/// <summary>
/// Method to create a absolute joint movement with an empty robot tool (no override).
/// </summary>
/// <param name="name">Name of joint target, must be unique.</param>
/// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
/// <param name="externalAxisValues">List of external axis values. </param>
/// <param name="speedData"> The SpeedData as a SpeedData </param>
/// <param name="precision"> Robot movement precision. This value will be casted to the nearest predefined zonedata value. Use -1 for fine. </param>
public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues, SpeedData speedData, int precision)
{
_name = name;
_internalAxisValues = CheckInternalAxisValues(internalAxisValues);
_externalAxisValues = CheckExternalAxisValues(externalAxisValues);
_speedData = speedData;
_movementType = MovementType.MoveAbsJ; // The movement type is always an Absolute Joint Movement
_zoneData = new ZoneData(precision);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
}
/// <summary>
/// Method to create an absolute joint movement with internal and external axis values.
/// </summary>
/// <param name="name">Name of joint target, must be unique.</param>
/// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
/// <param name="externalAxisValues">List of external axis values. </param>
public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues)
{
_name = name;
_internalAxisValues = CheckInternalAxisValues(internalAxisValues);
_externalAxisValues = CheckExternalAxisValues(externalAxisValues);
_speedData = new SpeedData(5); // Slowest predefined tcp speed
_movementType = MovementType.MoveAbsJ; // The movementType is always an Absolute Joint Movement
_zoneData = new ZoneData(0);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
}
/// <summary>
/// Initializes a new instance of the Movement class.
/// This constructor is typically used to cast a Robot Target to a movement.
/// </summary>
/// <param name="target"> The Target. </param>
public Movement(ITarget target)
{
_movementType = 0;
_target = target;
_id = -1;
_speedData = new SpeedData(5); // Slowest predefined tcp speed
_zoneData = new ZoneData(0);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = new DigitalOutput(); // InValid / empty DO
}
/// <summary>
/// Initializes a new instance of the Movement class with an empty Robot Tool (no override) and a default Work Object (wobj0)
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data.</param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, DigitalOutput digitalOutput)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = digitalOutput;
CheckCombination();
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and to store data in output parameters.</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. Instead, " +
"combine Joint Targets with Movements.");
// Input variables
List <string> names = new List <string>();
GH_Structure <GH_Number> internalAxisValuesTree = new GH_Structure <GH_Number>();
GH_Structure <GH_Number> externalAxisValuesTree = new GH_Structure <GH_Number>();
List <SpeedData> speedDatas = new List <SpeedData>();
List <ZoneData> zoneDatas = new List <ZoneData>();
List <RobotTool> robotTools = new List <RobotTool>();
// Create an empty Robot Tool
RobotTool emptyRobotTool = new RobotTool();
emptyRobotTool.Clear();
// Catch the input data from the fixed parameters
if (!DA.GetDataList(0, names))
{
return;
}
if (!DA.GetDataTree(1, out internalAxisValuesTree))
{
return;
}
if (!DA.GetDataTree(2, out externalAxisValuesTree))
{
return;
}
if (!DA.GetDataList(3, speedDatas))
{
return;
}
if (!DA.GetDataList(4, zoneDatas))
{
zoneDatas = new List <ZoneData>()
{
new ZoneData(0)
};
}
// Catch the input data from the variable parameteres
if (Params.Input.Any(x => x.Name == variableInputParameters[0].Name))
{
if (!DA.GetDataList(variableInputParameters[0].Name, robotTools))
{
robotTools = new List <RobotTool>()
{
new RobotTool(emptyRobotTool)
};
}
}
// Make sure variable input parameters have a default value
if (robotTools.Count == 0)
{
robotTools.Add(new RobotTool(emptyRobotTool)); // Empty Robot Tool
}
// Get longest Input List
int[] sizeValues = new int[6];
sizeValues[0] = names.Count;
sizeValues[1] = internalAxisValuesTree.PathCount;
sizeValues[2] = externalAxisValuesTree.PathCount;
sizeValues[3] = speedDatas.Count;
sizeValues[4] = zoneDatas.Count;
sizeValues[5] = robotTools.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int namesCounter = -1;
int internalValueCounter = -1;
int externalValueCounter = -1;
int speedDataCounter = -1;
int precisionCounter = -1;
int robotToolCounter = -1;
// Clear list
_jointMovements.Clear();
// Creates movements
for (int i = 0; i < biggestSize; i++)
{
string name;
List <double> internalAxisValues = new List <double>();
List <double> externalAxisValues = new List <double>();
SpeedData speedData;
ZoneData zoneData;
RobotTool robotTool;
// Target counter
if (i < sizeValues[0])
{
name = names[i];
namesCounter++;
}
else
{
name = names[namesCounter] + "_" + (i - namesCounter);
}
// internal axis values counter
if (i < sizeValues[1])
{
internalAxisValues = internalAxisValuesTree[i].ConvertAll(x => (double)x.Value);
internalValueCounter++;
}
else
{
internalAxisValues = internalAxisValuesTree[internalValueCounter].ConvertAll(x => (double)x.Value);
}
// External axis values counter
if (sizeValues[2] == 0) // In case no external axis values are defined.
{
externalAxisValues = new List <double>()
{
};
}
else
{
if (i < sizeValues[2])
{
externalAxisValues = externalAxisValuesTree[i].ConvertAll(x => (double)x.Value);
externalValueCounter++;
}
else
{
externalAxisValues = externalAxisValuesTree[externalValueCounter].ConvertAll(x => (double)x.Value);
}
}
// SpeedData counter
if (i < sizeValues[3])
{
speedData = speedDatas[i];
speedDataCounter++;
}
else
{
speedData = speedDatas[speedDataCounter];
}
// Precision counter
if (i < sizeValues[4])
{
zoneData = zoneDatas[i];
precisionCounter++;
}
else
{
zoneData = zoneDatas[precisionCounter];
}
// Robot tool counter
if (i < sizeValues[5])
{
robotTool = robotTools[i];
robotToolCounter++;
}
else
{
robotTool = robotTools[robotToolCounter];
}
// JointMovement constructor
AbsoluteJointMovement jointMovement = new AbsoluteJointMovement(name, internalAxisValues, externalAxisValues, speedData, zoneData, robotTool);
_jointMovements.Add(jointMovement);
}
// Check if an exact predefined zonedata value is used
for (int i = 0; i < zoneDatas.Count; i++)
{
if (zoneDatas[i].ExactPredefinedValue == false & zoneDatas[i].PreDefinied == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Predefined zonedata value <" + i + "> is invalid. " +
"The nearest valid predefined speeddata value is used. Valid predefined zonedata values are -1, " +
"0, 1, 5, 10, 15, 20, 30, 40, 50, 60, 80, 100, 150 or 200. " +
"A value of -1 will be interpreted as fine movement in RAPID Code.");
break;
}
}
// Check if an exact predefined speeddata value is used
for (int i = 0; i < speedDatas.Count; i++)
{
if (speedDatas[i].ExactPredefinedValue == false & speedDatas[i].PreDefinied == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Predefined speeddata value <" + i + "> is invalid. " +
"The nearest valid predefined speeddata value is used. Valid predefined speeddata values are 5, 10, " +
"20, 30, 40, 50, 60, 80, 100, 150, 200, 300, 400, 500, 600, 800, 1000, 1500, 2000, 2500, 3000, 4000, " +
"5000, 6000 and 7000.");
break;
}
}
// Output
DA.SetDataList(0, _jointMovements);
#region Object manager
// Gets ObjectManager of this document
_objectManager = DocumentManager.GetDocumentObjectManager(this.OnPingDocument());
// Clears targetNames
for (int i = 0; i < _targetNames.Count; i++)
{
_objectManager.TargetNames.Remove(_targetNames[i]);
}
_targetNames.Clear();
// Removes lastName from targetNameList
if (_objectManager.TargetNames.Contains(_lastName))
{
_objectManager.TargetNames.Remove(_lastName);
}
// Adds Component to JointTargetsByGuid Dictionary
if (!_objectManager.OldJointTargetsByGuid2.ContainsKey(this.InstanceGuid))
{
_objectManager.OldJointTargetsByGuid2.Add(this.InstanceGuid, this);
}
// Checks if target name is already in use and counts duplicates
#region Check name in object manager
_namesUnique = true;
for (int i = 0; i < names.Count; i++)
{
if (_objectManager.TargetNames.Contains(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name already in use.");
_namesUnique = false;
_lastName = "";
break;
}
else
{
// Adds Target Name to list
_targetNames.Add(names[i]);
_objectManager.TargetNames.Add(names[i]);
// Run SolveInstance on other Targets with no unique Name to check if their name is now available
_objectManager.UpdateTargets();
_lastName = names[i];
}
// Checks if variable name exceeds max character limit for RAPID Code
if (HelperMethods.VariableExeedsCharacterLimit32(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name exceeds character limit of 32 characters.");
break;
}
// Checks if variable name starts with a number
if (HelperMethods.VariableStartsWithNumber(names[i]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Target Name starts with a number which is not allowed in RAPID Code.");
break;
}
}
#endregion
// Recognizes if Component is Deleted and removes it from Object Managers target and name list
GH_Document doc = this.OnPingDocument();
if (doc != null)
{
doc.ObjectsDeleted += DocumentObjectsDeleted;
}
#endregion
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and to store data in output parameters.</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.");
// Creates the input value list and attachs it to the input parameter
CreateValueList();
// Expire solution of this component
if (_expire == true)
{
_expire = false;
this.ExpireSolution(true);
}
// Input variables
List <ITarget> targets = new List <ITarget>();
List <SpeedData> speedDatas = new List <SpeedData>();
List <int> movementTypes = new List <int>();
List <ZoneData> zoneDatas = new List <ZoneData>();
List <RobotTool> robotTools = new List <RobotTool>();
List <WorkObject> workObjects = new List <WorkObject>();
List <DigitalOutput> digitalOutputs = new List <DigitalOutput>();
// Create an empty Robot Tool
RobotTool emptyRobotTool = new RobotTool();
emptyRobotTool.Clear();
// Catch the input data from the fixed parameters
if (!DA.GetDataList(0, targets))
{
return;
}
if (!DA.GetDataList(1, speedDatas))
{
return;
}
if (!DA.GetDataList(2, movementTypes))
{
return;
}
if (!DA.GetDataList(3, zoneDatas))
{
zoneDatas = new List <ZoneData>()
{
new ZoneData(0)
};
}
// Catch the input data from the variable parameteres
if (Params.Input.Any(x => x.Name == variableInputParameters[0].Name))
{
if (!DA.GetDataList(variableInputParameters[0].Name, robotTools))
{
robotTools = new List <RobotTool>()
{
new RobotTool(emptyRobotTool)
};
}
}
if (Params.Input.Any(x => x.Name == variableInputParameters[1].Name))
{
if (!DA.GetDataList(variableInputParameters[1].Name, workObjects))
{
workObjects = new List <WorkObject>()
{
new WorkObject()
};
}
}
if (Params.Input.Any(x => x.Name == variableInputParameters[2].Name))
{
if (!DA.GetDataList(variableInputParameters[2].Name, digitalOutputs))
{
digitalOutputs = new List <DigitalOutput>()
{
new DigitalOutput()
};
}
}
// Make sure variable input parameters have a default value
if (robotTools.Count == 0)
{
robotTools.Add(new RobotTool(emptyRobotTool)); // Empty Robot Tool
}
if (workObjects.Count == 0)
{
workObjects.Add(new WorkObject()); // Makes a default WorkObject (wobj0)
}
if (digitalOutputs.Count == 0)
{
digitalOutputs.Add(new DigitalOutput()); // InValid / empty DO
}
// Get longest Input List
int[] sizeValues = new int[7];
sizeValues[0] = targets.Count;
sizeValues[1] = speedDatas.Count;
sizeValues[2] = movementTypes.Count;
sizeValues[3] = zoneDatas.Count;
sizeValues[4] = robotTools.Count;
sizeValues[5] = workObjects.Count;
sizeValues[6] = digitalOutputs.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int targetGooCounter = -1;
int speedDataCounter = -1;
int movementTypeCounter = -1;
int zoneDataCounter = -1;
int robotToolGooCounter = -1;
int workObjectGooCounter = -1;
int digitalOutputGooCounter = -1;
// Creates movements
List <Movement> movements = new List <Movement>();
for (int i = 0; i < biggestSize; i++)
{
ITarget target;
SpeedData speedData;
int movementType;
ZoneData zoneData;
RobotTool robotTool;
WorkObject workObject;
DigitalOutput digitalOutput;
// Target counter
if (i < sizeValues[0])
{
target = targets[i];
targetGooCounter++;
}
else
{
target = targets[targetGooCounter];
}
// Workobject counter
if (i < sizeValues[1])
{
speedData = speedDatas[i];
speedDataCounter++;
}
else
{
speedData = speedDatas[speedDataCounter];
}
// Movement type counter
if (i < sizeValues[2])
{
movementType = movementTypes[i];
movementTypeCounter++;
}
else
{
movementType = movementTypes[movementTypeCounter];
}
// Precision counter
if (i < sizeValues[3])
{
zoneData = zoneDatas[i];
zoneDataCounter++;
}
else
{
zoneData = zoneDatas[zoneDataCounter];
}
// Robot tool counter
if (i < sizeValues[4])
{
robotTool = robotTools[i];
robotToolGooCounter++;
}
else
{
robotTool = robotTools[robotToolGooCounter];
}
// Work Object counter
if (i < sizeValues[5])
{
workObject = workObjects[i];
workObjectGooCounter++;
}
else
{
workObject = workObjects[workObjectGooCounter];
}
// Digital Output counter
if (i < sizeValues[6])
{
digitalOutput = digitalOutputs[i];
digitalOutputGooCounter++;
}
else
{
digitalOutput = digitalOutputs[digitalOutputGooCounter];
}
// Movement constructor
Movement movement = new Movement((MovementType)movementType, target, speedData, zoneData, robotTool, workObject, digitalOutput);
movements.Add(movement);
}
// Check if a right value is used for the movement type
for (int i = 0; i < movementTypes.Count; i++)
{
if (movementTypes[i] != 0 && movementTypes[i] != 1 && movementTypes[i] != 2)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Movement type value <" + i + "> is invalid. " +
"In can only be set to 0, 1 and 2. Use 0 for MoveAbsJ, 1 for MoveL and 2 for MoveJ.");
break;
}
}
// Check if an exact predefined zonedata value is used
for (int i = 0; i < zoneDatas.Count; i++)
{
if (zoneDatas[i].ExactPredefinedValue == false & zoneDatas[i].PreDefinied == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Predefined zonedata value <" + i + "> is invalid. " +
"The nearest valid predefined speeddata value is used. Valid predefined zonedata values are -1, " +
"0, 1, 5, 10, 15, 20, 30, 40, 50, 60, 80, 100, 150 or 200. " +
"A value of -1 will be interpreted as fine movement in RAPID Code.");
break;
}
}
// Check if an exact predefined speeddata value is used
for (int i = 0; i < speedDatas.Count; i++)
{
if (speedDatas[i].ExactPredefinedValue == false & speedDatas[i].PreDefinied == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Predefined speeddata value <" + i + "> is invalid. " +
"The nearest valid predefined speed data value is used. Valid predefined speeddata values are 5, 10, " +
"20, 30, 40, 50, 60, 80, 100, 150, 200, 300, 400, 500, 600, 800, 1000, 1500, 2000, 2500, 3000, 4000, " +
"5000, 6000 and 7000.");
break;
}
}
// Output
DA.SetDataList(0, movements);
}