b15f3c1155
"Professional CMake" book suggest the following: "Targets should build successfully with or without compiler support for precompiled headers. It should be considered an optimization, not a requirement. In particular, do not explicitly include a precompile header (e.g. stdafx.h) in the source code, let CMake force-include an automatically generated precompile header on the compiler command line instead. This is more portable across the major compilers and is likely to be easier to maintain. It will also avoid warnings being generated from certain code checking tools like iwyu (include what you use)." Therefore, removed the "#include <PreCompiled.h>" from sources, also there is no need for the "#ifdef _PreComp_" anymore
136 lines
5.0 KiB
C++
136 lines
5.0 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 <Base/Console.h>
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#include <Base/Interpreter.h>
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#include "Edge2TracObject.h"
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#include "PropertyTrajectory.h"
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#include "Robot6Axis.h"
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#include "Robot6AxisPy.h"
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#include "RobotObject.h"
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#include "Simulation.h"
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#include "Trajectory.h"
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#include "TrajectoryCompound.h"
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#include "TrajectoryDressUpObject.h"
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#include "TrajectoryObject.h"
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#include "TrajectoryPy.h"
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#include "Waypoint.h"
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#include "WaypointPy.h"
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namespace Robot
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{
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class Module: public Py::ExtensionModule<Module>
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{
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public:
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Module()
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: Py::ExtensionModule<Module>("Robot")
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{
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add_varargs_method("simulateToFile",
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&Module::simulateToFile,
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"simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the "
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"simulation and write the result to a file.");
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initialize("This module is the Robot module."); // register with Python
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}
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private:
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Py::Object simulateToFile(const Py::Tuple& args)
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{
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PyObject* pcRobObj;
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PyObject* pcTracObj;
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float tick;
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char* FileName;
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if (!PyArg_ParseTuple(args.ptr(),
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"O!O!fs",
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&(Robot6AxisPy::Type),
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&pcRobObj,
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&(TrajectoryPy::Type),
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&pcTracObj,
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&tick,
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&FileName)) {
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throw Py::Exception();
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}
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try {
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Robot::Trajectory& Trac = *static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
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Robot::Robot6Axis& Rob = *static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
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Simulation Sim(Trac, Rob);
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}
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catch (const Base::Exception& e) {
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throw Py::RuntimeError(e.what());
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}
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return Py::Float(0.0);
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}
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};
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PyObject* initModule()
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{
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return Base::Interpreter().addModule(new Module);
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}
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} // namespace Robot
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/* Python entry */
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PyMOD_INIT_FUNC(Robot)
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{
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// clang-format off
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// load dependent module
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try {
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Base::Interpreter().runString("import Part");
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}
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catch(const Base::Exception& e) {
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PyErr_SetString(PyExc_ImportError, e.what());
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PyMOD_Return(nullptr);
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}
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PyObject* robotModule = Robot::initModule();
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Base::Console().log("Loading Robot module… done\n");
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// Add Types to module
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Base::Interpreter().addType(&Robot::Robot6AxisPy ::Type,robotModule,"Robot6Axis");
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Base::Interpreter().addType(&Robot::WaypointPy ::Type,robotModule,"Waypoint");
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Base::Interpreter().addType(&Robot::TrajectoryPy ::Type,robotModule,"Trajectory");
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// NOTE: To finish the initialization of our own type objects we must
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// call PyType_Ready, otherwise we run into a segmentation fault, later on.
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// This function is responsible for adding inherited slots from a type's base class.
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Robot::Robot6Axis ::init();
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Robot::RobotObject ::init();
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Robot::TrajectoryObject ::init();
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Robot::Edge2TracObject ::init();
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Robot::Waypoint ::init();
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Robot::Trajectory ::init();
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Robot::PropertyTrajectory ::init();
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Robot::TrajectoryCompound ::init();
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Robot::TrajectoryDressUpObject ::init();
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PyMOD_Return(robotModule);
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// clang-format on
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}
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