src/Mod/Robot/Gui/CommandTrajectory.cpp

// SPDX-License-Identifier: LGPL-2.1-or-later

/***************************************************************************
 *   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 <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)
{
    // create placement dialog
    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());
    }


    // create placement dialog
    // Gui::Dialog::Placement *Dlg = new Gui::Dialog::Placement();
    // 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 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)
{

    /*   App::DocumentObject *obj = this->getDocument()->getObject(FeatName.c_str());
       App::Property *prop = &(dynamic_cast<Robot::Edge2TracObject *>(obj)->Source);

       Gui::TaskView::TaskDialog* dlg = new TaskDlgEdge2Trac(dynamic_cast<Robot::Edge2TracObject
       *>(obj)); Gui::Control().showDialog(dlg);*/


    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()) {
        // get the selected object
        // Part::Feature *part = static_cast<Part::Feature*>(EdgeFilter.Result[0][0].getObject());
        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());
}