128 lines
4.9 KiB
C++
128 lines
4.9 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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#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 "Robot6AxisPy.h"
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#include "Robot6Axis.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 "WaypointPy.h"
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#include "Waypoint.h"
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namespace Robot {
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class Module : public Py::ExtensionModule<Module>
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{
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public:
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Module() : Py::ExtensionModule<Module>("Robot")
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{
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add_varargs_method("simulateToFile",&Module::simulateToFile,
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"simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."
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);
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initialize("This module is the Robot module."); // register with Python
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}
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~Module() override {}
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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(), "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
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&(TrajectoryPy::Type), &pcTracObj,
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&tick,&FileName))
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throw Py::Exception();
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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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// 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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}
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