483 lines
19 KiB
C++
483 lines
19 KiB
C++
/***************************************************************************
|
|
* 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 <QInputDialog>
|
|
# 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 = "Robot_CreateTrajectory";
|
|
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 = "Robot_InsertWaypoint";
|
|
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=0;
|
|
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=0;
|
|
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 = "Robot_InsertWaypointPreselect";
|
|
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 = "Robot_SetDefaultOrientation";
|
|
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 = "Robot_SetDefaultValues";
|
|
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::fromLatin1("1 m/s"), &ok);
|
|
if ( ok && !text.isEmpty() ) {
|
|
doCommand(Doc,"_DefSpeed = '%s'",text.toLatin1().constData());
|
|
}
|
|
|
|
QStringList items;
|
|
items << QString::fromLatin1("False") << QString::fromLatin1("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.toLatin1().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::fromLatin1("1 m/s^2"), &ok);
|
|
if ( ok && !text.isEmpty() ) {
|
|
doCommand(Doc,"_DefAccelaration = '%s'",text.toLatin1().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 = "Robot_Edge2Trac";
|
|
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 overrides some aspects of a trajectory");
|
|
sWhatsThis = "Robot_TrajectoryDressUp";
|
|
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 = "Robot_TrajectoryCompound";
|
|
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());
|
|
}
|