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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 <App/DocumentObjectPy.h>
#include <Base/Placement.h>
#include <Base/Reader.h>
#include <Base/Writer.h>
#include "RobotObject.h"
using namespace Robot;
using namespace App;
PROPERTY_SOURCE(Robot::RobotObject, App::GeoFeature)
RobotObject::RobotObject()
{
ADD_PROPERTY_TYPE(
RobotVrmlFile,
(nullptr),
"Robot definition",
Prop_None,
"Included file with the VRML representation of the robot"
);
ADD_PROPERTY_TYPE(
RobotKinematicFile,
(nullptr),
"Robot definition",
Prop_None,
"Included file with kinematic definition of the robot Axis"
);
ADD_PROPERTY_TYPE(Axis1, (0.0), "Robot kinematic", Prop_None, "Axis 1 angle of the robot in degre");
ADD_PROPERTY_TYPE(Axis2, (0.0), "Robot kinematic", Prop_None, "Axis 2 angle of the robot in degre");
ADD_PROPERTY_TYPE(Axis3, (0.0), "Robot kinematic", Prop_None, "Axis 3 angle of the robot in degre");
ADD_PROPERTY_TYPE(Axis4, (0.0), "Robot kinematic", Prop_None, "Axis 4 angle of the robot in degre");
ADD_PROPERTY_TYPE(Axis5, (0.0), "Robot kinematic", Prop_None, "Axis 5 angle of the robot in degre");
ADD_PROPERTY_TYPE(Axis6, (0.0), "Robot kinematic", Prop_None, "Axis 6 angle of the robot in degre");
ADD_PROPERTY_TYPE(Error, (""), "Robot kinematic", Prop_None, "Robot error while moving");
ADD_PROPERTY_TYPE(Tcp, (Base::Placement()), "Robot kinematic", Prop_None, "Tcp of the robot");
ADD_PROPERTY_TYPE(
Base,
(Base::Placement()),
"Robot kinematic",
Prop_None,
"Actual base frame of the robot"
);
ADD_PROPERTY_TYPE(
Tool,
(Base::Placement()),
"Robot kinematic",
Prop_None,
"Tool frame of the robot (Tool)"
);
ADD_PROPERTY_TYPE(
ToolShape,
(nullptr),
"Robot definition",
Prop_None,
"Link to the Shape is used as Tool"
);
ADD_PROPERTY_TYPE(
ToolBase,
(Base::Placement()),
"Robot definition",
Prop_None,
"Defines where to connect the ToolShape"
);
// ADD_PROPERTY_TYPE(Position,(Base::Placement()),"Robot definition",Prop_None,"Position of the
// robot in the simulation");
ADD_PROPERTY_TYPE(Home, (0), "Robot kinematic", Prop_None, "Axis position for home");
}
short RobotObject::mustExecute() const
{
return 0;
}
PyObject* RobotObject::getPyObject()
{
if (PythonObject.is(Py::_None())) {
// ref counter is set to 1
PythonObject = Py::Object(new DocumentObjectPy(this), true);
}
return Py::new_reference_to(PythonObject);
}
void RobotObject::onChanged(const Property* prop)
{
if (prop == &RobotKinematicFile) {
// load the new kinematic
robot.readKinematic(RobotKinematicFile.getValue());
}
if (prop == &Axis1 && !block) {
robot.setAxis(0, Axis1.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Axis2 && !block) {
robot.setAxis(1, Axis2.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Axis3 && !block) {
robot.setAxis(2, Axis3.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Axis4 && !block) {
robot.setAxis(3, Axis4.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Axis5 && !block) {
robot.setAxis(4, Axis5.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Axis6 && !block) {
robot.setAxis(5, Axis6.getValue());
block = true;
Tcp.setValue(robot.getTcp());
block = false;
}
if (prop == &Tcp && !block) {
robot.setTo(Tcp.getValue());
block = true;
Axis1.setValue((float)robot.getAxis(0));
Axis2.setValue((float)robot.getAxis(1));
Axis3.setValue((float)robot.getAxis(2));
Axis4.setValue((float)robot.getAxis(3));
Axis5.setValue((float)robot.getAxis(4));
Axis6.setValue((float)robot.getAxis(5));
block = false;
}
App::GeoFeature::onChanged(prop);
}
void RobotObject::Save(Base::Writer& writer) const
{
App::GeoFeature::Save(writer);
robot.Save(writer);
}
void RobotObject::Restore(Base::XMLReader& reader)
{
block = true;
App::GeoFeature::Restore(reader);
robot.Restore(reader);
// set up the robot with the loaded axis position
robot.setAxis(0, Axis1.getValue());
robot.setAxis(1, Axis2.getValue());
robot.setAxis(2, Axis3.getValue());
robot.setAxis(3, Axis4.getValue());
robot.setAxis(4, Axis5.getValue());
robot.setAxis(5, Axis6.getValue());
robot.setTo(Tcp.getValue());
Tcp.setValue(robot.getTcp());
block = false;
}
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