksColored = false;
currentModelConfig = type;
//AssemblyDoc inherits ModelDoc2 but the relationship dosn't carry through the COM interface
//Having two fields prevents having to cast half of the time
modelDoc = (ModelDoc2)document;
assemblyDoc = document;
//Setup the page, its controls and their visual layout
SetupPage();
}
/// <summary>
/// Méthode interne.
/// Initialiser l'objet eAssemblage.
/// </summary>
/// <param name="Modele"></param>
/// <returns></returns>
internal Boolean Init(eModele Modele)
{
Log.Methode(cNOMCLASSE);
if ((Modele != null) && Modele.EstInitialise && (Modele.TypeDuModele == TypeFichier_e.cAssemblage))
{
Log.Message(Modele.FichierSw.Chemin);
_Modele = Modele;
_SwAssemblage = Modele.SwModele as AssemblyDoc;
_EstInitialise = true;
}
else
{
Log.Message("!!!!! Erreur d'initialisation");
}
return _EstInitialise;
}
/// <summary>
/// Hook up events for the assembly context.
/// </summary>
/// <param name="md">A ModelDoc2 object.</param>
private void ConnectAssemblyEvents(ModelDoc2 md)
{
if ((md.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY) && !AssmEventsAssigned) {
ad = (AssemblyDoc)md;
ad.UserSelectionPreNotify += ad_UserSelectionPreNotify;
// user clicks part/subassembly
ad.UserSelectionPostNotify += ad_UserSelectionPostNotify;
// doc closing, I think.
ad.DestroyNotify2 += ad_DestroyNotify2;
// Not sure, and not implemented yet.
ad.ActiveDisplayStateChangePostNotify += ad_ActiveDisplayStateChangePostNotify;
// switching docs
ad.ActiveViewChangeNotify += ad_ActiveViewChangeNotify;
DisconnectDrawingEvents();
AssmEventsAssigned = true;
} else {
// We're already set up, I guess.
}
}
public AssemblyEventHandler(ModelDoc2 modDoc, SwAddin addin)
: base(modDoc, addin)
{
_doc = (AssemblyDoc)Document;
}
/// <summary>
/// Constructer
/// </summary>
/// <param name="robot">Robot model to be used for export</param>
/// <param name="iSwApp">The solidworks app</param>
/// <param name="asm">The assembly document</param>
public RobotExporter(RobotModel robot, SldWorks iSwApp, AssemblyDoc asm)
{
this.robot = robot;
this.iSwApp = iSwApp;
this.asm = asm;
}
/// <summary>
/// Sets the various properties of the current robot
/// </summary>
/// <param name="swApp">The solidworks application</param>
/// <param name="asmDoc">The current assembly</param>
/// <param name="swData">The current storage model</param>
/// <param name="robot">the current robot</param>
public static void SetProperties(SldWorks swApp, AssemblyDoc asmDoc, StorageModel swData, RobotModel robot)
{
SwApp = swApp;
ModelDoc = (ModelDoc2)asmDoc;
AssemDoc = asmDoc;
SwData = swData;
Robot = robot;
mathUtil = SwApp.GetMathUtility();
}
/// <summary>
/// Выполняет метод для каждой детали в сборке
/// </summary>
/// <param name="assemblyDoc">Сборка</param>
/// <param name="actionForPart">Метод для детали</param>
public static void DoSmthForEachPart(AssemblyDoc assemblyDoc, Action<ModelDoc2> actionForPart)
{
DoSmthForEachComponent(assemblyDoc, actionForPart, new Action<ModelDoc2>((ad) => { }));
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="robot">Robot model to be exported</param>
/// <param name="iSwApp">Solidworks app</param>
/// <param name="asm">Assembly that the robot model is in</param>
public URDFExporter(RobotModel robot, SldWorks iSwApp, AssemblyDoc asm)
: base(robot, iSwApp, asm)
{
}
/// <summary>
/// Loads a robot from an assembly document, if a robot dosn't already
/// exist one will be created
/// </summary>
/// <param name="asm">Assembly document containing a robot model</param>
/// <param name="swApp">Interface for interacting with Solidworks</param>
public RobotModel(AssemblyDoc asm, SldWorks swApp)
{
RobotInfo.WriteToLogFile("Robot Created (Robot)");
var assembly = typeof(JointSpecifics).Assembly;
Type[] types = assembly.GetTypes().Where(
t => t.IsSubclassOf(typeof(JointSpecifics)) && !t.IsAbstract).ToArray();
foreach (Type t in types)
{
System.Runtime.CompilerServices.RuntimeHelpers.RunClassConstructor(t.TypeHandle);
}
RobotInfo.WriteToLogFile("Initialized JointTypes = " + String.Join(", ",JointFactory.GetTypesList()) + " (Robot)");
//Setup fields
this.swApp = swApp;
this.asmDoc = asm;
this.modelDoc = (ModelDoc2)asm;
swData = new StorageModel(modelDoc);
Selected = false;
RobotInfo.SetProperties(swApp, asmDoc, swData, this);
RobotInfo.WriteToLogFile("Setup Fields Setup");
//If the robot data dosn't exist yet, create it with default values
if (swData.GetDouble("robot") == 0)
{
swData.SetDouble("robot", 1);
/*PhysicalConfig = "Default";
VisualConfig = "Default";
CollisionConfig = "Default";*/
Name = ((ModelDoc2)asm).GetTitle();
RobotInfo.WriteToLogFile("Robot Data created with Default Values");
}
RobotInfo.WriteToLogFile("Robot Data created");
LinkNums = new DoubleStorageArray(swData, "robot/linkNums");
nextLinkNum = 0;
RobotInfo.WriteToLogFile("LinkNums Storage Array Created");
Links = new Dictionary<int,Link>();
//Load link structure
Link newLink;
if (LinkNums.Count == 0)
{
LinkNums.AddItem(0);
RobotInfo.WriteToLogFile("New Link added to LinkNums");
}
Configuration currentConfig = modelDoc.ConfigurationManager.ActiveConfiguration;
foreach (double d in LinkNums)
{
newLink = new Link("robot/link" + (int)d, (int)d);
RobotInfo.WriteToLogFile("New Link Created");
Links.Add((int)d,newLink);
if (d >= nextLinkNum)
nextLinkNum = (int)d + 1;
}
Links[0].isBaseLink = true;
foreach (Link l in Links.Values.ToArray())
{
l.InitializeJoints();
l.InitializeAttachments();
}
modelDoc.ShowConfiguration2(ConfigName);
CalcAxisVectors();
CalcOrigin();
modelDoc.ShowConfiguration2(currentConfig.Name);
}
public AssemblyEventHandler(ModelDoc2 modDoc, DimensionRecorder addin)
: base(modDoc,addin)
{
doc = (AssemblyDoc)document;
}
//Calculates the free degree of freedom (if exists), and then determines the location of the joint, the axis of rotation/translation, and the type of joint
public void estimateGlobalJointFromComponents(AssemblyDoc assy, link parent, link child)
{
//Create the ref objects
int R1Status, R2Status, L1Status, L2Status, R1DirStatus, R2DirStatus, DOFs;
MathPoint RPoint1, RPoint2;
MathVector RDir1, RDir2, LDir1, LDir2;
// Surpress Limit Mates to properly find degrees of freedom. They don't work with the API call
List<Mate2> limitMates = new List<Mate2>();
limitMates = suppressLimitMates(child.SWMainComponent);
if (child.SWMainComponent != null)
{
// The wonderful undocumented API call I found to get the degrees of freedom in a joint.
// https://forum.solidworks.com/thread/57414
int remainingDOFs = child.SWMainComponent.GetRemainingDOFs(out R1Status, out RPoint1, out R1DirStatus, out RDir1,
out R2Status, out RPoint2, out R2DirStatus, out RDir2,
out L1Status, out LDir1,
out L2Status, out LDir2);
DOFs = remainingDOFs;
// Convert the gotten degrees of freedom to a joint type, origin and axis
child.Joint.type = "fixed";
child.Joint.Origin.xyz = ops.getXYZ(child.SWMainComponent.Transform2);
child.Joint.Origin.rpy = ops.getRPY(child.SWMainComponent.Transform2);
if (DOFs == 0 && (R1Status + L1Status > 0))
{
if (R1Status == 1)
{
child.Joint.type = "continuous";
child.Joint.Axis.xyz = RDir1.ArrayData;
child.Joint.Origin.xyz = RPoint1.ArrayData;
child.Joint.Origin.rpy = ops.getRPY(child.SWMainComponent.Transform2);
moveOrigin(parent, child);
}
else if (L1Status == 1)
{
child.Joint.type = "prismatic";
child.Joint.Axis.xyz = LDir1.ArrayData;
child.Joint.Origin.xyz = RPoint1.ArrayData;
child.Joint.Origin.rpy = ops.getRPY(child.SWMainComponent.Transform2);
moveOrigin(parent, child);
}
}
ops.threshold(child.Joint.Origin.xyz, 0.00001);
ops.threshold(child.Joint.Origin.rpy, 0.00001);
unsuppressLimitMates(limitMates);
if (limitMates.Count > 0)
{
addLimits(child.Joint, limitMates);
}
}
}
