176 lines
7.7 KiB
C++
176 lines
7.7 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(CmdRobotExportKukaCompact)
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CmdRobotExportKukaCompact::CmdRobotExportKukaCompact()
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:Command("Robot_ExportKukaCompact")
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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 compact subroutine...");
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sToolTipText = QT_TR_NOOP("Export the trajectory as a compact KRL subroutine.");
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sWhatsThis = "Robot_ExportKukaCompact";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_Export";
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}
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void CmdRobotExportKukaCompact::activated(int)
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{
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unsigned int n1 = getSelection().countObjectsOfType(Robot::RobotObject::getClassTypeId());
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unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
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if (n1 != 1 || n2 != 1) {
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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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std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
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Robot::RobotObject *pcRobotObject=0;
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if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
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pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
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else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
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pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
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std::string RoboName = pcRobotObject->getNameInDocument();
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Robot::TrajectoryObject *pcTrajectoryObject=0;
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if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
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pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
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else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
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pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
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//std::string TrakName = pcTrajectoryObject->getNameInDocument();
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QStringList filter;
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filter << QString::fromLatin1("%1 (*.src)").arg(QObject::tr("KRL file"));
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filter << QString::fromLatin1("%1 (*.*)").arg(QObject::tr("All Files"));
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QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(), QObject::tr("Export program"), QString(), filter.join(QLatin1String(";;")));
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if (fn.isEmpty())
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return;
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doCommand(Doc,"from KukaExporter import ExportCompactSub");
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doCommand(Doc,"ExportCompactSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",pcRobotObject->getNameInDocument(),pcTrajectoryObject->getNameInDocument(),(const char*)fn.toLatin1());
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}
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bool CmdRobotExportKukaCompact::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(CmdRobotExportKukaFull)
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CmdRobotExportKukaFull::CmdRobotExportKukaFull()
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:Command("Robot_ExportKukaFull")
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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 full subroutine...");
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sToolTipText = QT_TR_NOOP("Export the trajectory as a full KRL subroutine.");
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sWhatsThis = "Robot_ExportKukaFull";
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sStatusTip = sToolTipText;
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sPixmap = "Robot_Export";
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}
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void CmdRobotExportKukaFull::activated(int)
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{
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unsigned int n1 = getSelection().countObjectsOfType(Robot::RobotObject::getClassTypeId());
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unsigned int n2 = getSelection().countObjectsOfType(Robot::TrajectoryObject::getClassTypeId());
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if (n1 != 1 || n2 != 1) {
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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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std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
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Robot::RobotObject *pcRobotObject=0;
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if(Sel[0].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
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pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
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else if(Sel[1].pObject->getTypeId() == Robot::RobotObject::getClassTypeId())
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pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
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//std::string RoboName = pcRobotObject->getNameInDocument();
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Robot::TrajectoryObject *pcTrajectoryObject=0;
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if(Sel[0].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
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pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
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else if(Sel[1].pObject->getTypeId() == Robot::TrajectoryObject::getClassTypeId())
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pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
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//std::string TrakName = pcTrajectoryObject->getNameInDocument();
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QStringList filter;
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filter << QString::fromLatin1("%1 (*.src)").arg(QObject::tr("KRL file"));
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filter << QString::fromLatin1("%1 (*.*)").arg(QObject::tr("All Files"));
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QString fn = Gui::FileDialog::getSaveFileName(Gui::getMainWindow(), QObject::tr("Export program"), QString(), filter.join(QLatin1String(";;")));
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if (fn.isEmpty())
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return;
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doCommand(Doc,"from KukaExporter import ExportFullSub");
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doCommand(Doc,"ExportFullSub(App.activeDocument().%s,App.activeDocument().%s,'%s')",pcRobotObject->getNameInDocument(),pcTrajectoryObject->getNameInDocument(),(const char*)fn.toLatin1());
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}
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bool CmdRobotExportKukaFull::isActive(void)
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{
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return hasActiveDocument();
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}
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// #####################################################################################################
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void CreateRobotCommandsExport(void)
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{
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Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
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rcCmdMgr.addCommand(new CmdRobotExportKukaFull());
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rcCmdMgr.addCommand(new CmdRobotExportKukaCompact());
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}
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