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120ca87015d849dbea060eaf2295fcc4ee981427
create/src/Mod/Robot/Gui/CommandTrajectory.cpp
wmayer 120ca87015 + unify DLL export defines to namespace names 
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
2011-10-10 13:44:52 +00:00

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/***************************************************************************
* Copyright (c) 2008 Jürgen Riegel (juergen.riegel@web.de) *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
#endif
#include <App/Application.h>
#include <Gui/Application.h>
#include <Gui/Command.h>
#include <Gui/MainWindow.h>
#include <Gui/FileDialog.h>
#include <Gui/Selection.h>
#include <Gui/Document.h>
#include <Gui/Placement.h>
#include <Gui/Control.h>
#include <Mod/Part/App/PartFeature.h>
#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Robot/App/TrajectoryObject.h>
#include <Mod/Robot/App/Edge2TracObject.h>
#include <Mod/Robot/App/TrajectoryDressUpObject.h>
#include <Mod/Robot/App/TrajectoryCompound.h>
#include "TaskDlgEdge2Trac.h"
#include "TrajectorySimulate.h"
using namespace std;
using namespace RobotGui;
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotCreateTrajectory);
CmdRobotCreateTrajectory::CmdRobotCreateTrajectory()
:Command("Robot_CreateTrajectory")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Create trajectory");
sToolTipText = QT_TR_NOOP("Create a new empty trajectory ");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_CreateTrajectory";
}
void CmdRobotCreateTrajectory::activated(int iMsg)
{
std::string FeatName = getUniqueObjectName("Trajectory");
openCommand("Create trajectory");
doCommand(Doc,"App.activeDocument().addObject(\"Robot::TrajectoryObject\",\"%s\")",FeatName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotCreateTrajectory::isActive(void)
{
return hasActiveDocument();
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotInsertWaypoint);
CmdRobotInsertWaypoint::CmdRobotInsertWaypoint()
:Command("Robot_InsertWaypoint")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert robot Tool location into trajectory");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypoint";
sAccel = "A";
}
void CmdRobotInsertWaypoint::activated(int iMsg)
{
unsigned int n1 = getSelection().countObjectsOfType(Robot::RobotObject::getClassTypeId());
unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
if (n1 != 1 || n2 != 1) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Robot and one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
Robot::RobotObject *pcRobotObject;
if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
pcRobotObject = dynamic_cast<Robot::RobotObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
pcRobotObject = dynamic_cast<Robot::RobotObject*>(Sel[1].pObject);
std::string RoboName = pcRobotObject->getNameInDocument();
Robot::TrajectoryObject *pcTrajectoryObject;
if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
std::string TrakName = pcTrajectoryObject->getNameInDocument();
openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App.activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAccelaration,tool=1))",TrakName.c_str(),TrakName.c_str(),RoboName.c_str(),RoboName.c_str());
updateActive();
commitCommand();
}
bool CmdRobotInsertWaypoint::isActive(void)
{
return hasActiveDocument();
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotInsertWaypointPreselect);
CmdRobotInsertWaypointPreselect::CmdRobotInsertWaypointPreselect()
:Command("Robot_InsertWaypointPreselect")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Insert in trajectory");
sToolTipText = QT_TR_NOOP("Insert preselection position into trajectory (W)");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_InsertWaypointPre";
sAccel = "W";
}
void CmdRobotInsertWaypointPreselect::activated(int iMsg)
{
if (getSelection().size() != 1 ) {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
return;
}
std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
const Gui::SelectionChanges & PreSel = getSelection().getPreselection();
float x = PreSel.x;
float y = PreSel.y;
float z = PreSel.z;
Robot::TrajectoryObject *pcTrajectoryObject;
if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select one Trajectory object."));
return;
}
std::string TrakName = pcTrajectoryObject->getNameInDocument();
if(PreSel.pDocName == 0){
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("No preselection"),
QObject::tr("You have to hover above a geometry (Preselection) with the mouse to use this command. See documentation for details."));
return;
}
openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement(FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAccelaration,tool=1))",TrakName.c_str(),TrakName.c_str(),x,y,z);
updateActive();
commitCommand();
}
bool CmdRobotInsertWaypointPreselect::isActive(void)
{
return hasActiveDocument();
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotSetDefaultOrientation);
CmdRobotSetDefaultOrientation::CmdRobotSetDefaultOrientation()
:Command("Robot_SetDefaultOrientation")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default orientation");
sToolTipText = QT_TR_NOOP("set the default orientation for subsequent commands for waypoint creation");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = 0;
}
void CmdRobotSetDefaultOrientation::activated(int iMsg)
{
// create placement dialog
Gui::Dialog::Placement *Dlg = new Gui::Dialog::Placement();
Base::Placement place;
Dlg->setPlacement(place);
if(Dlg->exec() == QDialog::Accepted ){
place = Dlg->getPlacement();
Base::Rotation rot = place.getRotation();
Base::Vector3d disp = place.getPosition();
doCommand(Doc,"_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)",rot[0],rot[1],rot[2],rot[3]);
doCommand(Doc,"_DefDisplacement = FreeCAD.Vector(%f,%f,%f)",disp[0],disp[1],disp[2]);
}
}
bool CmdRobotSetDefaultOrientation::isActive(void)
{
return true;
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotSetDefaultValues);
CmdRobotSetDefaultValues::CmdRobotSetDefaultValues()
:Command("Robot_SetDefaultValues")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Set default values");
sToolTipText = QT_TR_NOOP("set the default values for speed, acceleration and continuity for subsequent commands of waypoint creation");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = 0;
}
void CmdRobotSetDefaultValues::activated(int iMsg)
{
bool ok;
QString text = QInputDialog::getText(0, QObject::tr("set default speed"),
QObject::tr("speed: (e.g. 1 m/s or 3 cm/s)"), QLineEdit::Normal,
QString::fromAscii("1 m/s"), &ok);
if ( ok && !text.isEmpty() ) {
doCommand(Doc,"_DefSpeed = '%s'",text.toAscii().constData());
}
QStringList items;
items << QString::fromAscii("False") << QString::fromAscii("True");
QString item = QInputDialog::getItem(0, QObject::tr("set default continuity"),
QObject::tr("continuous ?"), items, 0, false, &ok);
if (ok && !item.isEmpty())
doCommand(Doc,"_DefCont = %s",item.toAscii().constData());
text.clear();
text = QInputDialog::getText(0, QObject::tr("set default acceleration"),
QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"), QLineEdit::Normal,
QString::fromAscii("1 m/s^2"), &ok);
if ( ok && !text.isEmpty() ) {
doCommand(Doc,"_DefAccelaration = '%s'",text.toAscii().constData());
}
// create placement dialog
//Gui::Dialog::Placement *Dlg = new Gui::Dialog::Placement();
//Base::Placement place;
//Dlg->setPlacement(place);
//if(Dlg->exec() == QDialog::Accepted ){
// place = Dlg->getPlacement();
// Base::Rotation rot = place.getRotation();
// Base::Vector3d disp = place.getPosition();
// doCommand(Doc,"_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)",rot[0],rot[1],rot[2],rot[3]);
// doCommand(Doc,"_DefDisplacement = FreeCAD.Vector(%f,%f,%f)",disp[0],disp[1],disp[2]);
//}
}
bool CmdRobotSetDefaultValues::isActive(void)
{
return true;
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotEdge2Trac);
CmdRobotEdge2Trac::CmdRobotEdge2Trac()
:Command("Robot_Edge2Trac")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Edge to Trajectory...");
sToolTipText = QT_TR_NOOP("Generate a Trajectory from a set of edges");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_Edge2Trac";
}
void CmdRobotEdge2Trac::activated(int iMsg)
{
/* App::DocumentObject *obj = this->getDocument()->getObject(FeatName.c_str());
App::Property *prop = &(dynamic_cast<Robot::Edge2TracObject *>(obj)->Source);
Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(dynamic_cast<Robot::Edge2TracObject *>(obj));
Gui::Control().showDialog(dlg);*/
Gui::SelectionFilter ObjectFilter("SELECT Robot::Edge2TracObject COUNT 1");
Gui::SelectionFilter EdgeFilter ("SELECT Part::Feature SUBELEMENT Edge COUNT 1..");
if (ObjectFilter.match()) {
Robot::Edge2TracObject *EdgeObj = static_cast<Robot::Edge2TracObject*>(ObjectFilter.Result[0][0].getObject());
openCommand("Edit Edge2TracObject");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",EdgeObj->getNameInDocument());
}else if (EdgeFilter.match()) {
// get the selected object
//Part::Feature *part = static_cast<Part::Feature*>(EdgeFilter.Result[0][0].getObject());
std::string obj_sub = EdgeFilter.Result[0][0].getAsPropertyLinkSubString();
std::string FeatName = getUniqueObjectName("Edge2Trac");
openCommand("Create a new Edge2TracObject");
doCommand(Doc,"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",FeatName.c_str());
doCommand(Gui,"App.activeDocument().%s.Source = %s",FeatName.c_str(),obj_sub.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}else {
std::string FeatName = getUniqueObjectName("Edge2Trac");
openCommand("Create a new Edge2TracObject");
doCommand(Doc,"App.activeDocument().addObject('Robot::Edge2TracObject','%s')",FeatName.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}
}
bool CmdRobotEdge2Trac::isActive(void)
{
return true;
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotTrajectoryDressUp);
CmdRobotTrajectoryDressUp::CmdRobotTrajectoryDressUp()
:Command("Robot_TrajectoryDressUp")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Dress up trajectory...");
sToolTipText = QT_TR_NOOP("Create a dress up object which overide som aspects of a trajectory");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryDressUp";
}
void CmdRobotTrajectoryDressUp::activated(int iMsg)
{
Gui::SelectionFilter ObjectFilterDressUp("SELECT Robot::TrajectoryDressUpObject COUNT 1");
Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryObject COUNT 1");
if (ObjectFilterDressUp.match()) {
Robot::TrajectoryDressUpObject *Object = static_cast<Robot::TrajectoryDressUpObject*>(ObjectFilterDressUp.Result[0][0].getObject());
openCommand("Edit Sketch");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",Object->getNameInDocument());
}else if (ObjectFilter.match()) {
std::string FeatName = getUniqueObjectName("DressUpObject");
Robot::TrajectoryObject *Object = static_cast<Robot::TrajectoryObject*>(ObjectFilter.Result[0][0].getObject());
openCommand("Create a new TrajectoryDressUp");
doCommand(Doc,"App.activeDocument().addObject('Robot::TrajectoryDressUpObject','%s')",FeatName.c_str());
doCommand(Gui,"App.activeDocument().%s.Source = App.activeDocument().%s",FeatName.c_str(),Object->getNameInDocument());
doCommand(Gui,"Gui.activeDocument().hide(\"%s\")",Object->getNameInDocument());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}else {
QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
QObject::tr("Select the Trajectory which you want to dress up."));
return;
}
}
bool CmdRobotTrajectoryDressUp::isActive(void)
{
return true;
}
// #####################################################################################################
DEF_STD_CMD_A(CmdRobotTrajectoryCompound);
CmdRobotTrajectoryCompound::CmdRobotTrajectoryCompound()
:Command("Robot_TrajectoryCompound")
{
sAppModule = "Robot";
sGroup = QT_TR_NOOP("Robot");
sMenuText = QT_TR_NOOP("Trajectory compound...");
sToolTipText = QT_TR_NOOP("Group and connect some trajectories to one");
sWhatsThis = sToolTipText;
sStatusTip = sToolTipText;
sPixmap = "Robot_TrajectoryCompound";
}
void CmdRobotTrajectoryCompound::activated(int iMsg)
{
Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryCompound COUNT 1");
if (ObjectFilter.match()) {
Robot::TrajectoryCompound *Object = static_cast<Robot::TrajectoryCompound*>(ObjectFilter.Result[0][0].getObject());
openCommand("Edit TrajectoryCompound");
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",Object->getNameInDocument());
}else {
std::string FeatName = getUniqueObjectName("TrajectoryCompound");
openCommand("Create a new TrajectoryDressUp");
doCommand(Doc,"App.activeDocument().addObject('Robot::TrajectoryCompound','%s')",FeatName.c_str());
doCommand(Gui,"Gui.activeDocument().setEdit('%s')",FeatName.c_str());
}
}
bool CmdRobotTrajectoryCompound::isActive(void)
{
return true;
}
// #####################################################################################################
void CreateRobotCommandsTrajectory(void)
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdRobotCreateTrajectory());
rcCmdMgr.addCommand(new CmdRobotInsertWaypoint());
rcCmdMgr.addCommand(new CmdRobotInsertWaypointPreselect());
rcCmdMgr.addCommand(new CmdRobotSetDefaultOrientation());
rcCmdMgr.addCommand(new CmdRobotSetDefaultValues());
rcCmdMgr.addCommand(new CmdRobotEdge2Trac());
rcCmdMgr.addCommand(new CmdRobotTrajectoryDressUp());
rcCmdMgr.addCommand(new CmdRobotTrajectoryCompound());
}
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