119 lines
4.6 KiB
C++
119 lines
4.6 KiB
C++
/***************************************************************************
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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 <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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#include <Gui/Language/Translator.h>
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#include "ViewProviderRobotObject.h"
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#include "ViewProviderTrajectory.h"
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#include "ViewProviderEdge2TracObject.h"
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#include "ViewProviderTrajectoryDressUp.h"
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#include "ViewProviderTrajectoryCompound.h"
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#include "Workbench.h"
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// use a different name to CreateCommand()
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void CreateRobotCommands(void);
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void CreateRobotCommandsExport(void);
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void CreateRobotCommandsInsertRobots(void);
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void CreateRobotCommandsTrajectory(void);
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void loadRobotResource()
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{
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// add resources and reloads the translators
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Q_INIT_RESOURCE(Robot);
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Gui::Translator::instance()->refresh();
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}
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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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PyMODINIT_FUNC initRobotGui()
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{
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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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try {
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Base::Interpreter().runString("import PartGui");
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Base::Interpreter().runString("import Part");
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Base::Interpreter().runString("import Robot");
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// set some default values
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// default speed for trajectory is 1m/s
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Base::Interpreter().runString("_DefSpeed = '1 m/s'");
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// default Cintinuity is off
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Base::Interpreter().runString("_DefCont = False");
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// default Cintinuity is off
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Base::Interpreter().runString("_DefAccelaration = '1 m/s^2'");
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// default orientation of a waypoint if no other constraint
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Base::Interpreter().runString("_DefOrientation = FreeCAD.Rotation()");
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// default displacement while e.g. picking
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Base::Interpreter().runString("_DefDisplacement = FreeCAD.Vector(0,0,0)");
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}
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catch(const Base::Exception& e) {
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PyErr_SetString(PyExc_ImportError, e.what());
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return;
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}
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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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CreateRobotCommands();
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CreateRobotCommandsExport();
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CreateRobotCommandsInsertRobots();
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CreateRobotCommandsTrajectory();
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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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// add resources and reloads the translators
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loadRobotResource();
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}
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