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 TestWriteRobotToCSV(string modelName, int expNumLines)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool abortProcess);
Assert.False(abortProcess);
Link baseLink = baseNode.RebuildLink();
Robot robot = new Robot();
robot.SetBaseLink(baseLink);
string tempFile = Path.GetTempFileName();
try
{
ImportExport.WriteRobotToCSV(robot, tempFile);
Assert.True(File.Exists(tempFile));
string[] text = File.ReadAllLines(tempFile);
Assert.Equal(expNumLines, text.Length);
}
catch (Exception e)
{
Assert.True(false, "Failed to write robot to CSV " + e.Message);
}
finally
{
if (File.Exists(tempFile))
{
File.Delete(tempFile);
Assert.True(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 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 TestCreateRobotFromTreeView(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
ExportHelper helper = new ExportHelper(SwApp);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Assert.False(error);
helper.CreateRobotFromTreeView(baseNode);
Assert.NotNull(helper.URDFRobot);
Assert.True(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 TestSerializeToString(string modelName)
{
ModelDoc2 doc = OpenSWDocument(modelName);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Xunit.Assert.False(error);
PrivateType serialization = new PrivateType(typeof(ConfigurationSerialization));
string newData = (string)serialization.InvokeStatic(
"SerializeToString", new object[] { baseNode });
Xunit.Assert.NotNull(newData);
Xunit.Assert.NotEmpty(newData);
}
public void TestGetJointNames(string modelName, int expNumJoints)
{
ModelDoc2 doc = OpenSWDocument(modelName);
ExportHelper helper = new ExportHelper(SwApp);
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Assert.False(error);
helper.CreateRobotFromTreeView(baseNode);
helper.ExportRobot(true);
List <string> jointNames = helper.GetJointNames();
Assert.NotNull(jointNames);
Assert.Equal(jointNames.Count, expNumJoints);
Assert.True(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 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 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 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);
}