ViewProviderRobotObject.cpp

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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 "PreCompiled.h"

#ifndef _PreComp_
# include <Inventor/SoDB.h>
# include <Inventor/SoInput.h>
# include <Inventor/SbVec3f.h>
# include <Inventor/nodes/SoSeparator.h>
# include <Inventor/nodes/SoTransform.h>
# include <Inventor/nodes/SoSphere.h>
# include <Inventor/nodes/SoRotation.h>
# include <Inventor/actions/SoSearchAction.h>
# include <Inventor/draggers/SoJackDragger.h>
# include <Inventor/draggers/SoTrackballDragger.h>
# include <Inventor/VRMLnodes/SoVRMLTransform.h>
# include <QFile>
#endif

#include "ViewProviderRobotObject.h"

#include <Mod/Robot/App/RobotObject.h>
#include <Mod/Part/App/PartFeature.h>
#include <Mod/Part/Gui/ViewProvider.h>
#include <App/Document.h>
#include <App/VRMLObject.h>
#include <Gui/Application.h>
#include <Base/FileInfo.h>
#include <Base/Stream.h>
#include <Base/Console.h>
#include <sstream>
using namespace Gui;
using namespace RobotGui;

PROPERTY_SOURCE(RobotGui::ViewProviderRobotObject, Gui::ViewProviderGeometryObject)

ViewProviderRobotObject::ViewProviderRobotObject()
  : pcDragger(0),toolShape(0)
{
    ADD_PROPERTY(Manipulator,(0));   

        pcRobotRoot = new Gui::SoFCSelection();
    pcRobotRoot->highlightMode = Gui::SoFCSelection::OFF;
    //pcRobotRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
    //pcRobotRoot->style = Gui::SoFCSelection::BOX;
    pcRobotRoot->ref();

        pcSimpleRoot = new Gui::SoFCSelection();
    pcSimpleRoot->highlightMode = Gui::SoFCSelection::OFF;
    //pcSimpleRoot->selectionMode = Gui::SoFCSelection::SEL_OFF;
    pcSimpleRoot->ref();

    pcOffRoot = new SoGroup();
    pcOffRoot->ref();

    // set nodes for the manipulator outfit
    pcTcpRoot = new SoGroup();
    pcTcpRoot->ref();


    Axis1Node = Axis2Node = Axis3Node = Axis4Node = Axis5Node = Axis6Node = 0;
}

void ViewProviderRobotObject::setDragger()
{
    assert(pcDragger==0);
    pcDragger = new SoJackDragger();
    pcDragger->addMotionCallback(sDraggerMotionCallback,this);
    pcTcpRoot->addChild(pcDragger);

    // set the actual TCP position
    Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
    Base::Placement loc = robObj->Tcp.getValue();
    SbMatrix  M;
    M.setTransform(SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z),
                   SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]),
                   SbVec3f(150,150,150)
                   );
    pcDragger->setMotionMatrix(M);


}
void ViewProviderRobotObject::resetDragger()
{
    assert(pcDragger);
    pcTcpRoot->removeAllChildren();
    pcDragger = 0;

 }

ViewProviderRobotObject::~ViewProviderRobotObject()
{
    pcRobotRoot->unref();
    pcSimpleRoot->unref();
    pcOffRoot->unref();

}

void ViewProviderRobotObject::attach(App::DocumentObject *pcObj)
{
    ViewProviderGeometryObject::attach(pcObj);

    addDisplayMaskMode(pcRobotRoot, "VRML");
    pcRobotRoot->objectName = pcObj->getNameInDocument();
    pcRobotRoot->documentName = pcObj->getDocument()->getName();
    pcRobotRoot->subElementName = "Main";
    pcRobotRoot->addChild(pcTcpRoot);

    addDisplayMaskMode(pcSimpleRoot, "Simple");
    pcSimpleRoot->objectName = pcObj->getNameInDocument();
    pcSimpleRoot->documentName = pcObj->getDocument()->getName();
    pcSimpleRoot->subElementName = "Main";
    pcSimpleRoot->addChild(pcTcpRoot);

    addDisplayMaskMode(pcOffRoot, "Off");
    pcOffRoot->addChild(pcTcpRoot);


}

void ViewProviderRobotObject::setDisplayMode(const char* ModeName)
{
    if ( strcmp("VRML",ModeName)==0 )
        setDisplayMaskMode("VRML");
    if ( strcmp("Simple",ModeName)==0 )
        setDisplayMaskMode("Simple");
    if ( strcmp("Off",ModeName)==0 )
        setDisplayMaskMode("Off");
    ViewProviderGeometryObject::setDisplayMode( ModeName );
}

std::vector<std::string> ViewProviderRobotObject::getDisplayModes(void) const
{
    std::vector<std::string> StrList;
    StrList.push_back("VRML");
    StrList.push_back("Simple");
    StrList.push_back("Off");
    return StrList;
}

void ViewProviderRobotObject::onChanged(const App::Property* prop)
{
    if (prop == &Manipulator) {
        if (Manipulator.getValue()) {
            if (!this->pcDragger)
                this->setDragger();
        }
        else {
            if (this->pcDragger)
                this->resetDragger();
        }
    }
    else {
        ViewProviderGeometryObject::onChanged(prop);
    }
}

void ViewProviderRobotObject::updateData(const App::Property* prop)
{
    Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
    if (prop == &robObj->RobotVrmlFile) {
        // read also from file
        const char* filename = robObj->RobotVrmlFile.getValue();
        QString fn = QString::fromUtf8(filename);
        QFile file(fn);
        SoInput in;
        pcRobotRoot->removeAllChildren();
        if (!fn.isEmpty() && file.open(QFile::ReadOnly)) {
            QByteArray buffer = file.readAll();
            in.setBuffer((void *)buffer.constData(), buffer.length());
            SoSeparator * node = SoDB::readAll(&in);
            if (node) pcRobotRoot->addChild(node);
            pcRobotRoot->addChild(pcTcpRoot);
        }
                // search for the conection points +++++++++++++++++++++++++++++++++++++++++++++++++
                Axis1Node = Axis2Node = Axis3Node = Axis4Node = Axis5Node = Axis6Node = 0;
                SoSearchAction searchAction;
                SoPath * path;

                // Axis 1
                searchAction.setName("FREECAD_AXIS1");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis1Node = static_cast<SoVRMLTransform *>(node);
                }
                // Axis 2
                searchAction.setName("FREECAD_AXIS2");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis2Node = static_cast<SoVRMLTransform *>(node);
                }
                // Axis 3
                searchAction.setName("FREECAD_AXIS3");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis3Node = static_cast<SoVRMLTransform *>(node);
                }
                // Axis 4
                searchAction.setName("FREECAD_AXIS4");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis4Node = static_cast<SoVRMLTransform *>(node);
                }
                // Axis 5
                searchAction.setName("FREECAD_AXIS5");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis5Node = static_cast<SoVRMLTransform *>(node);
                }
                // Axis 6
                searchAction.setName("FREECAD_AXIS6");
                searchAction.setInterest(SoSearchAction::FIRST);
                searchAction.setSearchingAll(FALSE);
                searchAction.apply(pcRobotRoot);
                path = searchAction.getPath();
                if(path){
                        SoNode* node = path->getTail();
                        std::string typeName = (const char*)node->getTypeId().getName();
                        if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId())
                                throw; // should not happen
                        Axis6Node = static_cast<SoVRMLTransform *>(node);
                }
                if(Axis1Node)
                        Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180));
                if(Axis2Node)
                        Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180));
                if(Axis3Node)
                        Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180));
                if(Axis4Node)
                        Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180));
                if(Axis5Node)
                        Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180));
                if(Axis6Node)
                        Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180));
    }else if (prop == &robObj->Axis1) {
        if(Axis1Node){
                        Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
    }else if (prop == &robObj->Axis2) {
        if(Axis2Node){
                        Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
    }else if (prop == &robObj->Axis3) {
        if(Axis3Node){
                        Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
    }else if (prop == &robObj->Axis4) {
        if(Axis4Node){
                        Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
    }else if (prop == &robObj->Axis5) {
        if(Axis5Node){
                        Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
    }else if (prop == &robObj->Axis6) {
        if(Axis6Node){
                        Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180));
            if(toolShape)
                toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }
        }else if (prop == &robObj->Tcp) {
        Base::Placement loc = robObj->Tcp.getValue();
        SbMatrix  M;
        M.setTransform(SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z),
                       SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]),
                       SbVec3f(150,150,150)
                       );
        if(pcDragger)
            pcDragger->setMotionMatrix(M);
        if(toolShape)
            toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
                //pcTcpTransform->translation = SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z);
                //pcTcpTransform->rotation = SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]);
        }else if (prop == &robObj->ToolShape) {
        App::DocumentObject* o = robObj->ToolShape.getValue<App::DocumentObject*>();

        if(o && (o->isDerivedFrom(Part::Feature::getClassTypeId()) || o->isDerivedFrom(App::VRMLObject::getClassTypeId())) ){
            //Part::Feature *p = dynamic_cast<Part::Feature *>(o);
            toolShape = Gui::Application::Instance->getViewProvider(o);
            toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
        }else
            toolShape = 0;
        }

}
void ViewProviderRobotObject::setAxisTo(float A1,float A2,float A3,float A4,float A5,float A6,const Base::Placement &Tcp)
{
    Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);

        if(Axis1Node)
        // FIXME Uggly hack for the wrong transformation of the Kuka 500 robot VRML the minus sign on Axis 1
                Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A1*(M_PI/180));
        if(Axis2Node)
                Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A2*(M_PI/180));
        if(Axis3Node)
                Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A3*(M_PI/180));
        if(Axis4Node)
                Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A4*(M_PI/180));
        if(Axis5Node)
                Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A5*(M_PI/180));
        if(Axis6Node)
                Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),A6*(M_PI/180));
    // update tool position
    if(toolShape)
        toolShape->setTransformation((Tcp * (robObj->ToolBase.getValue().inverse())).toMatrix());
}

void ViewProviderRobotObject::sDraggerMotionCallback(void *data, SoDragger *dragger)
{
    static_cast<ViewProviderRobotObject*>(data)->DraggerMotionCallback(dragger);
}

void ViewProviderRobotObject::DraggerMotionCallback(SoDragger *dragger)
{
    float q0, q1, q2, q3;

    Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
    Base::Placement Tcp = robObj->Tcp.getValue();
    const SbMatrix & M = dragger->getMotionMatrix ();
    SbVec3f    translation;
    SbRotation rotation;
    SbVec3f    scaleFactor;
    SbRotation scaleOrientation;
    SbVec3f    center(Tcp.getPosition().x,Tcp.getPosition().y,Tcp.getPosition().z);
    M.getTransform(translation, rotation, scaleFactor, scaleOrientation);
    rotation.getValue(q0, q1, q2, q3);
    //Base::Console().Message("M %f %f %f\n", M[3][0], M[3][1], M[3][2]);
    Base::Rotation rot(q0, q1, q2, q3);
    Base::Vector3d pos(translation[0],translation[1],translation[2]);
    robObj->Tcp.setValue(Base::Placement(pos,rot));
}