137 lines
5.1 KiB
C++
137 lines
5.1 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"
|
|
|
|
#include <Base/Console.h>
|
|
#include <Base/Interpreter.h>
|
|
|
|
#include "Edge2TracObject.h"
|
|
#include "PropertyTrajectory.h"
|
|
#include "Robot6Axis.h"
|
|
#include "Robot6AxisPy.h"
|
|
#include "RobotObject.h"
|
|
#include "Simulation.h"
|
|
#include "Trajectory.h"
|
|
#include "TrajectoryCompound.h"
|
|
#include "TrajectoryDressUpObject.h"
|
|
#include "TrajectoryObject.h"
|
|
#include "TrajectoryPy.h"
|
|
#include "Waypoint.h"
|
|
#include "WaypointPy.h"
|
|
|
|
|
|
namespace Robot
|
|
{
|
|
class Module: public Py::ExtensionModule<Module>
|
|
{
|
|
public:
|
|
Module()
|
|
: Py::ExtensionModule<Module>("Robot")
|
|
{
|
|
add_varargs_method("simulateToFile",
|
|
&Module::simulateToFile,
|
|
"simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the "
|
|
"simulation and write the result to a file.");
|
|
initialize("This module is the Robot module."); // register with Python
|
|
}
|
|
|
|
private:
|
|
Py::Object simulateToFile(const Py::Tuple& args)
|
|
{
|
|
PyObject* pcRobObj;
|
|
PyObject* pcTracObj;
|
|
float tick;
|
|
char* FileName;
|
|
|
|
if (!PyArg_ParseTuple(args.ptr(),
|
|
"O!O!fs",
|
|
&(Robot6AxisPy::Type),
|
|
&pcRobObj,
|
|
&(TrajectoryPy::Type),
|
|
&pcTracObj,
|
|
&tick,
|
|
&FileName)) {
|
|
throw Py::Exception();
|
|
}
|
|
|
|
try {
|
|
Robot::Trajectory& Trac = *static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
|
|
Robot::Robot6Axis& Rob = *static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
|
|
Simulation Sim(Trac, Rob);
|
|
}
|
|
catch (const Base::Exception& e) {
|
|
throw Py::RuntimeError(e.what());
|
|
}
|
|
|
|
return Py::Float(0.0);
|
|
}
|
|
};
|
|
|
|
PyObject* initModule()
|
|
{
|
|
return Base::Interpreter().addModule(new Module);
|
|
}
|
|
|
|
} // namespace Robot
|
|
|
|
|
|
/* Python entry */
|
|
PyMOD_INIT_FUNC(Robot)
|
|
{
|
|
// clang-format off
|
|
// load dependent module
|
|
try {
|
|
Base::Interpreter().runString("import Part");
|
|
}
|
|
catch(const Base::Exception& e) {
|
|
PyErr_SetString(PyExc_ImportError, e.what());
|
|
PyMOD_Return(nullptr);
|
|
}
|
|
|
|
PyObject* robotModule = Robot::initModule();
|
|
Base::Console().Log("Loading Robot module... done\n");
|
|
|
|
// Add Types to module
|
|
Base::Interpreter().addType(&Robot::Robot6AxisPy ::Type,robotModule,"Robot6Axis");
|
|
Base::Interpreter().addType(&Robot::WaypointPy ::Type,robotModule,"Waypoint");
|
|
Base::Interpreter().addType(&Robot::TrajectoryPy ::Type,robotModule,"Trajectory");
|
|
|
|
|
|
// NOTE: To finish the initialization of our own type objects we must
|
|
// call PyType_Ready, otherwise we run into a segmentation fault, later on.
|
|
// This function is responsible for adding inherited slots from a type's base class.
|
|
|
|
Robot::Robot6Axis ::init();
|
|
Robot::RobotObject ::init();
|
|
Robot::TrajectoryObject ::init();
|
|
Robot::Edge2TracObject ::init();
|
|
Robot::Waypoint ::init();
|
|
Robot::Trajectory ::init();
|
|
Robot::PropertyTrajectory ::init();
|
|
Robot::TrajectoryCompound ::init();
|
|
Robot::TrajectoryDressUpObject ::init();
|
|
|
|
PyMOD_Return(robotModule);
|
|
// clang-format on
|
|
}
|