|
|
|
|
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
|
|
|
|
| #include <QMessageBox>
|
|
|
|
|
| #include <Gui/Application.h>
|
| #include <Gui/Command.h>
|
| #include <Gui/Control.h>
|
| #include <Gui/Document.h>
|
| #include <Gui/MainWindow.h>
|
| #include <Gui/Selection/Selection.h>
|
| #include <Gui/Selection/SelectionFilter.h>
|
| #include <Mod/Robot/App/RobotObject.h>
|
| #include <Mod/Robot/App/TrajectoryObject.h>
|
|
|
| #include "TaskDlgSimulate.h"
|
| #include "TrajectorySimulate.h"
|
|
|
|
|
| using namespace std;
|
| using namespace RobotGui;
|
|
|
| #include <QFileDialog>
|
|
|
| namespace
|
| {
|
|
|
| std::string getWrl(const QString& hint_directory)
|
| {
|
| QString fileName = QFileDialog::getOpenFileName(
|
| Gui::getMainWindow(),
|
| QObject::tr("Select VRML file for Robot"),
|
| hint_directory,
|
| QObject::tr("VRML Files (*.wrl *.vrml)")
|
| );
|
|
|
| return fileName.toStdString();
|
| }
|
|
|
| std::string getCsv(const std::string& wrl_path)
|
| {
|
| QFileInfo wrlInfo(QString::fromStdString(wrl_path));
|
| QString hintDir = wrlInfo.absolutePath();
|
| QString fileName = QFileDialog::getOpenFileName(
|
| Gui::getMainWindow(),
|
| QObject::tr("Select Kinematic CSV file for Robot"),
|
| hintDir,
|
| QObject::tr("CSV Files (*.csv)")
|
| );
|
| return fileName.toStdString();
|
| }
|
|
|
| }
|
|
|
| DEF_STD_CMD_A(CmdRobotSetHomePos)
|
|
|
| CmdRobotSetHomePos::CmdRobotSetHomePos()
|
| : Command("Robot_SetHomePos")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Set Home Position");
|
| sToolTipText = QT_TR_NOOP("Sets the home position");
|
| sWhatsThis = "Robot_SetHomePos";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_SetHomePos";
|
| }
|
|
|
|
|
| void CmdRobotSetHomePos::activated(int)
|
| {
|
| const char* SelFilter = "SELECT Robot::RobotObject COUNT 1 ";
|
|
|
| Gui::SelectionFilter filter(SelFilter);
|
| Robot::RobotObject* pcRobotObject;
|
| if (filter.match()) {
|
| pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
|
| }
|
| else {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Robot to set home position")
|
| );
|
| return;
|
| }
|
|
|
|
|
| std::string FeatName = pcRobotObject->getNameInDocument();
|
|
|
| const char* n = FeatName.c_str();
|
| openCommand("Set home");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().%s.Home = "
|
| "[App.activeDocument().%s.Axis1,App.activeDocument().%s.Axis2,App.activeDocument().%"
|
| "s.Axis3,App.activeDocument().%s.Axis4,App.activeDocument().%s.Axis5,App."
|
| "activeDocument().%s.Axis6]",
|
| n,
|
| n,
|
| n,
|
| n,
|
| n,
|
| n,
|
| n
|
| );
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotSetHomePos::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotRestoreHomePos)
|
|
|
| CmdRobotRestoreHomePos::CmdRobotRestoreHomePos()
|
| : Command("Robot_RestoreHomePos")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Move to Home");
|
| sToolTipText = QT_TR_NOOP("Moves to the home position");
|
| sWhatsThis = "Robot_RestoreHomePos";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_RestoreHomePos";
|
| }
|
|
|
|
|
| void CmdRobotRestoreHomePos::activated(int)
|
| {
|
| const char* SelFilter = "SELECT Robot::RobotObject COUNT 1 ";
|
|
|
| Gui::SelectionFilter filter(SelFilter);
|
| Robot::RobotObject* pcRobotObject;
|
| if (filter.match()) {
|
| pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
|
| }
|
| else {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Robot")
|
| );
|
| return;
|
| }
|
|
|
|
|
| std::string FeatName = pcRobotObject->getNameInDocument();
|
|
|
| const char* n = FeatName.c_str();
|
| openCommand("Move to home");
|
| doCommand(Doc, "App.activeDocument().%s.Axis1 = App.activeDocument().%s.Home[0]", n, n);
|
| doCommand(Doc, "App.activeDocument().%s.Axis2 = App.activeDocument().%s.Home[1]", n, n);
|
| doCommand(Doc, "App.activeDocument().%s.Axis3 = App.activeDocument().%s.Home[2]", n, n);
|
| doCommand(Doc, "App.activeDocument().%s.Axis4 = App.activeDocument().%s.Home[3]", n, n);
|
| doCommand(Doc, "App.activeDocument().%s.Axis5 = App.activeDocument().%s.Home[4]", n, n);
|
| doCommand(Doc, "App.activeDocument().%s.Axis6 = App.activeDocument().%s.Home[5]", n, n);
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotRestoreHomePos::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotConstraintAxle)
|
|
|
| CmdRobotConstraintAxle::CmdRobotConstraintAxle()
|
| : Command("Robot_Create")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Place Robot");
|
| sToolTipText = QT_TR_NOOP("Places a robot in the scene");
|
|
|
| sWhatsThis = "Robot_Create";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_CreateRobot";
|
| }
|
|
|
|
|
| void CmdRobotConstraintAxle::activated([[maybe_unused]] int msg)
|
| {
|
| const std::string FeatName = getUniqueObjectName("Robot");
|
| const std::string WrlPath = getWrl(QString());
|
| const std::string KinematicPath = getCsv(WrlPath);
|
|
|
| openCommand("Place robot");
|
| doCommand(Doc, "App.activeDocument().addObject(\"Robot::RobotObject\",\"%s\")", FeatName.c_str());
|
| doCommand(Doc, "App.activeDocument().%s.RobotVrmlFile = \"%s\"", FeatName.c_str(), WrlPath.c_str());
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().%s.RobotKinematicFile = \"%s\"",
|
| FeatName.c_str(),
|
| KinematicPath.c_str()
|
| );
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotConstraintAxle::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotSimulate)
|
|
|
| CmdRobotSimulate::CmdRobotSimulate()
|
| : Command("Robot_Simulate")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Simulate Trajectory");
|
| sToolTipText = QT_TR_NOOP("Simulates robot movement along a selected trajectory");
|
| sWhatsThis = "Robot_Simulate";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_Simulate";
|
| }
|
|
|
|
|
| void CmdRobotSimulate::activated(int)
|
| {
|
| const char* SelFilter = "SELECT Robot::RobotObject \n"
|
| "SELECT Robot::TrajectoryObject ";
|
|
|
| Gui::SelectionFilter filter(SelFilter);
|
| Robot::RobotObject* pcRobotObject;
|
| Robot::TrajectoryObject* pcTrajectoryObject;
|
|
|
| if (filter.match()) {
|
| pcRobotObject = static_cast<Robot::RobotObject*>(filter.Result[0][0].getObject());
|
| pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(filter.Result[1][0].getObject());
|
| }
|
| else {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Robot and one Trajectory object.")
|
| );
|
| return;
|
| }
|
|
|
| if (pcTrajectoryObject->Trajectory.getValue().getSize() < 2) {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Trajectory not valid"),
|
| QObject::tr("You need at least two waypoints in a trajectory to simulate.")
|
| );
|
| return;
|
| }
|
|
|
| Gui::TaskView::TaskDialog* dlg = new TaskDlgSimulate(pcRobotObject, pcTrajectoryObject);
|
| Gui::Control().showDialog(dlg);
|
| }
|
|
|
| bool CmdRobotSimulate::isActive()
|
| {
|
| return (hasActiveDocument() && !Gui::Control().activeDialog());
|
| }
|
|
|
|
|
|
|
|
|
|
|
| void CreateRobotCommands()
|
| {
|
| Gui::CommandManager& command_manager = Gui::Application::Instance->commandManager();
|
|
|
| command_manager.addCommand(new CmdRobotRestoreHomePos());
|
| command_manager.addCommand(new CmdRobotSetHomePos());
|
| command_manager.addCommand(new CmdRobotConstraintAxle());
|
| command_manager.addCommand(new CmdRobotSimulate());
|
| }
|
|
|
