RobotPanel.py

# -*- coding: utf-8 -*-

# ***************************************************************************
# *                                                                         *
# *   Animate workbench - FreeCAD Workbench for lightweight animation       *
# *   Copyright (c) 2019 Jiří Valášek jirka362@gmail.com                    *
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# *   This file is part of the Animate workbench.                           *
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# *   This program is free software; you can redistribute it and/or modify  *
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# *   GNU Lesser General Public License for more details.                   *
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# *   MA  02111-1307 USA                                                    *
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import FreeCAD
import FreeCADGui

from PySide2.QtWidgets import QDialogButtonBox
from PySide2.QtCore import QObject




class RobotPanel(QObject):

    

    

    

    def __init__(self, robot_joints, forms):
        super(RobotPanel, self).__init__()
        self.robot_joints = robot_joints

        # Disable editing of RobRotation properties, leave some properties
        # hidden and store previous joint variable values
        self.previous_joint_values = []
        for joint in robot_joints:
            if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                self.previous_joint_values.append(joint.theta)
                joint.setEditorMode("ValidRotation", 2)
            elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                self.previous_joint_values.append(joint.d)
                joint.setEditorMode("ValidTranslation", 2)

            for prop in joint.PropertiesList:
                joint.setEditorMode(prop, 1)
            joint.setEditorMode("Placement", 2)
            joint.setEditorMode("RobotPanelActive", 2)
            joint.RobotPanelActive = True

        # Add QDialogs to be displayed in freeCAD
        self.form = forms

        # Add callbacks to sliders on all forms and move sliders to a position
        # corresponding with time values
        for i in range(len(forms)):
            rj = robot_joints[i]
            forms[i].sld_value.valueChanged.connect(
                lambda value, form=forms[i], joint=rj:
                self.sliderChanged(value, form, joint))
            if rj.Proxy.__class__.__name__ == "RobRotationProxy":
                val = (100 * (rj.theta - rj.thetaOffset - rj.thetaMinimum)) / \
                      (rj.thetaMaximum - rj.thetaMinimum)
                val = min([100, max([val, 0])])
            elif rj.Proxy.__class__.__name__ == "RobTranslationProxy":
                val = (100 * (rj.d - rj.dOffset - rj.dMinimum)) / \
                      (rj.dMaximum - rj.dMinimum)
                val = min([100, max([val, 0])])

            forms[i].sld_value.setValue(val)

    

    def sliderChanged(self, value, form, joint):
        # Compute a time from the slider position and joint variable range
        if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                val = value * (joint.thetaMaximum - joint.thetaMinimum) / 100 \
                      + joint.thetaMinimum + joint.thetaOffset
                joint.theta = val
        elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                val = value * (joint.dMaximum - joint.dMinimum) / 100 \
                      + joint.dMinimum + joint.dOffset
                joint.d = val

        form.lbl_value.setText("Value: " + ("%5.3f" % val))

        # Recompute the document to show changes
        FreeCAD.ActiveDocument.recompute()
        FreeCADGui.updateGui()

    

    def reject(self):
        # Return RobRotation times to previous values
        for i in range(len(self.robot_joints)):
            if self.robot_joints[i].Proxy.__class__.__name__ \
                    == "RobRotationProxy":
                self.robot_joints[i].theta = self.previous_joint_values[i]
            elif self.robot_joints[i].Proxy.__class__.__name__ \
                    == "RobTranslationProxy":
                self.robot_joints[i].d = self.previous_joint_values[i]

        # Close the panel and recompute the document to show changes
        # Allow editing of properties again
        for joint in self.robot_joints:
            for prop in joint.PropertiesList:
                joint.setEditorMode(prop, 0)
            joint.ViewObject.Proxy.panel = None

            # Keep some properties in read-only or hidden state
            # if they were in it before
            joint.setEditorMode("ObjectPlacement", 1)
            joint.setEditorMode("ParentFramePlacement", 1)
            if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                joint.setEditorMode("theta", 1)
                joint.setEditorMode("ValidRotation", 2)
            elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                joint.setEditorMode("d", 1)
                joint.setEditorMode("ValidTranslation", 2)
            joint.setEditorMode("Placement", 2)
            joint.setEditorMode("RobotPanelActive", 2)
            joint.RobotPanelActive = False

        FreeCADGui.Control.closeDialog()
        FreeCAD.ActiveDocument.recompute()
        FreeCADGui.updateGui()

    

    def getStandardButtons(self, *args):
        return QDialogButtonBox.Close

    

    def isAllowedAlterSelection(self):
        return False

    

    def isAllowedAlterView(self):
        return True

    

    def isAllowedAlterDocument(self):
        return True