/// <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)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
GH_Controller controllerGoo = null;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
// Clear output variables
_internalAxisValues.Clear();
_externalAxisValues.Clear();
// Data needed for making the datatree with axis values
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
int internalAxisValuesPath = 0;
int externalAxisValuesPath = 0;
List <double> values;
GH_Path path;
// Make the output datatree with names with a branch for each mechanical unit
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Get the ABB joint target of the mechanical unit
MechanicalUnit mechanicalUnit = mechanicalUnits[i];
JointTarget jointTarget = mechanicalUnit.GetPosition();
// For internal axis values
if (mechanicalUnit.Type == MechanicalUnitType.TcpRobot)
{
values = GetInternalAxisValuesAsList(jointTarget);
path = new GH_Path(internalAxisValuesPath);
_internalAxisValues.AppendRange(values.ConvertAll(val => new GH_Number(val)), path);
internalAxisValuesPath += 1;
}
// For external axis values
else
{
values = GetExternalAxisValuesAsList(jointTarget);
path = new GH_Path(externalAxisValuesPath);
_externalAxisValues.AppendRange(values.GetRange(0, mechanicalUnit.NumberOfAxes).ConvertAll(val => new GH_Number(val)), path);
externalAxisValuesPath += 1;
}
}
// Output
DA.SetDataTree(0, _internalAxisValues);
DA.SetDataTree(1, _externalAxisValues);
}
/// <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)
{
// Input variables
GH_Controller controllerGoo = null;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
// Clear output variables
_robotJointPositions.Clear();
_externalAxisValues.Clear();
// Data needed for making the datatree with axis values
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
int externalAxisValuesPath = 0;
List <double> values;
GH_Path path;
// Make the output datatree with names with a branch for each mechanical unit
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Get the ABB joint target of the mechanical unit
MechanicalUnit mechanicalUnit = mechanicalUnits[i];
ABB.Robotics.Controllers.RapidDomain.JointTarget jointTarget = mechanicalUnit.GetPosition();
// For internal axis values
if (mechanicalUnit.Type == MechanicalUnitType.TcpRobot)
{
values = GetInternalAxisValuesAsList(jointTarget);
_robotJointPositions.Add(new RobotJointPosition(values));
}
// For external axis values
else
{
values = GetExternalAxisValuesAsList(jointTarget);
path = new GH_Path(externalAxisValuesPath);
_externalAxisValues.AppendRange(values.GetRange(0, mechanicalUnit.NumberOfAxes).ConvertAll(val => new GH_Number(val)), path);
externalAxisValuesPath += 1;
}
}
// Output
DA.SetDataList(0, _robotJointPositions);
DA.SetDataTree(1, _externalAxisValues);
}
/// <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)
{
// Creates the input value list and attachs it to the input parameter
CreateValueList();
// Expire solution of this component (called after expire solution of the created value list)
if (_expire == true)
{
_expire = false;
this.ExpireSolution(true);
}
// Input variables
GH_Controller controllerGoo = null;
int coordinateSystem = 0;
// Catch input data
if (!DA.GetData(0, ref controllerGoo))
{
return;
}
if (!DA.GetData(1, ref coordinateSystem))
{
return;
}
// Output variables
List <Plane> planes = new List <Plane>();
// Get the mechanical units of the controller
MechanicalUnitCollection mechanicalUnits = controllerGoo.Value.MotionSystem.MechanicalUnits;
List <string> mechanicalUnitnames = new List <string>();
// ABB coordinate system type
CoordinateSystemType coord = (CoordinateSystemType)coordinateSystem;
// Get all the planes
for (int i = 0; i < mechanicalUnits.Count; i++)
{
// Try to get the plane
try
{
// Get the ABB joint target of the mechanical unit
RobTarget robTarget = mechanicalUnits[i].GetPosition(coord);
int test = mechanicalUnits[i].DriveModule;
// Update Quaternion
_quat.A = robTarget.Rot.Q1;
_quat.B = robTarget.Rot.Q2;
_quat.C = robTarget.Rot.Q3;
_quat.D = robTarget.Rot.Q4;
// Update point
_point.X = robTarget.Trans.X;
_point.Y = robTarget.Trans.Y;
_point.Z = robTarget.Trans.Z;
// Convert to plane
_quat.GetRotation(out Plane plane);
plane = new Plane(_point, plane.XAxis, plane.YAxis);
// Add to list
planes.Add(plane);
}
// Set null plane if not
catch
{
// Raise a blank message
AddRuntimeMessage(GH_RuntimeMessageLevel.Remark, "Mechanical unit " + mechanicalUnits[i].Name + ": A position plane could not be defined for the selected coordinate system.");
// Add null plane
planes.Add(Plane.Unset);
}
// Add mechanical unit name to the list with names
mechanicalUnitnames.Add(mechanicalUnits[i].Name);
}
// Output
DA.SetDataList(0, planes);
DA.SetDataList(1, mechanicalUnitnames);
}
