+ simplify porting of Robot module to Python3
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65fe62d93b
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@ -29,9 +29,12 @@
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#include <Base/Console.h>
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#include <Base/Interpreter.h>
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#include <CXX/Extensions.hxx>
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#include <CXX/Objects.hxx>
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#include "Robot6AxisPy.h"
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#include "Robot6Axis.h"
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#include "Simulation.h"
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#include "TrajectoryPy.h"
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#include "Trajectory.h"
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#include "PropertyTrajectory.h"
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@ -43,15 +46,50 @@
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#include "TrajectoryCompound.h"
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#include "TrajectoryDressUpObject.h"
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extern struct PyMethodDef Robot_methods[];
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namespace Robot {
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class Module : public Py::ExtensionModule<Module>
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{
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public:
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Module() : Py::ExtensionModule<Module>("Robot")
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{
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add_varargs_method("simulateToFile",&Module::simulateToFile,
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"simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."
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);
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initialize("This module is the Robot module."); // register with Python
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}
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PyDoc_STRVAR(module_Robot_doc,
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"This module is the Robot module.");
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virtual ~Module() {}
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private:
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Py::Object simulateToFile(const Py::Tuple& args)
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{
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PyObject *pcRobObj;
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PyObject *pcTracObj;
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float tick;
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char* FileName;
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if (!PyArg_ParseTuple(args.ptr(), "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
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&(TrajectoryPy::Type), &pcTracObj,
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&tick,&FileName))
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throw Py::Exception();
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try {
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Robot::Trajectory &Trac = * static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
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Robot::Robot6Axis &Rob = * static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
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Simulation Sim(Trac,Rob);
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}
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catch (const Base::Exception& e) {
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throw Py::RuntimeError(e.what());
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}
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return Py::Float(0.0);
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}
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};
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} // namespace Robot
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/* Python entry */
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extern "C" {
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void RobotExport initRobot()
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PyMODINIT_FUNC initRobot()
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{
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// load dependent module
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try {
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@ -62,10 +100,9 @@ void RobotExport initRobot()
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return;
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}
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PyObject* robotModule = Py_InitModule3("Robot", Robot_methods, module_Robot_doc); /* mod name, table ptr */
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PyObject* robotModule = (new Robot::Module())->module().ptr();
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Base::Console().Log("Loading Robot module... done\n");
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// Add Types to module
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Base::Interpreter().addType(&Robot::Robot6AxisPy ::Type,robotModule,"Robot6Axis");
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Base::Interpreter().addType(&Robot::WaypointPy ::Type,robotModule,"Waypoint");
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@ -75,7 +112,7 @@ void RobotExport initRobot()
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// NOTE: To finish the initialization of our own type objects we must
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// call PyType_Ready, otherwise we run into a segmentation fault, later on.
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// This function is responsible for adding inherited slots from a type's base class.
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Robot::Robot6Axis ::init();
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Robot::RobotObject ::init();
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Robot::TrajectoryObject ::init();
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@ -86,5 +123,3 @@ void RobotExport initRobot()
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Robot::TrajectoryCompound ::init();
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Robot::TrajectoryDressUpObject ::init();
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}
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} // extern "C"
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@ -1,73 +0,0 @@
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/***************************************************************************
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* Copyright (c) 2008 Jürgen Riegel (juergen.riegel@web.de) *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#ifndef _PreComp_
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# include <Python.h>
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#endif
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#include <Base/Console.h>
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#include <Base/VectorPy.h>
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#include "TrajectoryPy.h"
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#include "Robot6AxisPy.h"
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#include "Simulation.h"
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#include "RobotAlgos.h"
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using namespace Robot;
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static PyObject *
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simulateToFile(PyObject *self, PyObject *args)
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{
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PyObject *pcRobObj;
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PyObject *pcTracObj;
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float tick;
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char* FileName;
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if (!PyArg_ParseTuple(args, "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
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&(TrajectoryPy::Type), &pcTracObj,
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&tick,&FileName
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) )
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return NULL; // NULL triggers exception
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PY_TRY {
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Robot::Trajectory &Trac = * static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
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Robot::Robot6Axis &Rob = * static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
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Simulation Sim(Trac,Rob);
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} PY_CATCH;
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return Py::new_reference_to(Py::Float(0.0));
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}
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/* registration table */
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struct PyMethodDef Robot_methods[] = {
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{"simulateToFile" ,simulateToFile ,METH_VARARGS,
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"void simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."},
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{NULL, NULL} /* end of table marker */
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};
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@ -45,7 +45,6 @@ SET(Python_SRCS
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SET(Mod_SRCS
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AppRobot.cpp
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AppRobotPy.cpp
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PreCompiled.cpp
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PreCompiled.h
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)
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@ -26,6 +26,9 @@
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# include <Python.h>
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#endif
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#include <CXX/Extensions.hxx>
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#include <CXX/Objects.hxx>
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#include <Base/Console.h>
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#include <Base/Interpreter.h>
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#include <Gui/Application.h>
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@ -50,15 +53,26 @@ void loadRobotResource()
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Gui::Translator::instance()->refresh();
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}
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/* registration table */
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extern struct PyMethodDef RobotGui_Import_methods[];
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namespace RobotGui {
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class Module : public Py::ExtensionModule<Module>
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{
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public:
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Module() : Py::ExtensionModule<Module>("RobotGui")
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{
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initialize("This module is the RobotGui module."); // register with Python
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}
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virtual ~Module() {}
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private:
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};
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} // namespace RobotGui
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/* Python entry */
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extern "C" {
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void RobotGuiExport initRobotGui()
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PyMODINIT_FUNC initRobotGui()
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{
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if (!Gui::Application::Instance) {
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if (!Gui::Application::Instance) {
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PyErr_SetString(PyExc_ImportError, "Cannot load Gui module in console application.");
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return;
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}
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PyErr_SetString(PyExc_ImportError, e.what());
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return;
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}
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(void) Py_InitModule("RobotGui", RobotGui_Import_methods); /* mod name, table ptr */
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(void)new RobotGui::Module();
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Base::Console().Log("Loading GUI of Robot module... done\n");
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// instantiating the commands
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// addition objects
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RobotGui::Workbench ::init();
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RobotGui::ViewProviderRobotObject ::init();
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RobotGui::ViewProviderTrajectory ::init();
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RobotGui::ViewProviderEdge2TracObject ::init();
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RobotGui::ViewProviderTrajectoryCompound ::init();
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RobotGui::ViewProviderTrajectoryDressUp ::init();
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RobotGui::ViewProviderRobotObject ::init();
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RobotGui::ViewProviderTrajectory ::init();
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RobotGui::ViewProviderEdge2TracObject ::init();
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RobotGui::ViewProviderTrajectoryCompound ::init();
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RobotGui::ViewProviderTrajectoryDressUp ::init();
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// add resources and reloads the translators
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loadRobotResource();
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}
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} // extern "C" {
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@ -1,33 +0,0 @@
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/***************************************************************************
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* Copyright (c) 2008 Werner Mayer <werner.wm.mayer@gmx.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#ifndef _PreComp_
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# include <Python.h>
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#endif
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/* registration table */
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struct PyMethodDef RobotGui_Import_methods[] = {
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{NULL, NULL} /* end of table marker */
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};
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@ -62,7 +62,6 @@ SOURCE_GROUP("Qt" FILES ${PartDesignGui_MOC_SRCS})
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SET(RobotGui_SRCS_Module
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AppRobotGui.cpp
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AppRobotGuiPy.cpp
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Resources/Robot.qrc
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PreCompiled.cpp
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PreCompiled.h
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SOURCE_GROUP("ViewProvider" FILES ${RobotGui_SRCS_ViewProvider})
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SET(RobotGui_SRCS_TaskBoxes
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TaskRobot6Axis.ui
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TaskRobot6Axis.ui
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TaskRobot6Axis.cpp
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TaskRobot6Axis.h
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TaskTrajectory.ui
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@ -125,21 +124,21 @@ SET(RobotGui_SRCS_TaskDlg
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TaskDlgSimulate.cpp
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TaskDlgEdge2Trac.h
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TaskDlgEdge2Trac.cpp
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TaskDlgTrajectoryCompound.h
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TaskDlgTrajectoryCompound.cpp
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TaskDlgTrajectoryDressUp.h
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TaskDlgTrajectoryDressUp.cpp
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TaskDlgTrajectoryCompound.h
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TaskDlgTrajectoryCompound.cpp
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TaskDlgTrajectoryDressUp.h
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TaskDlgTrajectoryDressUp.cpp
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)
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SOURCE_GROUP("Task_Dialogs" FILES ${RobotGui_SRCS_TaskDlg})
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SET(RobotGui_SRCS
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${RobotGui_UIC_HDRS}
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${RobotResource_SRCS}
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${RobotGui_SRCS_Module}
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${RobotGui_SRCS_ViewProvider}
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${RobotGui_SRCS_Commands}
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${RobotGui_SRCS_TaskBoxes}
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${RobotGui_SRCS_TaskDlg}
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${RobotGui_SRCS_Module}
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${RobotGui_SRCS_ViewProvider}
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${RobotGui_SRCS_Commands}
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${RobotGui_SRCS_TaskBoxes}
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${RobotGui_SRCS_TaskDlg}
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)
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