internal VAL3PostProcessor(RobotCellStaubli robotCell, Program program)
{
_cell = robotCell;
_program = program;
Code = new List <List <List <string> > >();
//for (int i = 0; i < cell.MechanicalGroups.Count; i++)
//{
// var groupCode = new List<List<string>>
// {
// MainModule(i)
// };
// for (int j = 0; j < program.MultiFileIndices.Count; j++)
// groupCode.Add(SubModule(j, i));
// Code.Add(groupCode);
//}
}
internal VAL3PostProcessor(RobotCellStaubli robotCell, Program program)
{
_cell = robotCell;
_program = program;
int groupCount = _cell.MechanicalGroups.Count;
if (groupCount > 1)
{
_program.Errors.Add("Coordinated robots not supported for Staubli.");
return;
}
if (!CheckNames())
{
return;
}
Code = new List <List <List <string> > >();
for (int i = 0; i < _cell.MechanicalGroups.Count; i++)
{
var group = _cell.MechanicalGroups[i];
//var name = $"{_program.Name}_{group.Name}";
var name = $"{_program.Name}";
var mdescs = CreateMdescs(i);
var groupCode = new List <List <string> >
{
Program(name),
DataList(i, mdescs, out var indices),
Start(name),
Stop(name),
};
for (int j = 0; j < program.MultiFileIndices.Count; j++)
{
groupCode.Add(SubModule(j, i, mdescs, indices, name));
}
Code.Add(groupCode);
}
}