src/Mod/Robot/KukaExporter.py

#!/usr/bin/env python3
# SPDX-License-Identifier: LGPL-2.1-or-later

# Kuka export lib (c) Jürgen Riegel 2009 LGPL 2.1 or higher

import time

TeachPointFold = """
;FOLD LIN P4  Vel= 0.2 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 5.4.27,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:0.2, 7:CPDAT1
$BWDSTART = FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP4
BAS(#CP_PARAMS,0.2)
LIN XP4
;ENDFOLD
"""

TeachPointDat = """
DECL E6POS XP4={X -25.1844196,Y 1122.42603,Z 1158.07996,A -14.3267002,B 0.537901878,C 179.028305,S 6,T 59,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
"""

HeaderSrc = """&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *
"""


def ExportCompactSub(Rob, Trak, FileName):
    print(Rob, Trak, FileName)
    Traj = Trak.Trajectory
    # open the output file
    SrcFile = open(FileName, "w")
    # header
    SrcFile.write(HeaderSrc)
    # subroutine definition
    SrcFile.write("DEF " + Trak.Name + "( )\n\n")
    SrcFile.write(";- Kuka src file, generated by FreeCAD (https://www.freecad.org)\n")
    SrcFile.write(";- " + time.asctime() + "\n\n")
    # defining world and base
    SrcFile.write(";------------- definitions ------------\n")
    SrcFile.write("EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World\n")
    SrcFile.write("BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on \n\n")

    SrcFile.write("\n;------------- main part ------------\n")

    for w in Traj.Waypoints:
        (X, Y, Z) = (w.Pos.Base.x, w.Pos.Base.x, w.Pos.Base.x)
        (A, B, C) = w.Pos.Rotation.toEuler()
        V = w.Velocity / 1000.0  # from mm/s to m/s
        SrcFile.write("$VEL.CP = %f ; m/s ; m/s \n" % V)
        SrcFile.write(
            "LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s\n"
            % (w.Pos.Base.x, w.Pos.Base.y, w.Pos.Base.z, A, B, C, w.Name)
        )

    # end of subroutine
    SrcFile.write("\n;------------- end ------------\n")
    SrcFile.write("END \n\n")

    SrcFile.close()
    # open the output file
    # DatFile = open(FileName[:-4]+'.dat','w')
    # header
    # DatFile.write(HeaderSrc)
    # subroutine definition
    # DatFile.write("DEFDAT "+Trak.Name+" PUBLIC\n\n")
    # DatFile.write("ENDDAT\n")
    # DatFile.close()


def ExportFullSub(Rob, Trak, FileName):
    print(Trak, FileName)