/// <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// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +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
RobotTarget target = null;
// Catch the input data
if (!DA.GetData(0, ref target))
{
return;
}
// Check if the object is valid
if (!target.IsValid)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The Target is not valid");
}
// Output
DA.SetData(0, target.Name);
DA.SetData(1, target.Plane);
DA.SetData(2, target.AxisConfig);
DA.SetDataList(3, target.ExternalJointPosition.ToList());
}
/// <summary>
/// This method displays the data associated to the targets.
/// </summary>
/// <param name="args"> Preview display arguments for IGH_PreviewObjects.</param>
public override void DrawViewportMeshes(IGH_PreviewArgs args)
{
// Loop over all the branches in the datatree structure with targets
for (int i = 0; i < _targetGoos.Branches.Count; i++)
{
// Get the indvidual branch
var branches = _targetGoos.Branches[i];
// Loop over all the items in the individual branch
for (int j = 0; j < branches.Count; j++)
{
// Get the target
RobotTarget target = branches[j].Value as RobotTarget;
// Display the name of the target
if (_displayNames == true)
{
double pixelsPerUnit;
args.Viewport.GetWorldToScreenScale(target.Plane.Origin, out pixelsPerUnit);
Plane plane;
args.Viewport.GetCameraFrame(out plane);
plane.Origin = target.Plane.Origin + target.Plane.ZAxis * 2;
args.Display.Draw3dText(target.Name, _color, plane, _textSize / pixelsPerUnit, "Lucida Console");
}
// Display the origin of the target plane
if (_displayPoints == true)
{
args.Display.DrawPoint(target.Plane.Origin, Rhino.Display.PointStyle.Simple, _pointSize, _color);
}
// Display the direction / orientation of the target plane
if (_displayDirections == true)
{
Plane planeVisual = target.Plane;
args.Display.DrawDirectionArrow(planeVisual.Origin, planeVisual.ZAxis, System.Drawing.Color.Blue);
args.Display.DrawDirectionArrow(planeVisual.Origin, planeVisual.XAxis, System.Drawing.Color.Red);
args.Display.DrawDirectionArrow(planeVisual.Origin, planeVisual.YAxis, System.Drawing.Color.Green);
}
}
}
}
/// <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)
{
// Sets inputs and creates target
string name = "defaultTar";
Plane plane = Plane.WorldXY;
Plane referencePlane = Plane.WorldXY;
int axisConfig = 0;
ExternalJointPosition externalJointPosition = new ExternalJointPosition();
// Catch inputs
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref plane))
{
return;
}
if (!DA.GetData(2, ref referencePlane))
{
return;
}
if (!DA.GetData(3, ref axisConfig))
{
return;
}
if (!DA.GetData(4, ref externalJointPosition))
{
return;
}
// Replace spaces
name = HelperMethods.ReplaceSpacesAndRemoveNewLines(name);
RobotTarget target = new RobotTarget(name, plane, referencePlane, axisConfig, externalJointPosition);
// Sets Output
DA.SetData(0, target);
}
/// <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
RobotTarget target = null;
// Catch the input data
if (!DA.GetData(0, ref target))
{
return;
}
// Check if the object is valid
if (!target.IsValid)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The Robot Target is not valid");
}
// Output
DA.SetData(0, target.Name);
DA.SetData(1, target.Plane);
DA.SetData(2, target.AxisConfig);
DA.SetData(3, target.ExternalJointPosition);
}
/// <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.");
// Gets the Object Manager 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();
// Adds Component to TargetByGuid Dictionary
if (!objectManager.OldTargetsByGuid.ContainsKey(this.InstanceGuid))
{
objectManager.OldTargetsByGuid.Add(this.InstanceGuid, this);
}
// Removes lastName from targetNameList
if (objectManager.TargetNames.Contains(lastName))
{
objectManager.TargetNames.Remove(lastName);
}
// Sets inputs and creates target
Guid instanceGUID = this.InstanceGuid;
List <string> names = new List <string>();
List <Plane> planes = new List <Plane>();
List <int> axisConfigs = new List <int>();
// Catch the input data
if (!DA.GetDataList(0, names))
{
return;
}
if (!DA.GetDataList(1, planes))
{
return;
}
if (!DA.GetDataList(2, axisConfigs))
{
return;
}
// Get longest Input List
int[] sizeValues = new int[3];
sizeValues[0] = names.Count;
sizeValues[1] = planes.Count;
sizeValues[2] = axisConfigs.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int nameCounter = -1;
int planesCounter = -1;
int axisConfigCounter = -1;
// Clear list
_targets.Clear();
// Creates targets
for (int i = 0; i < biggestSize; i++)
{
string name = "";
Plane plane = new Plane();
int axisConfig = 0;
if (i < names.Count)
{
name = names[i];
nameCounter++;
}
else
{
name = names[nameCounter] + "_" + (i - nameCounter);
}
if (i < planes.Count)
{
plane = planes[i];
planesCounter++;
}
else
{
plane = planes[planesCounter];
}
if (i < axisConfigs.Count)
{
axisConfig = axisConfigs[i];
axisConfigCounter++;
}
else
{
axisConfig = axisConfigs[axisConfigCounter];
}
RobotTarget target = new RobotTarget(name, plane, axisConfig);
_targets.Add(target);
}
// Checks if target name is already in use and counts duplicates
#region NameCheck
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
// Sets Output
DA.SetDataList(0, _targets);
// 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;
}
}
/// <summary>
/// Attempt a cast from generic object.
/// </summary>
/// <param name="source"> Reference to source of cast. </param>
/// <returns> True on success, false on failure. </returns>
public override bool CastFrom(object source)
{
if (source == null)
{
return(false);
}
//Cast from Movement
if (typeof(Movement).IsAssignableFrom(source.GetType()))
{
Value = source as Movement;
return(true);
}
//Cast from Target
if (typeof(ITarget).IsAssignableFrom(source.GetType()))
{
Value = new Movement(source as ITarget);
return(true);
}
//Cast from Target Goo
if (typeof(GH_Target).IsAssignableFrom(source.GetType()))
{
GH_Target targetGoo = source as GH_Target;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Robot Target
if (typeof(RobotTarget).IsAssignableFrom(source.GetType()))
{
RobotTarget target = (RobotTarget)source;
Value = new Movement(target);
return(true);
}
//Cast from Robot Target Goo
if (typeof(GH_RobotTarget).IsAssignableFrom(source.GetType()))
{
GH_RobotTarget targetGoo = (GH_RobotTarget)source;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Joint Target
if (typeof(JointTarget).IsAssignableFrom(source.GetType()))
{
JointTarget target = (JointTarget)source;
Value = new Movement(target);
return(true);
}
//Cast from Joint Target Goo
if (typeof(GH_JointTarget).IsAssignableFrom(source.GetType()))
{
GH_JointTarget targetGoo = (GH_JointTarget)source;
Value = new Movement(targetGoo.Value);
return(true);
}
//Cast from Action
if (typeof(Action).IsAssignableFrom(source.GetType()))
{
if (source is Movement action)
{
Value = action;
return(true);
}
}
//Cast from Action Goo
if (typeof(GH_Action).IsAssignableFrom(source.GetType()))
{
GH_Action actionGoo = source as GH_Action;
if (actionGoo.Value is Movement action)
{
Value = action;
return(true);
}
}
//Cast from Instruction
if (typeof(IInstruction).IsAssignableFrom(source.GetType()))
{
if (source is Movement instruction)
{
Value = instruction;
return(true);
}
}
//Cast from Instruction Goo
if (typeof(GH_Instruction).IsAssignableFrom(source.GetType()))
{
GH_Instruction instructionGoo = source as GH_Instruction;
if (instructionGoo.Value is Movement instruction)
{
Value = instruction;
return(true);
}
}
return(false);
}
/// <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.");
// Variable for catchint the datatree
GH_Structure <IGH_Goo> actions;
// Clear the list with targets before catching new input data
_targetGoos.Clear();
// Catch the input data
if (!DA.GetDataTree(0, out actions))
{
return;
}
if (!DA.GetData(1, ref _displayNames))
{
return;
}
if (!DA.GetData(2, ref _displayPoints))
{
return;
}
if (!DA.GetData(3, ref _displayDirections))
{
return;
}
if (!DA.GetData(4, ref _color))
{
return;
}
if (!DA.GetData(5, ref _textSize))
{
return;
}
if (!DA.GetData(6, ref _pointSize))
{
return;
}
// Get the paths of the datatree with actions
var paths = actions.Paths;
// Check and concert the input data to the right datatype (target)
for (int i = 0; i < actions.Branches.Count; i++)
{
var branches = actions.Branches[i];
GH_Path iPath = paths[i];
for (int j = 0; j < branches.Count; j++)
{
// Get the target from the movement instance if the input data is a movement
if (actions.Branches[i][j] is GH_Movement)
{
GH_Movement movementGoo = actions.Branches[i][j] as GH_Movement;
GH_Target targetGoo = new GH_Target(movementGoo.Value.Target);
_targetGoos.Append(targetGoo, iPath);
}
// Get the target data directly if the input data is a target
else if (actions.Branches[i][j] is GH_Target)
{
GH_Target targetGoo = actions.Branches[i][j] as GH_Target;
_targetGoos.Append(targetGoo, iPath);
}
// Make a target from the input plane if the input data is a plane
else if (actions.Branches[i][j] is GH_Plane)
{
string targetName;
if (actions.Branches.Count == 1)
{
targetName = "plane" + "_" + j;
}
else
{
targetName = "plane" + "_" + i + "_" + j;
}
GH_Plane planeGoo = actions.Branches[i][j] as GH_Plane;
RobotTarget target = new RobotTarget(targetName, planeGoo.Value);
GH_Target targetGoo = new GH_Target(target);
_targetGoos.Append(targetGoo, iPath);
}
// Let all other data pass (raise no warning or error)
else
{
// empty
}
}
}
}
/// <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.");
// Sets inputs and creates target
List <string> names = new List <string>();
List <Plane> planes = new List <Plane>();
List <Plane> referencePlanes = new List <Plane>();
List <int> axisConfigs = new List <int>();
// Override external axis values input variables
List <double> externalAxisValueA = new List <double>();
List <double> externalAxisValueB = new List <double>();
List <double> externalAxisValueC = new List <double>();
List <double> externalAxisValueD = new List <double>();
List <double> externalAxisValueE = new List <double>();
List <double> externalAxisValueF = new List <double>();
// Catch name input
if (!DA.GetDataList(0, names))
{
return;
} // Fixed index
// Catch target planes input
if (!DA.GetDataList(1, planes))
{
return;
} // Fixed index
// Catch reference plane input
if (Params.Input.Any(x => x.Name == "Reference Plane"))
{
if (!DA.GetDataList("Reference Plane", referencePlanes))
{
referencePlanes = new List <Plane>()
{
Plane.WorldXY
};
}
}
// Catch axis configuration input
if (Params.Input.Any(x => x.Name == "Axis Configuration"))
{
if (!DA.GetDataList("Axis Configuration", axisConfigs))
{
return;
}
}
// Catch input data for overriding external axis values
if (Params.Input.Any(x => x.Name == externalAxisParameters[0].Name))
{
// External axis A
if (!DA.GetDataList(externalAxisParameters[0].Name, externalAxisValueA))
{
externalAxisValueA = new List <double>()
{
9e9
};
}
}
// External axis B
if (Params.Input.Any(x => x.Name == externalAxisParameters[1].Name))
{
if (!DA.GetDataList(externalAxisParameters[1].Name, externalAxisValueB))
{
externalAxisValueB = new List <double>()
{
9e9
};
}
}
// External axis C
if (Params.Input.Any(x => x.Name == externalAxisParameters[2].Name))
{
if (!DA.GetDataList(externalAxisParameters[2].Name, externalAxisValueC))
{
externalAxisValueC = new List <double>()
{
9e9
};
}
}
// External axis D
if (Params.Input.Any(x => x.Name == externalAxisParameters[3].Name))
{
if (!DA.GetDataList(externalAxisParameters[3].Name, externalAxisValueD))
{
externalAxisValueD = new List <double>()
{
9e9
};
}
}
// External axis E
if (Params.Input.Any(x => x.Name == externalAxisParameters[4].Name))
{
if (!DA.GetDataList(externalAxisParameters[4].Name, externalAxisValueE))
{
externalAxisValueE = new List <double>()
{
9e9
};
}
}
// External axis F
if (Params.Input.Any(x => x.Name == externalAxisParameters[5].Name))
{
if (!DA.GetDataList(externalAxisParameters[5].Name, externalAxisValueF))
{
externalAxisValueF = new List <double>()
{
9e9
};
}
}
// Make sure variable input has a default value
if (referencePlanes.Count == 0)
{
referencePlanes.Add(Plane.WorldXY);
}
if (externalAxisValueA.Count == 0)
{
externalAxisValueA.Add(9e9);
}
if (externalAxisValueB.Count == 0)
{
externalAxisValueB.Add(9e9);
}
if (externalAxisValueC.Count == 0)
{
externalAxisValueC.Add(9e9);
}
if (externalAxisValueD.Count == 0)
{
externalAxisValueD.Add(9e9);
}
if (externalAxisValueE.Count == 0)
{
externalAxisValueE.Add(9e9);
}
if (externalAxisValueF.Count == 0)
{
externalAxisValueF.Add(9e9);
}
// Get longest Input List
int[] sizeValues = new int[10];
sizeValues[0] = names.Count;
sizeValues[1] = planes.Count;
sizeValues[2] = referencePlanes.Count;
sizeValues[3] = axisConfigs.Count;
sizeValues[4] = externalAxisValueA.Count;
sizeValues[5] = externalAxisValueB.Count;
sizeValues[6] = externalAxisValueC.Count;
sizeValues[7] = externalAxisValueD.Count;
sizeValues[8] = externalAxisValueE.Count;
sizeValues[9] = externalAxisValueF.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int nameCounter = -1;
int planesCounter = -1;
int referencePlaneCounter = -1;
int axisConfigCounter = -1;
int externalAxisValueCounterA = -1;
int externalAxisValueCounterB = -1;
int externalAxisValueCounterC = -1;
int externalAxisValueCounterD = -1;
int externalAxisValueCounterE = -1;
int externalAxisValueCounterF = -1;
// Clear list
_targets.Clear();
// Creates targets
for (int i = 0; i < biggestSize; i++)
{
string name = "";
Plane plane = new Plane();
Plane referencePlane = new Plane();
int axisConfig = 0;
double[] axisValues = new double[6];
// Names counter
if (i < sizeValues[0])
{
name = names[i];
nameCounter++;
}
else
{
name = names[nameCounter] + "_" + (i - nameCounter);
}
// Target planes counter
if (i < sizeValues[1])
{
plane = planes[i];
planesCounter++;
}
else
{
plane = planes[planesCounter];
}
// Reference plane counter
if (i < sizeValues[2])
{
referencePlane = referencePlanes[i];
referencePlaneCounter++;
}
else
{
referencePlane = referencePlanes[referencePlaneCounter];
}
// Axis configuration counter
if (i < sizeValues[3])
{
axisConfig = axisConfigs[i];
axisConfigCounter++;
}
else
{
axisConfig = axisConfigs[axisConfigCounter];
}
// External Axis Value A
if (i < sizeValues[4])
{
axisValues[0] = externalAxisValueA[i];
externalAxisValueCounterA++;
}
else
{
axisValues[0] = externalAxisValueA[externalAxisValueCounterA];
}
// External Axis Value B
if (i < sizeValues[5])
{
axisValues[1] = externalAxisValueB[i];
externalAxisValueCounterB++;
}
else
{
axisValues[1] = externalAxisValueB[externalAxisValueCounterB];
}
// External Axis Value C
if (i < sizeValues[6])
{
axisValues[2] = externalAxisValueC[i];
externalAxisValueCounterC++;
}
else
{
axisValues[2] = externalAxisValueC[externalAxisValueCounterC];
}
// External Axis Value D
if (i < sizeValues[7])
{
axisValues[3] = externalAxisValueD[i];
externalAxisValueCounterD++;
}
else
{
axisValues[3] = externalAxisValueD[externalAxisValueCounterD];
}
// External Axis Value E
if (i < sizeValues[8])
{
axisValues[4] = externalAxisValueE[i];
externalAxisValueCounterE++;
}
else
{
axisValues[4] = externalAxisValueE[externalAxisValueCounterE];
}
// External Axis Value F
if (i < sizeValues[9])
{
axisValues[5] = externalAxisValueF[i];
externalAxisValueCounterF++;
}
else
{
axisValues[5] = externalAxisValueF[externalAxisValueCounterF];
}
RobotTarget target = new RobotTarget(name, plane, referencePlane, axisConfig, new ExternalJointPosition(axisValues));
_targets.Add(target);
}
// Sets Output
DA.SetDataList(0, _targets);
#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 TargetByGuid Dictionary
if (!_objectManager.OldTargetsByGuid2.ContainsKey(this.InstanceGuid))
{
_objectManager.OldTargetsByGuid2.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)
{
// Sets inputs and creates target
List <string> names = new List <string>();
List <Plane> planes = new List <Plane>();
List <Plane> referencePlanes = new List <Plane>();
List <int> axisConfigs = new List <int>();
List <ExternalJointPosition> externalJointPositions = new List <ExternalJointPosition>();
// Catch name input
if (!DA.GetDataList(0, names))
{
return;
} // Fixed index
// Catch target planes input
if (!DA.GetDataList(1, planes))
{
return;
} // Fixed index
// Catch reference plane input
if (Params.Input.Any(x => x.Name == "Reference Plane"))
{
if (!DA.GetDataList("Reference Plane", referencePlanes))
{
referencePlanes = new List <Plane>()
{
Plane.WorldXY
};
}
}
// Catch axis configuration input
if (Params.Input.Any(x => x.Name == "Axis Configuration"))
{
if (!DA.GetDataList("Axis Configuration", axisConfigs))
{
return;
}
}
// Catch input data for setting the external joint position
if (Params.Input.Any(x => x.Name == parameters[1].Name))
{
if (!DA.GetDataList(parameters[1].Name, externalJointPositions))
{
externalJointPositions = new List <ExternalJointPosition>()
{
new ExternalJointPosition()
};
}
}
// Make sure variable input has a default value
if (referencePlanes.Count == 0)
{
referencePlanes.Add(Plane.WorldXY);
}
if (externalJointPositions.Count == 0)
{
externalJointPositions.Add(new ExternalJointPosition());
}
// Replace spaces
names = HelperMethods.ReplaceSpacesAndRemoveNewLines(names);
// Get longest Input List
int[] sizeValues = new int[5];
sizeValues[0] = names.Count;
sizeValues[1] = planes.Count;
sizeValues[2] = referencePlanes.Count;
sizeValues[3] = axisConfigs.Count;
sizeValues[4] = externalJointPositions.Count;
int biggestSize = HelperMethods.GetBiggestValue(sizeValues);
// Keeps track of used indicies
int nameCounter = -1;
int planesCounter = -1;
int referencePlaneCounter = -1;
int axisConfigCounter = -1;
int externalJointPositionCounter = -1;
// Clear list
_targets.Clear();
// Creates targets
for (int i = 0; i < biggestSize; i++)
{
string name = "";
Plane plane = new Plane();
Plane referencePlane = new Plane();
int axisConfig = 0;
ExternalJointPosition externalJointPosition = new ExternalJointPosition();
// Names counter
if (i < sizeValues[0])
{
name = names[i];
nameCounter++;
}
else
{
name = names[nameCounter] + "_" + (i - nameCounter);
}
// Target planes counter
if (i < sizeValues[1])
{
plane = planes[i];
planesCounter++;
}
else
{
plane = planes[planesCounter];
}
// Reference plane counter
if (i < sizeValues[2])
{
referencePlane = referencePlanes[i];
referencePlaneCounter++;
}
else
{
referencePlane = referencePlanes[referencePlaneCounter];
}
// Axis configuration counter
if (i < sizeValues[3])
{
axisConfig = axisConfigs[i];
axisConfigCounter++;
}
else
{
axisConfig = axisConfigs[axisConfigCounter];
}
// External Joint Position
if (i < sizeValues[4])
{
externalJointPosition = externalJointPositions[i];
externalJointPositionCounter++;
}
else
{
externalJointPosition = externalJointPositions[externalJointPositionCounter];
}
RobotTarget target = new RobotTarget(name, plane, referencePlane, axisConfig, externalJointPosition);
_targets.Add(target);
}
// Sets Output
DA.SetDataList(0, _targets);
#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 TargetByGuid Dictionary
if (!_objectManager.OldRobotTargetsByGuid.ContainsKey(this.InstanceGuid))
{
_objectManager.OldRobotTargetsByGuid.Add(this.InstanceGuid, this); //TODO
}
// 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>
/// Calculates the interpolated path for a linear movement.
/// </summary>
/// <param name="movement"> The movement as a linear movement type. </param>
private void LinearMovementFromRobotTarget(Movement movement)
{
// Set the correct tool for this movement
SetRobotTool(movement);
// Points for path
List <Point3d> points = new List <Point3d>();
// Get the final joint positions of this movement
_robot.InverseKinematics.Movement = movement;
_robot.InverseKinematics.CalculateExternalJointPosition();
// Get the External Joint Positions
ExternalJointPosition towardsExternalJointPosition = _robot.InverseKinematics.ExternalJointPosition.Duplicate();
// External Joint Position change
ExternalJointPosition externalJointPositionChange = (towardsExternalJointPosition - _lastExternalJointPosition) / _interpolations;
// TODO: Check with last movement to speed up the process? As in old path generator?
// First target plane in WORLD coordinate space
_robot.ForwardKinematics.Calculate(_lastRobotJointPosition, _lastExternalJointPosition);
Plane plane1 = _robot.ForwardKinematics.TCPPlane;
// Second target plane in WORK OBJECT coordinate space
RobotTarget robotTarget = movement.Target as RobotTarget;
Plane plane2 = robotTarget.Plane;
// Correction for rotation of the target plane on a movable work object
if (movement.WorkObject.ExternalAxis != null)
{
ExternalAxis externalAxis = movement.WorkObject.ExternalAxis;
Transform trans = externalAxis.CalculateTransformationMatrix(_lastExternalJointPosition * -1, out _);
plane1.Transform(trans);
}
// Re-orient the starting plane to the work object coordinate space of the second target plane
Plane globalWorkObjectPlane = new Plane(movement.WorkObject.GlobalWorkObjectPlane);
Transform orient = Transform.ChangeBasis(Plane.WorldXY, globalWorkObjectPlane);
plane1.Transform(orient);
// Target plane position and orientation change per interpolation step
Vector3d posChange = (plane2.Origin - plane1.Origin) / _interpolations;
Vector3d xAxisChange = (plane2.XAxis - plane1.XAxis) / _interpolations;
Vector3d yAxisChange = (plane2.YAxis - plane1.YAxis) / _interpolations;
// Correct axis configuration, tool and work object
RobotTarget subTarget = new RobotTarget(robotTarget.Name, Plane.WorldXY, robotTarget.AxisConfig);
Movement subMovement = new Movement(subTarget);
subMovement.RobotTool = movement.RobotTool;
subMovement.WorkObject = movement.WorkObject;
// New external joint position
ExternalJointPosition newExternalJointPosition = _lastExternalJointPosition;
// Create the sub target planes, robot joint positions and external joint positions for every interpolation step
for (int i = 0; i < _interpolations; i++)
{
// Create new plane: the local target plane (in work object coordinate space)
Plane plane = new Plane(plane1.Origin + posChange * i, plane1.XAxis + xAxisChange * i, plane1.YAxis + yAxisChange * i);
// Update the target and movement
subTarget.Plane = plane;
subTarget.ExternalJointPosition = newExternalJointPosition;
subMovement.Target = subTarget;
// Calculate joint positions
_robot.InverseKinematics.Movement = subMovement;
_robot.InverseKinematics.Calculate();
// Auto Axis Config
if (_linearConfigurationControl == false)
{
if (i == 0)
{
_robot.InverseKinematics.CalculateClosestRobotJointPosition(_lastRobotJointPosition);
}
else
{
_robot.InverseKinematics.CalculateClosestRobotJointPosition(_robotJointPositions.Last());
}
}
// Add te calculated joint positions and plane to the class property
_robotJointPositions.Add(_robot.InverseKinematics.RobotJointPosition.Duplicate());
_externalJointPositions.Add(_robot.InverseKinematics.ExternalJointPosition.Duplicate());
// Add error messages (check axis limits)
_errorText.AddRange(_robot.InverseKinematics.ErrorText.ConvertAll(item => string.Copy(item)));
// Add the plane
Plane globalPlane = subMovement.GetPosedGlobalTargetPlane();
_planes.Add(globalPlane);
// Always add the first point to list with paths
if (i == 0)
{
points.Add(new Point3d(globalPlane.Origin));
}
// Only add the other point if this point is different
else if (points[points.Count - 1] != globalPlane.Origin)
{
points.Add(new Point3d(globalPlane.Origin));
}
// Update the external joint position
newExternalJointPosition += externalJointPositionChange;
}
// Add last point
Point3d lastPoint = movement.GetPosedGlobalTargetPlane().Origin;
if (points[points.Count - 1] != lastPoint)
{
points.Add(lastPoint);
}
// Generate path curve
if (points.Count > 1)
{
_paths.Add(Curve.CreateInterpolatedCurve(points, 3));
}
else
{
_paths.Add(null);
}
// Get the final joint positions of this movement
_robot.InverseKinematics.Movement = movement;
_robot.InverseKinematics.Calculate();
// Auto Axis Config
if (_linearConfigurationControl == false)
{
_robot.InverseKinematics.CalculateClosestRobotJointPosition(_robotJointPositions.Last());
}
// Add error messages (check axis limits)
_errorText.AddRange(_robot.InverseKinematics.ErrorText.ConvertAll(item => string.Copy(item)));
// Add last Joint Poistions
_lastRobotJointPosition = _robot.InverseKinematics.RobotJointPosition.Duplicate();
_lastExternalJointPosition = _robot.InverseKinematics.ExternalJointPosition.Duplicate();
}
