public void checkIfJointNamesAreUnique(LinkNode basenode, LinkNode currentNode, List<List<string>> conflicts)
{
List<string> conflict = new List<string>();
//Finds the conflicts of the currentNode with all the other nodes
checkIfJointNamesAreUnique(basenode, currentNode.jointName, conflict);
bool alreadyExists = false;
foreach (List<string> existingConflict in conflicts)
{
if (conflict.Count > 0 && existingConflict.Contains(conflict[0]))
{
alreadyExists = true;
}
}
if (!alreadyExists)
{
conflicts.Add(conflict);
}
foreach (LinkNode child in currentNode.Nodes)
{
//Proceeds recursively through the children nodes and adds to the conflicts list of lists.
checkIfJointNamesAreUnique(basenode, child, conflicts);
}
}
//As nodes are created and destroyed, this menu gets called a lot. It basically just adds the context menu (right-click menu)
// to the node
public void addDocMenu(LinkNode node)
{
node.ContextMenuStrip = docMenu;
foreach (LinkNode child in node.Nodes)
{
addDocMenu(child);
}
}
public void checkIfJointNamesAreUnique(LinkNode node, string jointName, List<string> conflict)
{
if (node.jointName == jointName)
{
conflict.Add(node.linkName);
}
foreach (LinkNode child in node.Nodes)
{
checkIfLinkNamesAreUnique(child, jointName, conflict);
}
}
public AssemblyExportForm(ISldWorks iSwApp, LinkNode node)
{
InitializeComponent();
swApp = iSwApp;
BaseNode = node;
ActiveSWModel = swApp.ActiveDoc;
Exporter = new URDFExporter(iSwApp);
AutoUpdatingForm = false;
jointBoxes = new Control[] {
textBox_joint_name, comboBox_axis, comboBox_joint_type,
textBox_axis_x, textBox_axis_y, textBox_axis_z,
textBox_joint_x, textBox_joint_y, textBox_joint_z, textBox_joint_pitch, textBox_joint_roll, textBox_joint_yaw,
textBox_limit_lower, textBox_limit_upper, textBox_limit_effort, textBox_limit_velocity,
textBox_damping, textBox_friction,
textBox_calibration_falling, textBox_calibration_rising,
textBox_soft_lower, textBox_soft_upper, textBox_k_position, textBox_k_velocity
};
linkBoxes = new Control[] {
textBox_inertial_origin_x, textBox_inertial_origin_y, textBox_inertial_origin_z, textBox_inertial_origin_roll, textBox_inertial_origin_pitch, textBox_inertial_origin_yaw,
textBox_visual_origin_x, textBox_visual_origin_y, textBox_visual_origin_z, textBox_visual_origin_roll, textBox_visual_origin_pitch, textBox_visual_origin_yaw,
textBox_collision_origin_x, textBox_collision_origin_y, textBox_collision_origin_z, textBox_collision_origin_roll, textBox_collision_origin_pitch, textBox_collision_origin_yaw,
textBox_ixx, textBox_ixy, textBox_ixz, textBox_iyy, textBox_iyz, textBox_izz,
textBox_mass,
domainUpDown_red, domainUpDown_green, domainUpDown_blue, domainUpDown_alpha,
comboBox_materials,
textBox_texture
};
saveConfigurationAttributeDef = iSwApp.DefineAttribute("URDF Export Configuration");
int Options = 0;
saveConfigurationAttributeDef.AddParameter("data", (int)swParamType_e.swParamTypeString, 0, Options);
saveConfigurationAttributeDef.AddParameter("name", (int)swParamType_e.swParamTypeString, 0, Options);
saveConfigurationAttributeDef.AddParameter("date", (int)swParamType_e.swParamTypeString, 0, Options);
saveConfigurationAttributeDef.AddParameter("exporterVersion", (int)swParamType_e.swParamTypeDouble, 1.0, Options);
saveConfigurationAttributeDef.Register();
}
private void button_joint_next_Click(object sender, EventArgs e)
{
if (!(previouslySelectedNode == null || previouslySelectedNode.Link.Joint == null))
{
saveJointDataFromPropertyBoxes(previouslySelectedNode.Link.Joint);
}
previouslySelectedNode = null; // Need to clear this for the link properties page
//treeView_linkProperties.Nodes.Clear();
//Exporter.mRobot = createRobotFromTreeView(treeView_jointtree);
//fillTreeViewFromRobot(Exporter.mRobot, treeView_linkProperties);
while (treeView_jointtree.Nodes.Count > 0)
{
LinkNode node = (LinkNode)treeView_jointtree.Nodes[0];
treeView_jointtree.Nodes.Remove(node);
BaseNode.Nodes.Add(node);
}
changeAllNodeFont(BaseNode, new System.Drawing.Font(treeView_jointtree.Font, FontStyle.Regular));
fillLinkTree();
panel_link_properties.Visible = true;
this.Focus();
}
// Calls the Exporter loadConfigTree method and then populates the tree with the loaded config
public void loadConfigTree()
{
Object[] objects = ActiveSWModel.FeatureManager.GetFeatures(true);
string data = "";
foreach (Object obj in objects)
{
Feature feat = (Feature)obj;
string t = feat.GetTypeName2();
if (feat.GetTypeName2() == "Attribute")
{
SolidWorks.Interop.sldworks.Attribute att = (SolidWorks.Interop.sldworks.Attribute)feat.GetSpecificFeature2();
if (att.GetName() == "URDF Export Configuration")
{
Parameter param = att.GetParameter("data");
data = param.GetStringValue();
}
}
}
LinkNode basenode = null;
if (!data.Equals(""))
{
XmlSerializer serializer = new XmlSerializer(typeof(SerialNode));
XmlTextReader textReader = new XmlTextReader(new StringReader(data));
SerialNode node = (SerialNode)serializer.Deserialize(textReader);
basenode = new LinkNode(node);
Common.loadSWComponents(ActiveSWModel, basenode);
textReader.Close();
}
if (basenode == null)
{
basenode = createEmptyNode(null);
}
addDocMenu(basenode);
tree.Nodes.Clear();
tree.Nodes.Add(basenode);
tree.ExpandAll();
tree.SelectedNode = tree.Nodes[0];
}
// Finds the next incomplete node and returns that
public LinkNode findNextLinkToVisit(LinkNode nodeToCheck)
{
if (nodeToCheck.Link.isIncomplete)
{
return nodeToCheck;
}
foreach (LinkNode node in nodeToCheck.Nodes)
{
return findNextLinkToVisit(node);
}
return null;
}
// The one used by the Assembly Exporter
public void createRobotFromTreeView(LinkNode baseNode)
{
mRobot = new robot();
progressBar.Start(0, Common.getCount(baseNode.Nodes) + 1, "Building links");
int count = 0;
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Building link: " + baseNode.Name);
count++;
link BaseLink = createLink(baseNode, 1);
mRobot.BaseLink = BaseLink;
baseNode.Link = BaseLink;
progressBar.End();
}
//Populates the TreeView with the organized links from the robot
public void fillTreeViewFromRobot(robot robot)
{
tree.Nodes.Clear();
LinkNode baseNode = new LinkNode();
link baseLink = robot.BaseLink;
baseNode.Name = baseLink.name;
baseNode.Text = baseLink.name;
baseNode.Link = baseLink;
baseNode.ContextMenuStrip = docMenu;
foreach (link child in baseLink.Children)
{
baseNode.Nodes.Add(createLinkNodeFromLink(child));
}
tree.Nodes.Add(baseNode);
tree.ExpandAll();
}
//Method which builds an entire link and iterates through.
public link createLink(LinkNode node, int count)
{
progressBar.UpdateTitle("Building link: " + node.Name);
progressBar.UpdateProgress(count);
link Link;
if (node.isBaseNode)
{
createBaseLinkFromComponents(node);
Link = mRobot.BaseLink;
}
else
{
LinkNode parentNode = (LinkNode)node.Parent;
Link = createLinkFromComponents(parentNode.Link, node.Components, node);
}
node.Link = Link;
foreach (LinkNode child in node.Nodes)
{
link childLink = createLink(child, count + 1);
Link.Children.Add(childLink);
}
return Link;
}
public void selectFeatures(LinkNode node)
{
ActiveSWModel.Extension.SelectByID2(node.coordsysName, "COORDSYS", 0, 0, 0, true, -1, null, 0);
if (node.axisName != "None")
{
ActiveSWModel.Extension.SelectByID2(node.axisName, "AXIS", 0, 0, 0, true, -1, null, 0);
}
foreach (LinkNode child in node.Nodes)
{
selectFeatures(child);
}
}
public void checkRefGeometryExists(LinkNode node)
{
if (!checkRefCoordsysExists(node.coordsysName))
{
node.coordsysName = "Automatically Generate";
}
if (!checkRefAxisExists(node.axisName))
{
node.axisName = "Automatically Generate";
}
}
//Creates an Empty node when children are added to a link
public LinkNode createEmptyNode(LinkNode Parent)
{
LinkNode node = new LinkNode();
if (Parent == null) //For the base_link node
{
node.linkName = "base_link";
node.axisName = "";
node.coordsysName = "Automatically Generate";
node.Components = new List<Component2>();
node.isBaseNode = true;
node.isIncomplete = true;
}
else
{
node.isBaseNode = false;
node.linkName = "Empty_Link";
node.axisName = "Automatically Generate";
node.coordsysName = "Automatically Generate";
node.jointType = "Automatically Detect";
node.Components = new List<Component2>();
node.isBaseNode = false;
node.isIncomplete = true;
}
node.Name = node.linkName;
node.Text = node.linkName;
node.ContextMenuStrip = docMenu;
return node;
}
//Recursive function to iterate though nodes and build a message containing those that are incomplete
public string checkNodesComplete(LinkNode node, string incompleteNodes)
{
// Determine if the node is incomplete
checkNodeComplete(node);
if (node.isIncomplete)
{
incompleteNodes += " '" + node.Text + "':\r\n" + node.whyIncomplete + "\r\n\r\n"; //Building the message
}
// Cycle through the rest of the nodes
foreach (LinkNode child in node.Nodes)
{
incompleteNodes = checkNodesComplete(child, incompleteNodes);
}
return incompleteNodes;
}
//Sets the node's isIncomplete flag if the node has key items that need to be completed
public void checkNodeComplete(LinkNode node)
{
node.whyIncomplete = "";
node.isIncomplete = false;
if (node.linkName.Equals(""))
{
node.isIncomplete = true;
node.whyIncomplete += " Link name is empty. Fill in a unique link name\r\n";
}
if (node.Nodes.Count > 0 && node.Components.Count == 0)
{
node.isIncomplete = true;
node.whyIncomplete += " Links with children cannot be empty. Select its associated components\r\n";
}
if (node.Components.Count == 0 && node.coordsysName == "Automatically Generate")
{
node.isIncomplete = true;
node.whyIncomplete += " The origin reference coordinate system cannot be automatically generated\r\n";
node.whyIncomplete += " without components. Either select an origin or at least one component.";
}
if (node.jointName == "" && !node.isBaseNode)
{
node.isIncomplete = true;
node.whyIncomplete += " Joint name is empty. Fill in a unique joint name\r\n";
}
}
public bool checkIfNamesAreUnique(LinkNode node)
{
List<List<string>> linkConflicts = new List<List<string>>();
List<List<string>> jointConflicts = new List<List<string>>();
checkIfLinkNamesAreUnique(node, node, linkConflicts);
checkIfJointNamesAreUnique(node, node, jointConflicts);
string message = "\r\nPlease fix these errors before proceeding.";
string specificErrors = "";
bool displayInitialMessage = true;
bool linkNamesInConflict = false;
foreach (List<string> conflict in linkConflicts)
{
if (conflict.Count > 1)
{
linkNamesInConflict = true;
if (displayInitialMessage)
{
specificErrors += "The following links have LINK names that conflict:\r\n\r\n";
displayInitialMessage = false;
}
bool isFirst = true;
foreach (string linkName in conflict)
{
specificErrors += (isFirst) ? " " + linkName : ", " + linkName;
isFirst = false;
}
specificErrors += "\r\n";
}
}
displayInitialMessage = true;
foreach (List<string> conflict in jointConflicts)
{
if (conflict.Count > 1)
{
linkNamesInConflict = true;
if (displayInitialMessage)
{
specificErrors += "The following links have JOINT names that conflict:\r\n\r\n";
displayInitialMessage = false;
}
bool isFirst = true;
foreach (string linkName in conflict)
{
specificErrors += (isFirst) ? " " + linkName : ", " + linkName;
isFirst = false;
}
specificErrors += "\r\n";
}
}
if (linkNamesInConflict)
{
MessageBox.Show(specificErrors + message);
return false;
}
return true;
}
// Captures which node was right clicked
private void tree_NodeMouseClick(object sender, TreeNodeMouseClickEventArgs e)
{
rightClickedNode = (LinkNode)e.Node;
}
//Base method for constructing a joint from a parent link and child link.
public void createJoint(link parent, link child, LinkNode node)
{
checkRefGeometryExists(node);
string jointName = node.jointName;
string coordSysName = node.coordsysName;
string axisName = node.axisName;
string jointType = node.jointType;
List<Component2> componentsToFix = fixComponents(parent);
AssemblyDoc assy = (AssemblyDoc)ActiveSWModel;
child.Joint = new joint();
child.Joint.name = jointName;
child.Joint.Parent.name = parent.name;
child.Joint.Child.name = child.name;
if (child.isFixedFrame)
{
axisName = "";
jointType = "fixed";
child.Joint.type = jointType;
}
else if (coordSysName == "Automatically Generate" || axisName == "Automatically Generate" || jointType == "Automatically Detect")
{
// We have to estimate the joint if the user specifies automatic for either the reference coordinate system, the reference axis or the joint type.
estimateGlobalJointFromComponents(assy, parent, child);
}
if (coordSysName == "Automatically Generate")
{
child.Joint.CoordinateSystemName = "Origin_" + child.Joint.name;
ActiveSWModel.ClearSelection2(true);
int i = 2;
while (ActiveSWModel.Extension.SelectByID2(child.Joint.CoordinateSystemName, "COORDSYS", 0, 0, 0, false, 0, null, 0))
{
ActiveSWModel.ClearSelection2(true);
child.Joint.CoordinateSystemName = "Origin_" + child.Joint.name + i.ToString();
i++;
}
createRefOrigin(child.Joint);
}
else
{
child.Joint.CoordinateSystemName = coordSysName;
}
if (axisName == "Automatically Generate")
{
child.Joint.AxisName = "Axis_" + child.Joint.name;
ActiveSWModel.ClearSelection2(true);
int i = 2;
while (ActiveSWModel.Extension.SelectByID2(child.Joint.AxisName, "AXIS", 0, 0, 0, false, 0, null, 0))
{
ActiveSWModel.ClearSelection2(true);
child.Joint.AxisName = "Axis_" + child.Joint.name + i.ToString();
i++;
}
if (child.Joint.type != "fixed")
{
createRefAxis(child.Joint);
}
}
else
{
child.Joint.AxisName = axisName;
}
if (jointType != "Automatically Detect")
{
child.Joint.type = jointType;
}
estimateGlobalJointFromRefGeometry(parent, child);
coordSysName = (parent.Joint == null) ? parent.CoordSysName : parent.Joint.CoordinateSystemName;
unFixComponents(componentsToFix);
localizeJoint(child.Joint, coordSysName);
}
//Method which builds a single link
public link createLinkFromComponents(link parent, List<Component2> components, LinkNode node)
{
link child = new link();
child.name = node.linkName;
if (components.Count > 0)
{
child.isFixedFrame = false;
child.Visual = new visual();
child.Inertial = new inertial();
child.Collision = new collision();
child.SWMainComponent = components[0];
child.SWcomponents.AddRange(components);
}
//Get link properties from SolidWorks part
if (parent != null)
{
createJoint(parent, child, node);
}
string childCoordSysName = "";
if (child.Joint == null)
{
childCoordSysName = node.coordsysName;
}
else
{
childCoordSysName = child.Joint.CoordinateSystemName;
}
// Get the SolidWorks MathTransform that corresponds to the child coordinate system
MathTransform jointTransform = getCoordinateSystemTransform(childCoordSysName);
if (!child.isFixedFrame)
{
//selectComponents(components, true);
IMassProperty swMass = ActiveSWModel.Extension.CreateMassProperty();
swMass.SetCoordinateSystem(jointTransform);
Body2[] bodies = getBodies(components);
bool addedBodies = swMass.AddBodies(bodies);
child.Inertial.Mass.value = swMass.Mass;
double[] moment = swMass.GetMomentOfInertia((int)swMassPropertyMoment_e.swMassPropertyMomentAboutCenterOfMass); // returned as double with values [Lxx, Lxy, Lxz, Lyx, Lyy, Lyz, Lzx, Lzy, Lzz]
child.Inertial.Inertia.setMomentMatrix(moment);
double[] centerOfMass = swMass.CenterOfMass;
child.Inertial.Origin.xyz = centerOfMass;
child.Inertial.Origin.rpy = new double[3] { 0, 0, 0 };
// Will this ever not be zeros?
child.Visual.Origin.xyz = new double[3] { 0, 0, 0 };
child.Visual.Origin.rpy = new double[3] { 0, 0, 0 };
child.Collision.Origin.xyz = new double[3] { 0, 0, 0 };
child.Collision.Origin.rpy = new double[3] { 0, 0, 0 };
// [ R, G, B, Ambient, Diffuse, Specular, Shininess, Transparency, Emission ]
ModelDoc2 mainCompdoc = components[0].GetModelDoc2();
double[] values = mainCompdoc.MaterialPropertyValues;
child.Visual.Material.Color.Red = values[0];
child.Visual.Material.Color.Green = values[1];
child.Visual.Material.Color.Blue = values[2];
child.Visual.Material.Color.Alpha = 1.0 - values[7];
//child.Visual.Material.name = "material_" + child.name;
//The part model doesn't actually know where the origin is, but the component does and this is important when exporting from assembly
child.Visual.Origin.xyz = new double[] { 0, 0, 0 };
child.Visual.Origin.rpy = new double[] { 0, 0, 0 };
child.Collision.Origin.xyz = new double[] { 0, 0, 0 };
child.Collision.Origin.rpy = new double[] { 0, 0, 0 };
}
//ActiveSWModel.ClearSelection2(true);
return child;
}
public void moveComponentsToFolder(LinkNode node)
{
bool needToCreateFolder = true;
Object[] objects = ActiveSWModel.FeatureManager.GetFeatures(true);
foreach (Object obj in objects)
{
Feature feat = (Feature)obj;
if (feat.Name == "URDF Export Items")
{
needToCreateFolder = false;
}
}
ActiveSWModel.ClearSelection2(true);
ActiveSWModel.Extension.SelectByID2("Origin_global", "COORDSYS", 0, 0, 0, true, 0, null, 0);
if (needToCreateFolder)
{
Feature folderFeature = ActiveSWModel.FeatureManager.InsertFeatureTreeFolder2((int)swFeatureTreeFolderType_e.swFeatureTreeFolder_Containing);
folderFeature.Name = "URDF Export Items";
}
ActiveSWModel.Extension.SelectByID2("URDF Reference", "SKETCH", 0, 0, 0, true, 0, null, 0);
ActiveSWModel.FeatureManager.MoveToFolder("URDF Export Items", "", false);
ActiveSWModel.Extension.SelectByID2("URDF Export Configuration", "ATTRIBUTE", 0, 0, 0, true, 0, null, 0);
ActiveSWModel.FeatureManager.MoveToFolder("URDF Export Items", "", false);
selectFeatures(node);
ActiveSWModel.FeatureManager.MoveToFolder("URDF Export Items", "", false);
}
public void retrieveSWComponentPIDs(LinkNode node)
{
if (node.Components != null)
{
node.ComponentPIDs = new List<byte[]>();
foreach (IComponent2 comp in node.Components)
{
byte[] PID = ActiveSWModel.Extension.GetPersistReference3(comp);
node.ComponentPIDs.Add(PID);
}
}
foreach (LinkNode child in node.Nodes)
{
retrieveSWComponentPIDs(child);
}
}
// Determines how many nodes need to be built, and they are added to the current node
private void createNewNodes(LinkNode CurrentlySelectedNode)
{
int nodesToBuild = (int)pm_NumberBox_ChildCount.Value - CurrentlySelectedNode.Nodes.Count;
createNewNodes(CurrentlySelectedNode, nodesToBuild);
}
public void saveConfigTree(ModelDoc2 model, LinkNode BaseNode, bool warnUser)
{
Object[] objects = model.FeatureManager.GetFeatures(true);
string oldData = "";
Parameter param;
foreach (Object obj in objects)
{
Feature feat = (Feature)obj;
string t = feat.GetTypeName2();
if (feat.GetTypeName2() == "Attribute")
{
SolidWorks.Interop.sldworks.Attribute att = (SolidWorks.Interop.sldworks.Attribute)feat.GetSpecificFeature2();
if (att.GetName() == "URDF Export Configuration")
{
param = att.GetParameter("data");
oldData = param.GetStringValue();
}
}
}
//moveComponentsToFolder((LinkNode)tree.Nodes[0]);
retrieveSWComponentPIDs(BaseNode);
SerialNode sNode = new SerialNode(BaseNode);
StringWriter stringWriter;
XmlSerializer serializer = new XmlSerializer(typeof(SerialNode));
stringWriter = new StringWriter();
serializer.Serialize(stringWriter, sNode);
stringWriter.Flush();
stringWriter.Close();
string newData = stringWriter.ToString();
if (oldData != newData)
{
if (!warnUser || (warnUser && MessageBox.Show("The configuration has changed, would you like to save?", "Save Export Configuration", MessageBoxButtons.YesNo) == DialogResult.Yes))
{
int ConfigurationOptions = (int)swInConfigurationOpts_e.swAllConfiguration;
SolidWorks.Interop.sldworks.Attribute saveExporterAttribute = createSWSaveAttribute("URDF Export Configuration");
param = saveExporterAttribute.GetParameter("data");
param.SetStringValue2(stringWriter.ToString(), ConfigurationOptions, "");
param = saveExporterAttribute.GetParameter("name");
param.SetStringValue2("config1", ConfigurationOptions, "");
param = saveExporterAttribute.GetParameter("date");
param.SetStringValue2(DateTime.Now.ToString(), ConfigurationOptions, "");
param = saveExporterAttribute.GetParameter("exporterVersion");
param.SetStringValue2("1.1", ConfigurationOptions, "");
}
}
}
// Adds an asterix to the node text if it is incomplete (not currently used)
private void updateNodeNames(LinkNode node)
{
if (node.isIncomplete)
{
node.Text = node.linkName + "*";
}
foreach (LinkNode child in node.Nodes)
{
updateNodeNames(child);
}
}
// When a new node is selected or another node is found that needs to be visited, this method saves the previously
// active node and fills in the property mananger with the new one
public void switchActiveNodes(LinkNode node)
{
saveActiveNode();
Font fontRegular = new Font(tree.Font, FontStyle.Regular);
Font fontBold = new Font(tree.Font, FontStyle.Bold);
if (previouslySelectedNode != null)
{
previouslySelectedNode.NodeFont = fontRegular;
}
fillPropertyManager(node);
//If this flag is set to true, it prevents this method from getting called again when changing the selected node
automaticallySwitched = true;
//Change the selected node to the argument node. This highlights the newly activated node
tree.SelectedNode = node;
node.NodeFont = fontBold;
node.Text = node.Text;
previouslySelectedNode = node;
checkNodeComplete(node);
}
public void createBaseLinkFromComponents(LinkNode node)
{
// Build the link from the partdoc
link Link = createLinkFromComponents(null, node.Components, node);
if (node.coordsysName == "Automatically Generate")
{
createBaseRefOrigin(true);
node.coordsysName = "Origin_global";
Link.CoordSysName = node.coordsysName;
}
else
{
Link.CoordSysName = node.coordsysName;
}
mRobot.BaseLink = Link;
}
// Adds the number of empty nodes to the currently active node
private void createNewNodes(LinkNode currentNode, int number)
{
for (int i = 0; i < number; i++)
{
LinkNode node = createEmptyNode(currentNode);
currentNode.Nodes.Add(node);
}
for (int i = 0; i < -number; i++)
{
currentNode.Nodes.RemoveAt(currentNode.Nodes.Count - 1);
}
int itemsCount = Common.getCount(tree.Nodes);
int itemHeight = 1 + itemsCount * tree.ItemHeight;
int min = 163;
int max = 600;
int height = ops.envelope(itemHeight, min, max);
tree.Height = height;
pm_tree.Height = height;
currentNode.ExpandAll();
}
// Similar to the AssemblyExportForm method. It creates a LinkNode from a Link object
public LinkNode createLinkNodeFromLink(link Link)
{
LinkNode node = new LinkNode();
node.Name = Link.name;
node.Text = Link.name;
node.Link = Link;
node.ContextMenuStrip = docMenu;
foreach (link child in Link.Children)
{
node.Nodes.Add(createLinkNodeFromLink(child));
}
node.Link.Children.Clear(); // Need to erase the children from the embedded link because they may be rearranged later.
return node;
}
public SerialNode(LinkNode node)
{
Nodes = new List<SerialNode>();
if (node.Link == null)
{
linkName = node.linkName;
jointName = node.jointName;
axisName = node.axisName;
coordsysName = node.coordsysName;
componentPIDs = node.ComponentPIDs;
jointType = node.jointType;
isBaseNode = node.isBaseNode;
isIncomplete = node.isIncomplete;
}
else
{
linkName = (string)node.Link.name;
componentPIDs = node.ComponentPIDs;
if (node.Link.Joint != null)
{
jointName = (string)node.Link.Joint.name;
if (node.Link.Joint.Axis.X == 0 && node.Link.Joint.Axis.Y == 0 && node.Link.Joint.Axis.Z == 0)
{
axisName = "None";
}
else
{
axisName = node.Link.Joint.AxisName;
}
coordsysName = node.Link.Joint.CoordinateSystemName;
jointType = (string)node.Link.Joint.type;
}
else
{
coordsysName = node.coordsysName;
}
isBaseNode = node.isBaseNode;
isIncomplete = node.isIncomplete;
}
//Proceed recursively through the nodes
foreach (LinkNode child in node.Nodes)
{
Nodes.Add(new SerialNode(child));
}
}
//Sets all the controls in the Property Manager from the Selected Node
public void fillPropertyManager(LinkNode node)
{
pm_TextBox_LinkName.Text = node.linkName;
pm_NumberBox_ChildCount.Value = node.Nodes.Count;
//Selecting the associated link components
Common.selectComponents(ActiveSWModel, node.Components, true, pm_Selection.Mark);
//Setting joint properties
if (!node.isBaseNode && node.Parent != null)
{
//Combobox needs to be blanked before de-activating
selectComboBox(pm_ComboBox_GlobalCoordsys, "");
//Labels need to be activated before changing them
enableControls(!node.isBaseNode);
pm_TextBox_JointName.Text = node.jointName;
pm_Label_ParentLink.Caption = node.Parent.Name;
updateComboBoxFromFeatures(pm_ComboBox_CoordSys, "CoordSys");
//checkTransforms(ActiveSWModel);
updateComboBoxFromFeatures(pm_ComboBox_Axes, "RefAxis");
pm_ComboBox_Axes.AddItems("None");
selectComboBox(pm_ComboBox_CoordSys, node.coordsysName);
selectComboBox(pm_ComboBox_Axes, node.axisName);
selectComboBox(pm_ComboBox_JointType, node.jointType);
}
else
{
//Labels and text box have be blanked before de-activating them
pm_Label_ParentLink.Caption = " ";
selectComboBox(pm_ComboBox_CoordSys, "");
selectComboBox(pm_ComboBox_Axes, "");
selectComboBox(pm_ComboBox_JointType, "");
//Activate controls before changing them
enableControls(!node.isBaseNode);
updateComboBoxFromFeatures(pm_ComboBox_GlobalCoordsys, "CoordSys");
selectComboBox(pm_ComboBox_GlobalCoordsys, node.coordsysName);
}
}