283 lines
9.9 KiB
C++
283 lines
9.9 KiB
C++
/***************************************************************************
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* Copyright (c) 2008 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#ifndef _PreComp_
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# include <QMessageBox>
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#endif
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#include <App/Application.h>
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#include <Gui/Application.h>
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#include <Gui/MainWindow.h>
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#include <Gui/Command.h>
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#include <Gui/FileDialog.h>
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#include <Gui/Selection.h>
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#include <Gui/SelectionFilter.h>
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#include <Gui/SelectionObject.h>
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#include <Gui/Document.h>
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#include <Gui/Control.h>
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#include <Mod/Robot/App/RobotObject.h>
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#include <Mod/Robot/App/TrajectoryObject.h>
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#include "TrajectorySimulate.h"
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#include "TaskDlgSimulate.h"
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using namespace std;
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using namespace RobotGui;
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DEF_STD_CMD_A(CmdRobotSetHomePos)
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CmdRobotSetHomePos::CmdRobotSetHomePos()
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:Command("Robot_SetHomePos")
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{
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sAppModule = "Robot";
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sGroup = QT_TR_NOOP("Robot");
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sMenuText = QT_TR_NOOP("Set the home position");
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sToolTipText = QT_TR_NOOP("Set the home position");
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sWhatsThis = "Robot_SetHomePos";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_SetHomePos";
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}
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void CmdRobotSetHomePos::activated(int)
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{
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const char * SelFilter =
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"SELECT Robot::RobotObject COUNT 1 ";
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Gui::SelectionFilter filter(SelFilter);
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Robot::RobotObject *pcRobotObject;
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if (filter.match()) {
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pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
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}
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else {
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
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QObject::tr("Select one Robot to set home position"));
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return;
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}
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std::string FeatName = pcRobotObject->getNameInDocument();
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const char* n = FeatName.c_str();
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openCommand("Set home");
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doCommand(Doc,"App.activeDocument().%s.Home = [App.activeDocument().%s.Axis1,App.activeDocument().%s.Axis2,App.activeDocument().%s.Axis3,App.activeDocument().%s.Axis4,App.activeDocument().%s.Axis5,App.activeDocument().%s.Axis6]",n,n,n,n,n,n,n);
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updateActive();
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commitCommand();
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}
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bool CmdRobotSetHomePos::isActive(void)
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{
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return hasActiveDocument();
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}
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// #####################################################################################################
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DEF_STD_CMD_A(CmdRobotRestoreHomePos)
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CmdRobotRestoreHomePos::CmdRobotRestoreHomePos()
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:Command("Robot_RestoreHomePos")
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{
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sAppModule = "Robot";
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sGroup = QT_TR_NOOP("Robot");
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sMenuText = QT_TR_NOOP("Move to home");
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sToolTipText = QT_TR_NOOP("Move to home");
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sWhatsThis = "Robot_RestoreHomePos";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_RestoreHomePos";
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}
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void CmdRobotRestoreHomePos::activated(int)
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{
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const char * SelFilter =
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"SELECT Robot::RobotObject COUNT 1 ";
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Gui::SelectionFilter filter(SelFilter);
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Robot::RobotObject *pcRobotObject;
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if (filter.match()) {
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pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
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}
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else {
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
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QObject::tr("Select one Robot"));
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return;
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}
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std::string FeatName = pcRobotObject->getNameInDocument();
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const char* n = FeatName.c_str();
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openCommand("Move to home");
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doCommand(Doc,"App.activeDocument().%s.Axis1 = App.activeDocument().%s.Home[0]",n,n);
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doCommand(Doc,"App.activeDocument().%s.Axis2 = App.activeDocument().%s.Home[1]",n,n);
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doCommand(Doc,"App.activeDocument().%s.Axis3 = App.activeDocument().%s.Home[2]",n,n);
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doCommand(Doc,"App.activeDocument().%s.Axis4 = App.activeDocument().%s.Home[3]",n,n);
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doCommand(Doc,"App.activeDocument().%s.Axis5 = App.activeDocument().%s.Home[4]",n,n);
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doCommand(Doc,"App.activeDocument().%s.Axis6 = App.activeDocument().%s.Home[5]",n,n);
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updateActive();
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commitCommand();
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}
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bool CmdRobotRestoreHomePos::isActive(void)
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{
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return hasActiveDocument();
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}
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// #####################################################################################################
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DEF_STD_CMD_A(CmdRobotConstraintAxle)
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CmdRobotConstraintAxle::CmdRobotConstraintAxle()
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:Command("Robot_Create")
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{
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sAppModule = "Robot";
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sGroup = QT_TR_NOOP("Robot");
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sMenuText = QT_TR_NOOP("Place robot...");
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sToolTipText = QT_TR_NOOP("Place a robot (experimental!)");
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sWhatsThis = "Robot_Create";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotConstraintAxle::activated(int)
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{
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std::string FeatName = getUniqueObjectName("Robot");
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std::string RobotPath = "Mod/Robot/Lib/Kuka/kr500_1.wrl";
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std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr500_1.csv";
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openCommand("Place robot");
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doCommand(Doc,"App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")",FeatName.c_str());
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doCommand(Doc,"App.activeDocument().%s.RobotVrmlFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),RobotPath.c_str());
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doCommand(Doc,"App.activeDocument().%s.RobotKinematicFile = App.getResourceDir()+\"%s\"",FeatName.c_str(),KinematicPath.c_str());
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doCommand(Doc,"App.activeDocument().%s.Axis2 = -90",FeatName.c_str());
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doCommand(Doc,"App.activeDocument().%s.Axis3 = 90",FeatName.c_str());
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doCommand(Doc,"App.activeDocument().%s.Axis5 = 45",FeatName.c_str());
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updateActive();
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commitCommand();
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}
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bool CmdRobotConstraintAxle::isActive(void)
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{
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return hasActiveDocument();
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}
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// #####################################################################################################
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DEF_STD_CMD_A(CmdRobotSimulate)
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CmdRobotSimulate::CmdRobotSimulate()
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:Command("Robot_Simulate")
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{
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sAppModule = "Robot";
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sGroup = QT_TR_NOOP("Robot");
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sMenuText = QT_TR_NOOP("Simulate a trajectory");
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sToolTipText = QT_TR_NOOP("Run a simulation on a trajectory");
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sWhatsThis = "Robot_Simulate";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_Simulate";
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}
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void CmdRobotSimulate::activated(int)
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{
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#if 1
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const char * SelFilter =
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"SELECT Robot::RobotObject \n"
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"SELECT Robot::TrajectoryObject ";
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Gui::SelectionFilter filter(SelFilter);
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Robot::RobotObject *pcRobotObject;
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Robot::TrajectoryObject *pcTrajectoryObject;
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if (filter.match()) {
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pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
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pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
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}
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else {
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
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QObject::tr("Select one Robot and one Trajectory object."));
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return;
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}
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if(pcTrajectoryObject->Trajectory.getValue().getSize() < 2){
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Trajectory not valid"),
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QObject::tr("You need at least two waypoints in a trajectory to simulate."));
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return;
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}
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Gui::TaskView::TaskDialog* dlg = new TaskDlgSimulate(pcRobotObject,pcTrajectoryObject);
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Gui::Control().showDialog(dlg);
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#else
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const char * SelFilter =
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"SELECT Robot::RobotObject \n"
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"SELECT Robot::TrajectoryObject ";
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Gui::SelectionFilter filter(SelFilter);
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Robot::RobotObject *pcRobotObject;
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Robot::TrajectoryObject *pcTrajectoryObject;
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if(filter.match()){
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pcRobotObject = dynamic_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
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pcTrajectoryObject = dynamic_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());;
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}else{
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
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QObject::tr("Select one Robot and one Trajectory object."));
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}
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RobotGui::TrajectorySimulate dlg(pcRobotObject,pcTrajectoryObject,Gui::getMainWindow());
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dlg.exec();
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#endif
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}
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bool CmdRobotSimulate::isActive(void)
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{
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return (hasActiveDocument() && !Gui::Control().activeDialog());
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}
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// #####################################################################################################
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void CreateRobotCommands(void)
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{
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Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
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rcCmdMgr.addCommand(new CmdRobotRestoreHomePos());
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rcCmdMgr.addCommand(new CmdRobotSetHomePos());
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rcCmdMgr.addCommand(new CmdRobotConstraintAxle());
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rcCmdMgr.addCommand(new CmdRobotSimulate());
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}
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