internal RobotCellUR(string name, RobotArm robot, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.UR, io, basePlane, environment)
{
this.Robot = robot as RobotUR;
this.DisplayMesh = new Mesh();
DisplayMesh.Append(robot.DisplayMesh);
this.DisplayMesh.Transform(this.BasePlane.ToTransform());
}
public RobotSystem(string name, Manufacturers manufacturer, IO io, Plane basePlane, Mesh environment)
{
this.Name = name;
this.Manufacturer = manufacturer;
this.IO = io;
this.BasePlane = basePlane;
this.Environment = environment;
}
internal RobotCell(string name, Manufacturers manufacturer, List<MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh environment) : base(name, manufacturer, io, basePlane, environment)
{
this.MechanicalGroups = mechanicalGroups;
this.DisplayMesh = new Mesh();
foreach (var group in mechanicalGroups)
{
DisplayMesh.Append(group.Robot.DisplayMesh);
foreach (var external in group.Externals) DisplayMesh.Append(external.DisplayMesh);
}
this.DisplayMesh.Transform(this.BasePlane.ToTransform());
}
private static RobotSystem Create(XElement element, Plane basePlane)
{
var type = element.Name.LocalName;
var name = element.Attribute(XName.Get("name")).Value;
var manufacturer = (Manufacturers)Enum.Parse(typeof(Manufacturers), element.Attribute(XName.Get("manufacturer")).Value);
var mechanisms = new List<Mechanism>();
var mechanicalGroups = new List<MechanicalGroup>();
foreach (var mechanicalGroup in element.Elements(XName.Get("Mechanisms")))
{
mechanicalGroups.Add(MechanicalGroup.Create(mechanicalGroup));
}
IO io = null;
XElement ioElement = element.Element(XName.Get("IO"));
if (ioElement != null)
{
string[] doNames = null, diNames = null, aoNames = null, aiNames = null;
var doElement = ioElement.Element(XName.Get("DO"));
var diElement = ioElement.Element(XName.Get("DI"));
var aoElement = ioElement.Element(XName.Get("AO"));
var aiElement = ioElement.Element(XName.Get("AI"));
if (doElement != null) doNames = doElement.Attribute(XName.Get("names")).Value.Split(',');
if (diElement != null) diNames = diElement.Attribute(XName.Get("names")).Value.Split(',');
if (aoElement != null) aoNames = aoElement.Attribute(XName.Get("names")).Value.Split(',');
if (aiElement != null) aiNames = aiElement.Attribute(XName.Get("names")).Value.Split(',');
io = new IO() { DO = doNames, DI = diNames, AO = aoNames, AI = aiNames };
}
Mesh environment = null;
if (type == "RobotCell")
{
switch (manufacturer)
{
case (Manufacturers.ABB):
return new RobotCellAbb(name, mechanicalGroups, io, basePlane, environment);
case (Manufacturers.KUKA):
return new RobotCellKuka(name, mechanicalGroups, io, basePlane, environment);
case (Manufacturers.UR):
return new RobotCellUR(name, mechanicalGroups[0].Robot, io, basePlane, environment);
}
}
return null;
}
internal RobotCellAbb(string name, List<MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.ABB, mechanicalGroups, io, basePlane, environment) { }
internal RobotCellAbb(string name, List <MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.ABB, mechanicalGroups, io, basePlane, environment)
{
}
internal RobotCellKuka(string name, List<MechanicalGroup> mechanicalGroup, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.KUKA, mechanicalGroup, io, basePlane, environment) { }