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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 <Base/PyObjectBase.h>
#include <Gui/Application.h>
#include <Gui/Language/Translator.h>
#include "ViewProviderEdge2TracObject.h"
#include "ViewProviderRobotObject.h"
#include "ViewProviderTrajectory.h"
#include "ViewProviderTrajectoryCompound.h"
#include "ViewProviderTrajectoryDressUp.h"
#include "Workbench.h"
// use a different name to CreateCommand()
void CreateRobotCommands();
void CreateRobotCommandsExport();
void CreateRobotCommandsInsertRobots();
void CreateRobotCommandsTrajectory();
void loadRobotResource()
{
// add resources and reloads the translators
Q_INIT_RESOURCE(Robot);
Q_INIT_RESOURCE(Robot_translation);
Gui::Translator::instance()->refresh();
}
namespace RobotGui
{
class Module: public Py::ExtensionModule<Module>
{
public:
Module()
: Py::ExtensionModule<Module>("RobotGui")
{
initialize("This module is the RobotGui module."); // register with Python
}
private:
};
PyObject* initModule()
{
return Base::Interpreter().addModule(new Module);
}
} // namespace RobotGui
/* Python entry */
PyMOD_INIT_FUNC(RobotGui)
{
if (!Gui::Application::Instance) {
PyErr_SetString(PyExc_ImportError, "Cannot load Gui module in console application.");
PyMOD_Return(nullptr);
}
try {
Base::Interpreter().runString("import PartGui");
Base::Interpreter().runString("import Part");
Base::Interpreter().runString("import Robot");
// set some default values
// default speed for trajectory is 1m/s
Base::Interpreter().runString("_DefSpeed = '1 m/s'");
// default Cintinuity is off
Base::Interpreter().runString("_DefCont = False");
// default Cintinuity is off
Base::Interpreter().runString("_DefAcceleration = '1 m/s^2'");
// default orientation of a waypoint if no other constraint
Base::Interpreter().runString("_DefOrientation = FreeCAD.Rotation()");
// default displacement while e.g. picking
Base::Interpreter().runString("_DefDisplacement = FreeCAD.Vector(0,0,0)");
}
catch (const Base::Exception& e) {
PyErr_SetString(PyExc_ImportError, e.what());
PyMOD_Return(nullptr);
}
PyObject* mod = RobotGui::initModule();
Base::Console().log("Loading GUI of Robot module… done\n");
// instantiating the commands
CreateRobotCommands();
CreateRobotCommandsExport();
CreateRobotCommandsInsertRobots();
CreateRobotCommandsTrajectory();
// clang-format off
// addition objects
RobotGui::Workbench ::init();
RobotGui::ViewProviderRobotObject ::init();
RobotGui::ViewProviderTrajectory ::init();
RobotGui::ViewProviderEdge2TracObject ::init();
RobotGui::ViewProviderTrajectoryCompound ::init();
RobotGui::ViewProviderTrajectoryDressUp ::init();
// clang-format on
// add resources and reloads the translators
loadRobotResource();
PyMOD_Return(mod);
}
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