269 lines
10 KiB
C++
269 lines
10 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/Command.h>
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#include <Gui/MainWindow.h>
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#include <Gui/FileDialog.h>
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#include <Gui/Selection.h>
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#include <Gui/Document.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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using namespace std;
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DEF_STD_CMD_A(CmdRobotInsertKukaIR500);
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CmdRobotInsertKukaIR500::CmdRobotInsertKukaIR500()
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:Command("Robot_InsertKukaIR500")
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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("Kuka IR500");
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sToolTipText = QT_TR_NOOP("Insert a Kuka IR500 into the document.");
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sWhatsThis = "Robot_InsertKukaIR500";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotInsertKukaIR500::activated(int iMsg)
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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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doCommand(Doc,"App.activeDocument().%s.Home = [0.0,-90.0,90.0,0.0,45.0,0.0]",FeatName.c_str());
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updateActive();
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commitCommand();
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}
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bool CmdRobotInsertKukaIR500::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(CmdRobotInsertKukaIR16);
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CmdRobotInsertKukaIR16::CmdRobotInsertKukaIR16()
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:Command("Robot_InsertKukaIR16")
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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("Kuka IR16");
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sToolTipText = QT_TR_NOOP("Insert a Kuka IR16 into the document.");
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sWhatsThis = "Robot_InsertKukaIR16";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotInsertKukaIR16::activated(int iMsg)
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{
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std::string FeatName = getUniqueObjectName("Robot");
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std::string RobotPath = "Mod/Robot/Lib/Kuka/kr16.wrl";
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std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_16.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 CmdRobotInsertKukaIR16::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(CmdRobotInsertKukaIR210);
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CmdRobotInsertKukaIR210::CmdRobotInsertKukaIR210()
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:Command("Robot_InsertKukaIR210")
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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("Kuka IR210");
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sToolTipText = QT_TR_NOOP("Insert a Kuka IR210 into the document.");
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sWhatsThis = "Robot_InsertKukaIR210";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotInsertKukaIR210::activated(int iMsg)
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{
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std::string FeatName = getUniqueObjectName("Robot");
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std::string RobotPath = "Mod/Robot/Lib/Kuka/kr210.WRL";
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std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_210_2.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 CmdRobotInsertKukaIR210::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(CmdRobotInsertKukaIR125);
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CmdRobotInsertKukaIR125::CmdRobotInsertKukaIR125()
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:Command("Robot_InsertKukaIR125")
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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("Kuka IR125");
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sToolTipText = QT_TR_NOOP("Insert a Kuka IR125 into the document.");
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sWhatsThis = "Robot_InsertKukaIR125";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotInsertKukaIR125::activated(int iMsg)
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{
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std::string FeatName = getUniqueObjectName("Robot");
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std::string RobotPath = "Mod/Robot/Lib/Kuka/kr125_3.wrl";
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std::string KinematicPath = "Mod/Robot/Lib/Kuka/kr_125.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 CmdRobotInsertKukaIR125::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(CmdRobotAddToolShape);
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CmdRobotAddToolShape::CmdRobotAddToolShape()
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:Command("Robot_AddToolShape")
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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("Add tool");
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sToolTipText = QT_TR_NOOP("Add a tool shape to the robot");
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sWhatsThis = "Robot_AddToolShape";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_CreateRobot";
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}
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void CmdRobotAddToolShape::activated(int iMsg)
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{
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std::vector<App::DocumentObject*> robots = getSelection()
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.getObjectsOfType(Robot::RobotObject::getClassTypeId());
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std::vector<App::DocumentObject*> shapes = getSelection()
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.getObjectsOfType(Base::Type::fromName("Part::Feature"));
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std::vector<App::DocumentObject*> VRMLs = getSelection()
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.getObjectsOfType(Base::Type::fromName("App::VRMLObject"));
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if (robots.size() != 1 || (shapes.size() != 1 && VRMLs.size() != 1)) {
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QMessageBox::warning(Gui::getMainWindow(), QObject::tr("Wrong selection"),
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QObject::tr("Select one robot and one shape or VRML object."));
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return;
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}
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std::string RoboName = robots.front()->getNameInDocument();
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std::string ShapeName;
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if(shapes.size() == 1)
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ShapeName = shapes.front()->getNameInDocument();
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else
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ShapeName = VRMLs.front()->getNameInDocument();
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openCommand("Add tool to robot");
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doCommand(Doc,"App.activeDocument().%s.ToolShape = App.activeDocument().%s",RoboName.c_str(),ShapeName.c_str());
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//doCommand(Gui,"Gui.activeDocument().hide(\"%s\")",ShapeName.c_str());
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updateActive();
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commitCommand();
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}
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bool CmdRobotAddToolShape::isActive(void)
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{
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//return false; // not yet implemetned thus not active
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return hasActiveDocument();
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}
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void CreateRobotCommandsInsertRobots(void)
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{
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Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
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rcCmdMgr.addCommand(new CmdRobotInsertKukaIR16());
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rcCmdMgr.addCommand(new CmdRobotInsertKukaIR500());
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rcCmdMgr.addCommand(new CmdRobotInsertKukaIR210());
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rcCmdMgr.addCommand(new CmdRobotInsertKukaIR125());
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rcCmdMgr.addCommand(new CmdRobotAddToolShape());
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}
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