Skip to content

Commit 6fd836a

Browse files
madhephaestusmadhephaestus
committed
Adding teh CSG database to the mobilcabse cad manager
1 parent 7545fe2 commit 6fd836a

File tree

2 files changed

+37
-35
lines changed

2 files changed

+37
-35
lines changed

‎src/main/java/com/neuronrobotics/bowlerstudio/creature/IgenerateCad.java‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,15 +5,17 @@
55
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
66

77
import eu.mihosoft.vrl.v3d.CSG;
8+
import eu.mihosoft.vrl.v3d.parametrics.CSGDatabaseInstance;
89

910
public interface IgenerateCad {
1011

1112
/**
1213
* This function should use the D-H parameters to generate cad objects to build this configuration
1314
* the user should attach any listeners from the DH link for simulation
15+
* @param csgDatabaseInstance
1416
*
1517
* @param dh the list of DH configurations
1618
* @return simulatable CAD objects
1719
*/
18-
ArrayList<CSG> generateCad(DHParameterKinematics dh, int linkIndex);
20+
ArrayList<CSG> generateCad(CSGDatabaseInstance csgDatabaseInstance, DHParameterKinematics dh, int linkIndex);
1921
}

‎src/main/java/com/neuronrobotics/bowlerstudio/creature/MobileBaseCadManager.java‎

Lines changed: 34 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -779,9 +779,9 @@ private TransformNR updateBase(MobileBase base, TransformNR baseLoc, HashMap<Aff
779779
return forwardOffset;
780780
}
781781

782-
private MobileBaseCadManager(MobileBase base, IMobileBaseUI myUI) {
782+
private MobileBaseCadManager(CSGDatabaseInstance csgDatabaseInstance,MobileBase base, IMobileBaseUI myUI) {
783783
this.setUi(myUI);
784-
setMobileBase(base);
784+
setMobileBase(csgDatabaseInstance,base);
785785
}
786786

787787
private Object scriptFromFileInfo(CSGDatabaseInstance db,String name, String[] args, Runnable runner) throws Throwable {
@@ -877,25 +877,25 @@ private void closeScriptFromFileInfo(String[] args) {
877877

878878
}
879879

880-
private IgenerateBody getIgenerateBody(MobileBase b) throws Throwable {
880+
private IgenerateBody getIgenerateBody(CSGDatabaseInstance csgDatabaseInstance,MobileBase b) throws Throwable {
881881
if (isConfigMode())
882-
return getConfigurationDisplay();
882+
return getConfigurationDisplay(csgDatabaseInstance);
883883
Object cadForBodyEngine = scriptFromFileInfo(getDb(),b.getScriptingName(), b.getGitCadEngine(), () -> {
884884
run();
885-
generateCad();
885+
generateCad(csgDatabaseInstance);
886886
});
887887
if (IgenerateBody.class.isInstance(cadForBodyEngine)) {
888888
return (IgenerateBody) cadForBodyEngine;
889889
}
890890
return null;
891891
}
892892

893-
private IgenerateCad getIgenerateCad(DHParameterKinematics dh) throws Throwable {
893+
private IgenerateCad getIgenerateCad(CSGDatabaseInstance csgDatabaseInstance,DHParameterKinematics dh) throws Throwable {
894894
if (isConfigMode())
895-
return getConfigurationDisplay();
895+
return getConfigurationDisplay(csgDatabaseInstance);
896896
Object cadForBodyEngine = scriptFromFileInfo(getDb(),dh.getScriptingName(), dh.getGitCadEngine(), () -> {
897897
run();
898-
generateCad();
898+
generateCad(csgDatabaseInstance);
899899
});
900900
if (IgenerateCad.class.isInstance(cadForBodyEngine)) {
901901
return (IgenerateCad) cadForBodyEngine;
@@ -913,14 +913,14 @@ public IgenerateBed getIgenerateBed() throws Throwable {
913913
return null;
914914
}
915915

916-
private ICadGenerator getConfigurationDisplay() throws Throwable {
916+
private ICadGenerator getConfigurationDisplay(CSGDatabaseInstance csgDatabaseInstance) throws Throwable {
917917
if (cadEngineConfiguration == null) {
918918
String[] args = new String[] { "https://github.com/CommonWealthRobotics/DHParametersCadDisplay.git",
919919
"dhcad.groovy" };
920920
Object cadForBodyEngine = scriptFromFileInfo(getDb(),"ConfigDisplay", args, () -> {
921921
cadEngineConfiguration = null;
922922
try {
923-
getConfigurationDisplay();
923+
getConfigurationDisplay(csgDatabaseInstance);
924924
} catch (Throwable e) {
925925
// Auto-generated catch block
926926
com.neuronrobotics.sdk.common.Log.error(e);
@@ -931,7 +931,7 @@ private ICadGenerator getConfigurationDisplay() throws Throwable {
931931
mobileBaseCadManager = cadmap.get(manager);
932932
if (mobileBaseCadManager.autoRegen)
933933
if (mobileBaseCadManager.isConfigMode())
934-
mobileBaseCadManager.generateCad();
934+
mobileBaseCadManager.generateCad(csgDatabaseInstance);
935935
}
936936
} catch (Exception e) {
937937
if (mobileBaseCadManager != null)
@@ -949,11 +949,11 @@ private CSGDatabaseInstance getDb() {
949949
return MobileBaseLoader.get(base).getDb();
950950
}
951951

952-
public ArrayList<CSG> generateBody() {
953-
return generateBody(getMobileBase(), true);
952+
public ArrayList<CSG> generateBody(CSGDatabaseInstance csgDatabaseInstance) {
953+
return generateBody(csgDatabaseInstance,getMobileBase(), true);
954954
}
955955

956-
public ArrayList<CSG> generateBody(MobileBase base, boolean clear) {
956+
public ArrayList<CSG> generateBody(CSGDatabaseInstance csgDatabaseInstance,MobileBase base, boolean clear) {
957957
if (!base.isAvailable())
958958
throw new RuntimeException("Device " + base.getScriptingName() + " is not connected, can not generate cad");
959959

@@ -981,15 +981,15 @@ public ArrayList<CSG> generateBody(MobileBase base, boolean clear) {
981981

982982
ArrayList<CSG> newcad = null;
983983
try {
984-
newcad = getIgenerateBody(device).generateBody(device);
984+
newcad = getIgenerateBody(csgDatabaseInstance,device).generateBody(device);
985985
} catch (Throwable t) {
986986
getUi().highlightException(null, t);
987987
}
988988
if (newcad == null) {
989989
newcad = new ArrayList<CSG>();
990990
}
991991
if (newcad.size() == 0) {
992-
newcad = getConfigurationDisplay().generateBody(device);
992+
newcad = getConfigurationDisplay(csgDatabaseInstance).generateBody(device);
993993
}
994994
if (device.isAvailable()) {
995995
for (CSG c : newcad) {
@@ -1050,7 +1050,7 @@ public ArrayList<CSG> generateBody(MobileBase base, boolean clear) {
10501050
arrayList.clear();
10511051
// System.gc();
10521052
}
1053-
ArrayList<CSG> linksCad = generateCad(l);
1053+
ArrayList<CSG> linksCad = generateCad(csgDatabaseInstance,l);
10541054

10551055
for (CSG csg : linksCad) {
10561056

@@ -1067,7 +1067,7 @@ public ArrayList<CSG> generateBody(MobileBase base, boolean clear) {
10671067

10681068
}
10691069
for (MobileBaseCadManager m : slaves) {
1070-
getAllCad().addAll(m.generateBody(m.base, false));
1070+
getAllCad().addAll(m.generateBody(csgDatabaseInstance,m.base, false));
10711071
}
10721072
showingStl = false;
10731073
// setProgress(1);
@@ -1289,7 +1289,7 @@ public MobileBase getMobileBase() {
12891289
return base;
12901290
}
12911291

1292-
public void setMobileBase(MobileBase b) {
1292+
public void setMobileBase(CSGDatabaseInstance csgDatabaseInstance,MobileBase b) {
12931293
for (MobileBase mb : cadmap.keySet()) {
12941294
if (mb == b)
12951295
throw new RuntimeException("Can not duplicat mobile base");
@@ -1310,7 +1310,7 @@ public void setMobileBase(MobileBase b) {
13101310
k.setRenderWrangler(this);
13111311
}
13121312
base.setConfigurationUpdate(() -> {
1313-
generateCad();
1313+
generateCad(csgDatabaseInstance);
13141314
});
13151315
run();
13161316
// new Exception("Adding the mysteryListener
@@ -1350,12 +1350,12 @@ public void onConnect(BowlerAbstractDevice arg0) {
13501350
* @param dh
13511351
* @return
13521352
*/
1353-
public ArrayList<CSG> generateCad(DHParameterKinematics dh) {
1353+
public ArrayList<CSG> generateCad(CSGDatabaseInstance csgDatabaseInstance,DHParameterKinematics dh) {
13541354
ArrayList<CSG> dhLinks = new ArrayList<>();
13551355

13561356
try {
1357-
IgenerateCad generatorToUse = getConfigurationDisplay();
1358-
Object object = getIgenerateCad(dh);
1357+
IgenerateCad generatorToUse = getConfigurationDisplay(csgDatabaseInstance);
1358+
Object object = getIgenerateCad(csgDatabaseInstance,dh);
13591359
if (object != null && !isConfigMode()) {
13601360
if (IgenerateCad.class.isInstance(object))
13611361
generatorToUse = (IgenerateCad) object;
@@ -1372,7 +1372,7 @@ public ArrayList<CSG> generateCad(DHParameterKinematics dh) {
13721372
if (!bail) {
13731373
ArrayList<CSG> newcad = null;
13741374
try {
1375-
newcad = generatorToUse.generateCad(dh, i);
1375+
newcad = generatorToUse.generateCad(csgDatabaseInstance,dh, i);
13761376
} catch (Throwable t) {
13771377
Log.error(t);
13781378
getUi().highlightException(null, t);
@@ -1381,7 +1381,7 @@ public ArrayList<CSG> generateCad(DHParameterKinematics dh) {
13811381
newcad = new ArrayList<CSG>();
13821382
}
13831383
if (newcad.size() == 0) {
1384-
newcad = getConfigurationDisplay().generateCad(dh, i);
1384+
newcad = getConfigurationDisplay(csgDatabaseInstance).generateCad(csgDatabaseInstance,dh, i);
13851385
}
13861386
getUi().addCSG(newcad, getCadScriptFromLimnb(dh));
13871387
LinkConfiguration configuration = dh.getLinkConfiguration(i);
@@ -1414,7 +1414,7 @@ public void onLinkLimit(AbstractLink arg0, PIDLimitEvent arg1) {
14141414
});
14151415
DHLink dhl = dh.getDhLink(i);
14161416
if (dhl.getSlaveMobileBase() != null) {
1417-
ArrayList<CSG> slParts = generateBody(dhl.getSlaveMobileBase(), false);
1417+
ArrayList<CSG> slParts = generateBody(csgDatabaseInstance,dhl.getSlaveMobileBase(), false);
14181418
dhLinks.addAll(slParts);
14191419
}
14201420
// ArrayList<CSG> generateBody(MobileBase base)
@@ -1462,11 +1462,11 @@ public void selectCsgByLink(MobileBase base, LinkConfiguration limb) {
14621462
}
14631463
}
14641464

1465-
public void generateCad() {
1466-
generateCadWithEnd((Runnable) null);
1465+
public void generateCad(CSGDatabaseInstance csgDatabaseInstance) {
1466+
generateCadWithEnd(csgDatabaseInstance,(Runnable) null);
14671467
}
14681468

1469-
public void generateCadWithEnd(Runnable done) {
1469+
public void generateCadWithEnd(CSGDatabaseInstance csgDatabaseInstance,Runnable done) {
14701470
if (cadGenerating || !getAutoRegen())
14711471
return;
14721472
cadGenerating = true;
@@ -1489,7 +1489,7 @@ public void run() {
14891489
MobileBaseCadManager.get(base).clear();
14901490

14911491
try {
1492-
setAllCad(generateBody(device, true));
1492+
setAllCad(generateBody(csgDatabaseInstance,device, true));
14931493
} catch (Exception e) {
14941494

14951495
getUi().highlightException(getCadScriptFromMobileBase(device), e);
@@ -1562,11 +1562,11 @@ public void setAllCad(ArrayList<CSG> allCad) {
15621562
this.allCad = allCad;
15631563
}
15641564

1565-
public static MobileBaseCadManager get(MobileBase device, IMobileBaseUI ui) {
1565+
public static MobileBaseCadManager get(CSGDatabaseInstance csgDatabaseInstance,MobileBase device, IMobileBaseUI ui) {
15661566
if (cadmap.get(device) == null) {
15671567
// new RuntimeException("No Mobile Base Cad Manager UI
15681568
// specified").printStackTrace();
1569-
MobileBaseCadManager mbcm = new MobileBaseCadManager(device, ui);
1569+
MobileBaseCadManager mbcm = new MobileBaseCadManager(csgDatabaseInstance,device, ui);
15701570

15711571
}
15721572
MobileBaseCadManager mobileBaseCadManager = cadmap.get(device);
@@ -1577,7 +1577,7 @@ public static MobileBaseCadManager get(MobileBase device, IMobileBaseUI ui) {
15771577
return mobileBaseCadManager;
15781578
}
15791579

1580-
public static MobileBaseCadManager get(MobileBase device) {
1580+
public static MobileBaseCadManager get(CSGDatabaseInstance csgDatabaseInstance,MobileBase device) {
15811581
if (cadmap.get(device) == null) {
15821582
for (MobileBase mb : cadmap.keySet()) {
15831583
for (DHParameterKinematics kin : mb.getAllDHChains()) {
@@ -1606,7 +1606,7 @@ public void onConnect(BowlerAbstractDevice source) {
16061606
}
16071607
});
16081608

1609-
return get(device, ui2);
1609+
return get(csgDatabaseInstance,device, ui2);
16101610
}
16111611
return cadmap.get(device);
16121612
}

0 commit comments

Comments
 (0)