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lin-ycvlin-ycv
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DefJoints, RenderColor
Define joints now converts KUKA angles to robots New compiled render color that doesn't use aditional plugins for baking Downgraded SDK target for maximum compatibility
1 parent 8125475 commit 2162143

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8 files changed

+341
-104
lines changed

8 files changed

+341
-104
lines changed

‎Properties/AssemblyInfo.cs‎

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
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#endif
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[assembly: AssemblyCompany("Yu Chieh (Victor) Lin")]
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[assembly: AssemblyProduct("RobotsExtended")]
17-
[assembly: AssemblyCopyright("Copyright © 2023")]
17+
[assembly: AssemblyCopyright("Copyright © 2024")]
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[assembly: AssemblyTrademark("")]
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[assembly: AssemblyCulture("")]
2020

@@ -36,7 +36,5 @@
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// You can specify all the values or you can default the Build and Revision Numbers
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// by using the '*' as shown below:
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// [assembly: AssemblyVersion("1.0.*")]
39-
[assembly: AssemblyVersion("1.6.5")]
40-
#pragma warning disable CS7035 // The specified version string does not conform to the recommended format - major.minor.build.revision
41-
[assembly: AssemblyFileVersion("1.6.5")]
42-
#pragma warning restore CS7035 // The specified version string does not conform to the recommended format - major.minor.build.revision
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[assembly: AssemblyVersion("1.6.7")]
40+
[assembly: AssemblyFileVersion("1.6.7.0")]

‎RobotsExtended.csproj‎

Lines changed: 20 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,7 @@
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<RootNamespace>RobotsExtended</RootNamespace>
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<AssemblyName>RobotsExtended</AssemblyName>
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<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
14+
<LangVersion>9.0</LangVersion>
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<FileAlignment>512</FileAlignment>
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<IsWebBootstrapper>false</IsWebBootstrapper>
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<TargetFrameworkProfile />
@@ -48,6 +49,7 @@
4849
<Compile Include="RobotsExtendedInfo.cs" />
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<Compile Include="Properties\AssemblyInfo.cs" />
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<Compile Include="src\Kuka\MxAutomation.cs" />
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<Compile Include="src\Util\Obsolete_RenderColour.cs" />
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<Compile Include="src\Util\RenderColour.cs" />
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<Compile Include="src\Util\RotateEuler.cs" />
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<Compile Include="src\Util\UpdateFrame.cs" />
@@ -89,33 +91,33 @@
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<None Include="Resources\DeTool.png" />
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</ItemGroup>
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<ItemGroup>
92-
<Reference Include="Eto, Version=2.6.0.0, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
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<HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\Eto.dll</HintPath>
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<Reference Include="Eto, Version=2.5.0.0, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
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<HintPath>packages\RhinoCommon.7.0.20314.3001\lib\net45\Eto.dll</HintPath>
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<Private>False</Private>
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</Reference>
96-
<Reference Include="GH_IO, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=6a29997d2e6b4f97, processorArchitecture=MSIL">
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<HintPath>packages\Grasshopper.7.14.22010.17001\lib\net48\GH_IO.dll</HintPath>
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<Reference Include="GH_IO, Version=7.0.20314.3000, Culture=neutral, PublicKeyToken=6a29997d2e6b4f97, processorArchitecture=MSIL">
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<HintPath>packages\Grasshopper.7.0.20314.3001\lib\net45\GH_IO.dll</HintPath>
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<Private>False</Private>
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</Reference>
100-
<Reference Include="Grasshopper, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=dda4f5ec2cd80803, processorArchitecture=MSIL">
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<HintPath>packages\Grasshopper.7.14.22010.17001\lib\net48\Grasshopper.dll</HintPath>
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<Reference Include="Grasshopper, Version=7.0.20314.3000, Culture=neutral, PublicKeyToken=dda4f5ec2cd80803, processorArchitecture=MSIL">
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<HintPath>packages\Grasshopper.7.0.20314.3001\lib\net45\Grasshopper.dll</HintPath>
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<Private>False</Private>
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</Reference>
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<Reference Include="Microsoft.CSharp" />
105-
<Reference Include="Rhino.UI, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
106-
<HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\Rhino.UI.dll</HintPath>
107+
<Reference Include="Rhino.UI, Version=7.0.20314.3000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
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<HintPath>packages\RhinoCommon.7.0.20314.3001\lib\net45\Rhino.UI.dll</HintPath>
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<Private>False</Private>
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</Reference>
109-
<Reference Include="RhinoCommon, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
110-
<HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\RhinoCommon.dll</HintPath>
111+
<Reference Include="RhinoCommon, Version=7.0.20314.3000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
112+
<HintPath>packages\RhinoCommon.7.0.20314.3001\lib\net45\RhinoCommon.dll</HintPath>
111113
<Private>False</Private>
112114
</Reference>
113-
<Reference Include="Robots, Version=1.6.5.0, Culture=neutral, processorArchitecture=MSIL">
114-
<HintPath>packages\Robots.Rhino.1.6.5\lib\net48\Robots.dll</HintPath>
115+
<Reference Include="Robots, Version=1.6.7.0, Culture=neutral, processorArchitecture=MSIL">
116+
<HintPath>packages\Robots.Rhino.1.6.7\lib\net48\Robots.dll</HintPath>
115117
<Private>False</Private>
116118
</Reference>
117-
<Reference Include="Robots.Grasshopper, Version=1.6.5.0, Culture=neutral, processorArchitecture=MSIL">
118-
<HintPath>packages\Robots.Rhino.1.6.5\lib\net48\Robots.Grasshopper.dll</HintPath>
119+
<Reference Include="Robots.Grasshopper, Version=1.6.7.0, Culture=neutral, processorArchitecture=MSIL">
120+
<HintPath>packages\Robots.Rhino.1.6.7\lib\net48\Robots.Grasshopper.dll</HintPath>
119121
<Private>False</Private>
120122
</Reference>
121123
<Reference Include="System" />
@@ -152,13 +154,13 @@ if $(ConfigurationName) == Release (
152154
<StartAction>Program</StartAction>
153155
<PlatformTarget>x64</PlatformTarget>
154156
</PropertyGroup>
155-
<Import Project="packages\RhinoCommon.7.14.22010.17001\build\RhinoCommon.targets" Condition="Exists('packages\RhinoCommon.7.14.22010.17001\build\RhinoCommon.targets')" />
157+
<Import Project="packages\RhinoCommon.7.0.20314.3001\build\RhinoCommon.targets" Condition="Exists('packages\RhinoCommon.7.0.20314.3001\build\RhinoCommon.targets')" />
156158
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
157159
<PropertyGroup>
158160
<ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
159161
</PropertyGroup>
160-
<Error Condition="!Exists('packages\RhinoCommon.7.14.22010.17001\build\RhinoCommon.targets')" Text="$([System.String]::Format('$(ErrorText)', 'packages\RhinoCommon.7.14.22010.17001\build\RhinoCommon.targets'))" />
161-
<Error Condition="!Exists('packages\Grasshopper.7.14.22010.17001\build\Grasshopper.targets')" Text="$([System.String]::Format('$(ErrorText)', 'packages\Grasshopper.7.14.22010.17001\build\Grasshopper.targets'))" />
162+
<Error Condition="!Exists('packages\RhinoCommon.7.0.20314.3001\build\RhinoCommon.targets')" Text="$([System.String]::Format('$(ErrorText)', 'packages\RhinoCommon.7.0.20314.3001\build\RhinoCommon.targets'))" />
163+
<Error Condition="!Exists('packages\Grasshopper.7.0.20314.3001\build\Grasshopper.targets')" Text="$([System.String]::Format('$(ErrorText)', 'packages\Grasshopper.7.0.20314.3001\build\Grasshopper.targets'))" />
162164
</Target>
163-
<Import Project="packages\Grasshopper.7.14.22010.17001\build\Grasshopper.targets" Condition="Exists('packages\Grasshopper.7.14.22010.17001\build\Grasshopper.targets')" />
165+
<Import Project="packages\Grasshopper.7.0.20314.3001\build\Grasshopper.targets" Condition="Exists('packages\Grasshopper.7.0.20314.3001\build\Grasshopper.targets')" />
164166
</Project>

‎RobotsExtended.csproj.user‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
33
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|AnyCPU'">
4-
<StartProgram>C:\Program Files\Rhino 7\System\Rhino.exe</StartProgram>
5-
<StartArguments>/nosplash /notemplate /runscript="_-Grasshopper Banner Disable Window Load Window Show _Enter"</StartArguments>
4+
<StartProgram>C:\Program Files\Rhino 8\System\Rhino.exe</StartProgram>
5+
<StartArguments>/netfx /nosplash /notemplate /runscript="_-Grasshopper Banner Disable Window Load Window Show _Enter"</StartArguments>
66
</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|AnyCPU'">
88
<StartAction>Program</StartAction>

‎packages.config‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<?xml version="1.0" encoding="utf-8"?>
22
<packages>
3-
<package id="Grasshopper" version="7.14.22010.17001" targetFramework="net48" />
4-
<package id="RhinoCommon" version="7.14.22010.17001" targetFramework="net48" />
5-
<package id="Robots.Rhino" version="1.6.5" targetFramework="net48" />
3+
<package id="Grasshopper" version="7.0.20314.3001" targetFramework="net48" />
4+
<package id="RhinoCommon" version="7.0.20314.3001" targetFramework="net48" />
5+
<package id="Robots.Rhino" version="1.6.7" targetFramework="net48" />
66
</packages>

‎src/Kuka/MxAutomation.cs‎

Lines changed: 18 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -8,26 +8,26 @@
88

99
namespace RobotsExtended.Kuka
1010
{
11-
public class MxAutomation : GH_Component
12-
{
13-
public MxAutomation() : base("mxAutomation","KUKA.mxA","KUKA mxAutomation. [Requires mxA package]", "Robots", "Components") { }
14-
public override GH_Exposure Exposure => GH_Exposure.senary; //| GH_Exposure.obscure;
15-
protected override Bitmap Icon => Properties.Resources.KukaVarProxyConnect;
16-
public override Guid ComponentGuid => new Guid("{30263A03-866C-4BBF-A90A-5C3F0DC62926}");
11+
//public class MxAutomation : GH_Component
12+
//{
13+
// public MxAutomation() : base("mxAutomation","KUKA.mxA","KUKA mxAutomation. [Requires mxA package]", "Robots", "Components") { }
14+
// public override GH_Exposure Exposure => GH_Exposure.senary; //| GH_Exposure.obscure;
15+
// protected override Bitmap Icon => Properties.Resources.KukaVarProxyConnect;
16+
// public override Guid ComponentGuid => new Guid("{30263A03-866C-4BBF-A90A-5C3F0DC62926}");
1717

18-
protected override void RegisterInputParams(GH_InputParamManager pManager)
19-
{
20-
pManager.AddTextParameter("", "IP", "IP Address of the controller to communicate with", GH_ParamAccess.item);
18+
// protected override void RegisterInputParams(GH_InputParamManager pManager)
19+
// {
20+
// pManager.AddTextParameter("", "IP", "IP Address of the controller to communicate with", GH_ParamAccess.item);
2121

22-
}
22+
// }
2323

24-
protected override void RegisterOutputParams(GH_OutputParamManager pManager)
25-
{
26-
}
24+
// protected override void RegisterOutputParams(GH_OutputParamManager pManager)
25+
// {
26+
// }
2727

28-
protected override void SolveInstance(IGH_DataAccess DA)
29-
{
30-
// TO BE IMPLEMENTED
31-
}
32-
}
28+
// protected override void SolveInstance(IGH_DataAccess DA)
29+
// {
30+
// // TO BE IMPLEMENTED
31+
// }
32+
//}
3333
}

‎src/Util/DefineJoints.cs‎

Lines changed: 21 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -9,6 +9,8 @@
99
using System.Text;
1010
using System.Threading.Tasks;
1111
using System.Windows.Forms;
12+
using Grasshopper.Kernel.Geometry;
13+
using Robots;
1214

1315
namespace RobotsExtended.Util
1416
{
@@ -19,7 +21,7 @@ public DefJoints()
1921
"Define joint angle of each axis of the robot in degrees and outputs it as string of radians",
2022
"Robots", "Utility")
2123
{ }
22-
public override Guid ComponentGuid => new Guid("cd62f0e9-b8bc-49d9-b423-5e181b71f22f");
24+
public override Guid ComponentGuid => new("cd62f0e9-b8bc-49d9-b423-5e181b71f22f");
2325
protected override System.Drawing.Bitmap Icon => Properties.Resources.Define_Joints;
2426
protected override void RegisterInputParams(GH_InputParamManager pManager)
2527
{
@@ -45,7 +47,7 @@ public override void AddedToDocument(GH_Document doc)
4547
{
4648
if (p.SourceCount == 0)
4749
{
48-
GH_NumberSlider slider = new GH_NumberSlider();
50+
GH_NumberSlider slider = new();
4951
slider.CreateAttributes();
5052

5153
slider.Attributes.Pivot = new System.Drawing.PointF(
@@ -54,7 +56,7 @@ public override void AddedToDocument(GH_Document doc)
5456
slider.Slider.Maximum = limits[1, i];
5557
slider.Slider.Minimum = limits[0, i];
5658
slider.Slider.DecimalPlaces = 0;
57-
slider.SetSliderValue(0);
59+
slider.SetSliderValue(limits[2, i]);
5860
OnPingDocument().AddObject(slider, false);
5961
p.AddSource(slider);
6062
p.CollectData();
@@ -71,14 +73,23 @@ protected override void SolveInstance(IGH_DataAccess DA)
7173
double deg;
7274
try { deg = Convert.ToDouble(theta[i]); }
7375
catch { AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Input not a number."); return; }
74-
theta[i] = (deg % 45 == 0 && deg != 0) ? (deg == 180 ? "Pi" : (deg / 180 + " * Pi")) : RhinoMath.ToRadians(deg).ToString();
76+
77+
double rad = deg * (Math.PI / 180.0);
78+
if (!external && i == 2) rad -= 0.5 * Math.PI;
79+
rad = -rad;
80+
theta[i] = rad % Math.PI == 0 && rad != 0
81+
? rad / Math.PI + "*Pi"
82+
: (rad % Math.PI == 0.5 * Math.PI
83+
? rad / Math.PI + "*Pi"
84+
: rad.ToString());
85+
7586
}
76-
StringBuilder str = new StringBuilder(theta[0].ToString() + ", " + theta[1].ToString());
87+
StringBuilder str = new($"{theta[0]},{theta[1]}");
7788
if (!external)
7889
{
7990
for (int i = 2; i < 6; i++)
8091
{
81-
str.Append(", " + theta[i]);
92+
str.Append("," + theta[i]);
8293
}
8394
}
8495
DA.SetData(0, str);
@@ -141,10 +152,11 @@ void IGH_VariableParameterComponent.VariableParameterMaintenance() { }
141152
new Param_String { Name = "Axis 5", NickName = "A5", Description = "Degree of rotation for Axis 5", Optional = false },
142153
new Param_String { Name = "Axis 6", NickName = "A6", Description = "Degree of rotation for Axis 6", Optional = false }
143154
};
144-
readonly int[,] limits = new int[2, 6]
155+
readonly int[,] limits = new int[3, 6]
145156
{
146-
{-185,-35,-68,-185,-119,-350},
147-
{ 185, 135, 210, 185, 119, 350},
157+
{-185,-190,-120,-350,-119,-350},
158+
{ 185, 45, 158, 350, 119, 350},
159+
{ 0, -120, 140, 0, -20, 0},
148160
};
149161
}
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‎src/Util/Obsolete_RenderColour.cs‎

Lines changed: 75 additions & 0 deletions
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‎src/Util/RenderColour.cs‎

Lines changed: 199 additions & 49 deletions
Large diffs are not rendered by default.

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