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/***************************************************************************
* 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 <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
}
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