|
|
|
|
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |
|
|
|
|
| #include <QInputDialog>
|
| #include <QMessageBox>
|
|
|
|
|
| #include <Gui/Application.h>
|
| #include <Gui/Command.h>
|
| #include <Gui/Document.h>
|
| #include <Gui/MainWindow.h>
|
| #include <Gui/Placement.h>
|
| #include <Gui/Selection/Selection.h>
|
| #include <Mod/Robot/App/Edge2TracObject.h>
|
| #include <Mod/Robot/App/RobotObject.h>
|
| #include <Mod/Robot/App/TrajectoryCompound.h>
|
| #include <Mod/Robot/App/TrajectoryDressUpObject.h>
|
| #include <Mod/Robot/App/TrajectoryObject.h>
|
|
|
| #include "TaskDlgEdge2Trac.h"
|
|
|
|
|
| using namespace std;
|
| using namespace RobotGui;
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotCreateTrajectory)
|
|
|
| CmdRobotCreateTrajectory::CmdRobotCreateTrajectory()
|
| : Command("Robot_CreateTrajectory")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Trajectory");
|
| sToolTipText = QT_TR_NOOP("Creates a new empty trajectory");
|
| sWhatsThis = "Robot_CreateTrajectory";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_CreateTrajectory";
|
| }
|
|
|
|
|
| void CmdRobotCreateTrajectory::activated(int)
|
| {
|
| std::string FeatName = getUniqueObjectName("Trajectory");
|
|
|
| openCommand("Create trajectory");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().addObject(\"Robot::TrajectoryObject\",\"%s\")",
|
| FeatName.c_str()
|
| );
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotCreateTrajectory::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotInsertWaypoint)
|
|
|
| CmdRobotInsertWaypoint::CmdRobotInsertWaypoint()
|
| : Command("Robot_InsertWaypoint")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Insert in Trajectory");
|
| sToolTipText = QT_TR_NOOP("Inserts the robot tool location into the trajectory");
|
| sWhatsThis = "Robot_InsertWaypoint";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_InsertWaypoint";
|
| sAccel = "A";
|
| }
|
|
|
|
|
| void CmdRobotInsertWaypoint::activated(int)
|
| {
|
| unsigned int n1 = getSelection().countObjectsOfType<Robot::RobotObject>();
|
| unsigned int n2 = getSelection().countObjectsOfType<Robot::TrajectoryObject>();
|
|
|
| if (n1 != 1 || n2 != 1) {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Robot and one Trajectory object.")
|
| );
|
| return;
|
| }
|
|
|
| std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
|
|
|
| Robot::RobotObject* pcRobotObject = nullptr;
|
| if (Sel[0].pObject->is<Robot::RobotObject>()) {
|
| pcRobotObject = static_cast<Robot::RobotObject*>(Sel[0].pObject);
|
| }
|
| else if (Sel[1].pObject->is<Robot::RobotObject>()) {
|
| pcRobotObject = static_cast<Robot::RobotObject*>(Sel[1].pObject);
|
| }
|
| std::string RoboName = pcRobotObject->getNameInDocument();
|
|
|
| Robot::TrajectoryObject* pcTrajectoryObject = nullptr;
|
| if (Sel[0].pObject->is<Robot::TrajectoryObject>()) {
|
| pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
|
| }
|
| else if (Sel[1].pObject->is<Robot::TrajectoryObject>()) {
|
| pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[1].pObject);
|
| }
|
| std::string TrakName = pcTrajectoryObject->getNameInDocument();
|
|
|
| openCommand("Insert waypoint");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().%s.Trajectory = "
|
| "App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App."
|
| "activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',"
|
| "vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",
|
| TrakName.c_str(),
|
| TrakName.c_str(),
|
| RoboName.c_str(),
|
| RoboName.c_str()
|
| );
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotInsertWaypoint::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotInsertWaypointPreselect)
|
|
|
| CmdRobotInsertWaypointPreselect::CmdRobotInsertWaypointPreselect()
|
| : Command("Robot_InsertWaypointPreselect")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Insert in Trajectory");
|
| sToolTipText = QT_TR_NOOP("Inserts the preselection position into the trajectory (W)");
|
| sWhatsThis = "Robot_InsertWaypointPreselect";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_InsertWaypointPre";
|
| sAccel = "W";
|
| }
|
|
|
|
|
| void CmdRobotInsertWaypointPreselect::activated(int)
|
| {
|
|
|
| if (getSelection().size() != 1) {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Trajectory object.")
|
| );
|
| return;
|
| }
|
|
|
| std::vector<Gui::SelectionSingleton::SelObj> Sel = getSelection().getSelection();
|
|
|
| const Gui::SelectionChanges& PreSel = getSelection().getPreselection();
|
| float x = PreSel.x;
|
| float y = PreSel.y;
|
| float z = PreSel.z;
|
|
|
|
|
| Robot::TrajectoryObject* pcTrajectoryObject;
|
| if (Sel[0].pObject->is<Robot::TrajectoryObject>()) {
|
| pcTrajectoryObject = static_cast<Robot::TrajectoryObject*>(Sel[0].pObject);
|
| }
|
| else {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select one Trajectory object.")
|
| );
|
| return;
|
| }
|
| std::string TrakName = pcTrajectoryObject->getNameInDocument();
|
|
|
| if (!PreSel.pDocName) {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("No preselection"),
|
| QObject::tr(
|
| "You have to hover above a geometry (Preselection) with the mouse to use "
|
| "this command. See documentation for details."
|
| )
|
| );
|
| return;
|
| }
|
|
|
| openCommand("Insert waypoint");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().%s.Trajectory = "
|
| "App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement("
|
| "FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel="
|
| "_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",
|
| TrakName.c_str(),
|
| TrakName.c_str(),
|
| x,
|
| y,
|
| z
|
| );
|
| updateActive();
|
| commitCommand();
|
| }
|
|
|
| bool CmdRobotInsertWaypointPreselect::isActive()
|
| {
|
| return hasActiveDocument();
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotSetDefaultOrientation)
|
|
|
| CmdRobotSetDefaultOrientation::CmdRobotSetDefaultOrientation()
|
| : Command("Robot_SetDefaultOrientation")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Set Default Orientation");
|
| sToolTipText = QT_TR_NOOP(
|
| "Sets the default orientation for subsequent commands for waypoint creation"
|
| );
|
| sWhatsThis = "Robot_SetDefaultOrientation";
|
| sStatusTip = sToolTipText;
|
| sPixmap = nullptr;
|
| }
|
|
|
|
|
| void CmdRobotSetDefaultOrientation::activated(int)
|
| {
|
|
|
| Gui::Dialog::Placement Dlg;
|
| Dlg.setSelection(Gui::Selection().getSelectionEx());
|
| Base::Placement place;
|
| Dlg.setPlacement(place);
|
| if (Dlg.exec() == QDialog::Accepted) {
|
| place = Dlg.getPlacement();
|
| Base::Rotation rot = place.getRotation();
|
| Base::Vector3d disp = place.getPosition();
|
| doCommand(Doc, "_DefOrientation = FreeCAD.Rotation(%f,%f,%f,%f)", rot[0], rot[1], rot[2], rot[3]);
|
| doCommand(Doc, "_DefDisplacement = FreeCAD.Vector(%f,%f,%f)", disp[0], disp[1], disp[2]);
|
| }
|
| }
|
|
|
| bool CmdRobotSetDefaultOrientation::isActive()
|
| {
|
| return true;
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotSetDefaultValues)
|
|
|
| CmdRobotSetDefaultValues::CmdRobotSetDefaultValues()
|
| : Command("Robot_SetDefaultValues")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Set Default Values");
|
| sToolTipText = QT_TR_NOOP(
|
| "Sets the default values for speed, acceleration, and continuity for "
|
| "subsequent commands of waypoint creation"
|
| );
|
| sWhatsThis = "Robot_SetDefaultValues";
|
| sStatusTip = sToolTipText;
|
| sPixmap = nullptr;
|
| }
|
|
|
|
|
| void CmdRobotSetDefaultValues::activated(int)
|
| {
|
|
|
| bool ok;
|
| QString text = QInputDialog::getText(
|
| nullptr,
|
| QObject::tr("Set default speed"),
|
| QObject::tr("speed: (e.g. 1 m/s or 3 cm/s)"),
|
| QLineEdit::Normal,
|
| QStringLiteral("1 m/s"),
|
| &ok,
|
| Qt::MSWindowsFixedSizeDialogHint
|
| );
|
| if (ok && !text.isEmpty()) {
|
| doCommand(Doc, "_DefSpeed = '%s'", text.toLatin1().constData());
|
| }
|
|
|
| QStringList items;
|
| items << QStringLiteral("False") << QStringLiteral("True");
|
|
|
| QString item = QInputDialog::getItem(
|
| nullptr,
|
| QObject::tr("Set default continuity"),
|
| QObject::tr("continuous ?"),
|
| items,
|
| 0,
|
| false,
|
| &ok,
|
| Qt::MSWindowsFixedSizeDialogHint
|
| );
|
| if (ok && !item.isEmpty()) {
|
| doCommand(Doc, "_DefCont = %s", item.toLatin1().constData());
|
| }
|
|
|
| text.clear();
|
|
|
| text = QInputDialog::getText(
|
| nullptr,
|
| QObject::tr("Set default acceleration"),
|
| QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"),
|
| QLineEdit::Normal,
|
| QStringLiteral("1 m/s^2"),
|
| &ok,
|
| Qt::MSWindowsFixedSizeDialogHint
|
| );
|
| if (ok && !text.isEmpty()) {
|
| doCommand(Doc, "_DefAcceleration = '%s'", text.toLatin1().constData());
|
| }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| }
|
|
|
| bool CmdRobotSetDefaultValues::isActive()
|
| {
|
| return true;
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotEdge2Trac)
|
|
|
| CmdRobotEdge2Trac::CmdRobotEdge2Trac()
|
| : Command("Robot_Edge2Trac")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Edge to Trajectory");
|
| sToolTipText = QT_TR_NOOP("Generates a trajectory from the selected edges");
|
| sWhatsThis = "Robot_Edge2Trac";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_Edge2Trac";
|
| }
|
|
|
|
|
| void CmdRobotEdge2Trac::activated(int)
|
| {
|
|
|
| |
| |
| |
| |
|
|
|
|
|
|
| Gui::SelectionFilter ObjectFilter("SELECT Robot::Edge2TracObject COUNT 1");
|
| Gui::SelectionFilter EdgeFilter("SELECT Part::Feature SUBELEMENT Edge COUNT 1..");
|
|
|
| if (ObjectFilter.match()) {
|
| Robot::Edge2TracObject* EdgeObj = static_cast<Robot::Edge2TracObject*>(
|
| ObjectFilter.Result[0][0].getObject()
|
| );
|
| openCommand("Edit Edge2TracObject");
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", EdgeObj->getNameInDocument());
|
| }
|
| else if (EdgeFilter.match()) {
|
|
|
|
|
| std::string obj_sub = EdgeFilter.Result[0][0].getAsPropertyLinkSubString();
|
|
|
| std::string FeatName = getUniqueObjectName("Edge2Trac");
|
|
|
| openCommand("Create a new Edge2TracObject");
|
| doCommand(Doc, "App.activeDocument().addObject('Robot::Edge2TracObject','%s')", FeatName.c_str());
|
| doCommand(Gui, "App.activeDocument().%s.Source = %s", FeatName.c_str(), obj_sub.c_str());
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
|
| }
|
| else {
|
| std::string FeatName = getUniqueObjectName("Edge2Trac");
|
|
|
| openCommand("Create a new Edge2TracObject");
|
| doCommand(Doc, "App.activeDocument().addObject('Robot::Edge2TracObject','%s')", FeatName.c_str());
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
|
| }
|
| }
|
|
|
| bool CmdRobotEdge2Trac::isActive()
|
| {
|
| return true;
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotTrajectoryDressUp)
|
|
|
| CmdRobotTrajectoryDressUp::CmdRobotTrajectoryDressUp()
|
| : Command("Robot_TrajectoryDressUp")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Dress-Up Trajectory");
|
| sToolTipText = QT_TR_NOOP("Creates a dress-up object that overrides aspects of a trajectory");
|
| sWhatsThis = "Robot_TrajectoryDressUp";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_TrajectoryDressUp";
|
| }
|
|
|
|
|
| void CmdRobotTrajectoryDressUp::activated(int)
|
| {
|
| Gui::SelectionFilter ObjectFilterDressUp("SELECT Robot::TrajectoryDressUpObject COUNT 1");
|
| Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryObject COUNT 1");
|
|
|
| if (ObjectFilterDressUp.match()) {
|
| Robot::TrajectoryDressUpObject* Object = static_cast<Robot::TrajectoryDressUpObject*>(
|
| ObjectFilterDressUp.Result[0][0].getObject()
|
| );
|
| openCommand("Edit Sketch");
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", Object->getNameInDocument());
|
| }
|
| else if (ObjectFilter.match()) {
|
| std::string FeatName = getUniqueObjectName("DressUpObject");
|
| Robot::TrajectoryObject* Object = static_cast<Robot::TrajectoryObject*>(
|
| ObjectFilter.Result[0][0].getObject()
|
| );
|
| openCommand("Create a new TrajectoryDressUp");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().addObject('Robot::TrajectoryDressUpObject','%s')",
|
| FeatName.c_str()
|
| );
|
| doCommand(
|
| Gui,
|
| "App.activeDocument().%s.Source = App.activeDocument().%s",
|
| FeatName.c_str(),
|
| Object->getNameInDocument()
|
| );
|
| doCommand(Gui, "Gui.activeDocument().hide(\"%s\")", Object->getNameInDocument());
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
|
| }
|
| else {
|
| QMessageBox::warning(
|
| Gui::getMainWindow(),
|
| QObject::tr("Wrong selection"),
|
| QObject::tr("Select the Trajectory which you want to dress up.")
|
| );
|
| return;
|
| }
|
| }
|
|
|
| bool CmdRobotTrajectoryDressUp::isActive()
|
| {
|
| return true;
|
| }
|
|
|
|
|
|
|
| DEF_STD_CMD_A(CmdRobotTrajectoryCompound)
|
|
|
| CmdRobotTrajectoryCompound::CmdRobotTrajectoryCompound()
|
| : Command("Robot_TrajectoryCompound")
|
| {
|
| sAppModule = "Robot";
|
| sGroup = QT_TR_NOOP("Robot");
|
| sMenuText = QT_TR_NOOP("Trajectory Compound");
|
| sToolTipText = QT_TR_NOOP("Groups and connects multiple trajectories into one");
|
| sWhatsThis = "Robot_TrajectoryCompound";
|
| sStatusTip = sToolTipText;
|
| sPixmap = "Robot_TrajectoryCompound";
|
| }
|
|
|
|
|
| void CmdRobotTrajectoryCompound::activated(int)
|
| {
|
| Gui::SelectionFilter ObjectFilter("SELECT Robot::TrajectoryCompound COUNT 1");
|
|
|
| if (ObjectFilter.match()) {
|
| Robot::TrajectoryCompound* Object = static_cast<Robot::TrajectoryCompound*>(
|
| ObjectFilter.Result[0][0].getObject()
|
| );
|
| openCommand("Edit TrajectoryCompound");
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", Object->getNameInDocument());
|
| }
|
| else {
|
| std::string FeatName = getUniqueObjectName("TrajectoryCompound");
|
|
|
| openCommand("Create a new TrajectoryDressUp");
|
| doCommand(
|
| Doc,
|
| "App.activeDocument().addObject('Robot::TrajectoryCompound','%s')",
|
| FeatName.c_str()
|
| );
|
| doCommand(Gui, "Gui.activeDocument().setEdit('%s')", FeatName.c_str());
|
| }
|
| }
|
|
|
| bool CmdRobotTrajectoryCompound::isActive()
|
| {
|
| return true;
|
| }
|
|
|
|
|
|
|
|
|
|
|
| void CreateRobotCommandsTrajectory()
|
| {
|
| Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
|
|
|
| rcCmdMgr.addCommand(new CmdRobotCreateTrajectory());
|
| rcCmdMgr.addCommand(new CmdRobotInsertWaypoint());
|
| rcCmdMgr.addCommand(new CmdRobotInsertWaypointPreselect());
|
| rcCmdMgr.addCommand(new CmdRobotSetDefaultOrientation());
|
| rcCmdMgr.addCommand(new CmdRobotSetDefaultValues());
|
| rcCmdMgr.addCommand(new CmdRobotEdge2Trac());
|
| rcCmdMgr.addCommand(new CmdRobotTrajectoryDressUp());
|
| rcCmdMgr.addCommand(new CmdRobotTrajectoryCompound());
|
| }
|
|
|
