WaypointPyImp.cpp

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#include "PreCompiled.h"


#include <Base/PlacementPy.h>
#include <Base/Placement.h>
#include <Base/Exception.h>
#include <Base/UnitsApi.h>

#include "Mod/Robot/App/Waypoint.h"


// inclusion of the generated files (generated out of WaypointPy.xml)
#include "WaypointPy.h"
#include "WaypointPy.cpp"

using namespace Robot;
using namespace Base;

// returns a string which represents the object e.g. when printed in python
std::string WaypointPy::representation(void) const
{
    double A,B,C;
    //PlacementPy::PointerType ptr = reinterpret_cast<PlacementPy::PointerType>(_pcTwinPointer);
    std::stringstream str;
    getWaypointPtr()->EndPos.getRotation().getYawPitchRoll(A,B,C);
    str.precision(5);
    str << "Waypoint [";
    if(getWaypointPtr()->Type == Waypoint::PTP)
        str << "PTP ";
    else if(getWaypointPtr()->Type == Waypoint::LINE)
        str << "LIN ";
    else if(getWaypointPtr()->Type == Waypoint::CIRC)
        str << "CIRC ";
    else if(getWaypointPtr()->Type == Waypoint::WAIT)
        str << "WAIT ";
    else if(getWaypointPtr()->Type == Waypoint::UNDEF)
        str << "UNDEF ";
    str << getWaypointPtr()->Name;
    str << " (";
    str << getWaypointPtr()->EndPos.getPosition().x << ","<< getWaypointPtr()->EndPos.getPosition().y << "," << getWaypointPtr()->EndPos.getPosition().z;
    str << ";" << A << "," << B << "," << C << ")";
    str << "v=" << getWaypointPtr()->Velocity << " ";
    if(getWaypointPtr()->Cont)
        str << "Cont ";
    if(getWaypointPtr()->Tool != 0)
        str << "Tool" << getWaypointPtr()->Tool << " ";
    if(getWaypointPtr()->Base != 0)
        str << "Tool" << getWaypointPtr()->Base << " ";
    str << "]";

    return str.str();
}

PyObject *WaypointPy::PyMake(struct _typeobject *, PyObject *, PyObject *)  // Python wrapper
{
    // create a new instance of WaypointPy and the Twin object 
    return new WaypointPy(new Waypoint);
}

// constructor method
int WaypointPy::PyInit(PyObject* args, PyObject* kwd)
{
    PyObject *pos;
    char *name="P";
    char *type = "PTP";
    PyObject *vel = 0;
    PyObject *acc = 0;
    int cont = 0;
    int tool=0;
    int base=0;

    static char *kwlist[] = {"Pos", "type","name", "vel", "cont", "tool", "base", "acc" ,NULL};

    if (!PyArg_ParseTupleAndKeywords(args, kwd, "O!|ssOiiiO", kwlist,
                                      &(Base::PlacementPy::Type), &pos, // the placement object
                                      &type, &name, &vel, &cont, &tool, &base, &acc ))
        return -1;

    Base::Placement TempPos = *static_cast<Base::PlacementPy*>(pos)->getPlacementPtr();
    getWaypointPtr()->EndPos = TempPos;
    getWaypointPtr()->Name   = name;
    std::string typeStr(type);
    if(typeStr=="PTP")
        getWaypointPtr()->Type = Waypoint::PTP;
    else if(typeStr=="LIN")
        getWaypointPtr()->Type = Waypoint::LINE;
    else if(typeStr=="CIRC")
        getWaypointPtr()->Type = Waypoint::CIRC;
    else if(typeStr=="WAIT")
        getWaypointPtr()->Type = Waypoint::WAIT;
    else 
        getWaypointPtr()->Type = Waypoint::UNDEF;

    if(vel == 0)
        switch (getWaypointPtr()->Type){
            case Waypoint::PTP:
                getWaypointPtr()->Velocity = 100;
                break;
            case Waypoint::LINE:
                getWaypointPtr()->Velocity = 2000;
                break;
            case Waypoint::CIRC:
                getWaypointPtr()->Velocity = 2000;
                break;
            default:
                getWaypointPtr()->Velocity = 0;
        }
    else
        getWaypointPtr()->Velocity = Base::UnitsApi::toDblWithUserPrefs(Base::Velocity,vel);
    getWaypointPtr()->Cont = cont?true:false;
    getWaypointPtr()->Tool = tool;
    getWaypointPtr()->Base = base;
    if(acc == 0)
        getWaypointPtr()->Accelaration  = 100;
    else
        getWaypointPtr()->Accelaration  = Base::UnitsApi::toDblWithUserPrefs(Base::Acceleration,acc);;

    return 0;
}


Py::Float WaypointPy::getVelocity(void) const
{
    return Py::Float(getWaypointPtr()->Velocity);
}

void  WaypointPy::setVelocity(Py::Float arg)
{
    getWaypointPtr()->Velocity = (float) arg.operator double();
}


Py::String WaypointPy::getName(void) const
{
    return Py::String(getWaypointPtr()->Name.c_str());
}

void WaypointPy::setName(Py::String arg)
{
    getWaypointPtr()->Name = arg.as_std_string();
}

Py::String WaypointPy::getType(void) const
{
    if(getWaypointPtr()->Type == Waypoint::PTP)
        return Py::String("PTP");
    else if(getWaypointPtr()->Type == Waypoint::LINE)
        return Py::String("LIN");
    else if(getWaypointPtr()->Type == Waypoint::CIRC)
        return Py::String("CIRC");
    else if(getWaypointPtr()->Type == Waypoint::WAIT)
        return Py::String("WAIT");
    else if(getWaypointPtr()->Type == Waypoint::UNDEF)
        return Py::String("UNDEF");
    else
        throw Base::Exception("Unknown waypoint type! Only: PTP,LIN,CIRC,WAIT are supported.");
}

void WaypointPy::setType(Py::String arg)
{
    std::string typeStr(arg.as_std_string());
    if(typeStr=="PTP")
        getWaypointPtr()->Type = Waypoint::PTP;
    else if(typeStr=="LIN")
        getWaypointPtr()->Type = Waypoint::LINE;
    else if(typeStr=="CIRC")
        getWaypointPtr()->Type = Waypoint::CIRC;
    else if(typeStr=="WAIT")
        getWaypointPtr()->Type = Waypoint::WAIT;
    else
        throw Base::Exception("Unknown waypoint type! Only: PTP,LIN,CIRC,WAIT are allowed.");
}


Py::Object WaypointPy::getPos(void) const
{
    return Py::Object(new PlacementPy(new Placement(getWaypointPtr()->EndPos)),true);
}

void WaypointPy::setPos(Py::Object arg)
{
    union PyType_Object pyType = {&(Base::PlacementPy::Type)};
    Py::Type PlacementType(pyType.o);
    if(arg.isType(PlacementType))
        getWaypointPtr()->EndPos = *static_cast<Base::PlacementPy*>((*arg))->getPlacementPtr();
}

Py::Boolean WaypointPy::getCont(void) const
{
    return Py::Boolean(getWaypointPtr()->Cont);
}

void WaypointPy::setCont(Py::Boolean arg)
{
    getWaypointPtr()->Cont = (bool)arg;
}

Py::Int WaypointPy::getTool(void) const
{
    return Py::Int((int)getWaypointPtr()->Tool);
}

void WaypointPy::setTool(Py::Int arg)
{
    if((int)arg.operator long() > 0)
        getWaypointPtr()->Tool = (int)arg.operator long();
    else 
        Base::Exception("negativ tool not allowed!");
}

Py::Int WaypointPy::getBase(void) const
{
    return Py::Int((int)getWaypointPtr()->Base);
}

void WaypointPy::setBase(Py::Int arg)
{
   if((int)arg.operator long() > 0)
        getWaypointPtr()->Base = (int)arg.operator long();
    else 
        Base::Exception("negativ base not allowed!");
}

PyObject *WaypointPy::getCustomAttributes(const char* /*attr*/) const
{
    return 0;
}

int WaypointPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
{
    return 0; 
}