project_model.c

基于UG的自动装配技术

#include <uf_part.h>
#include <uf_assem.h>
#include <stdlib.h>
#include <uf_ui.h>
#include <stdio.h>
#include <math.h>
#include <uf_view.h>
#include "Project_Model.h"
#include "Project_Matrix.h"
#include "Project_VA_Move_dialog.h"

void Project_VA_Model_Movement_Free(VA_movement *move)
{

	if(move==NULL)
		return;
	Project_VA_Model_Movement_Free(move->next);
	free(move);
}


void Project_VA_Model_Moves_Free(VA_movements *moves)
{
	if(moves==NULL)
		return;
	Project_VA_Model_Movement_Free(moves->head);
}


void Project_VA_Model_Component_Free(VA_component *comp)
{
	if(comp->children!=NULL)
		Project_VA_Model_Component_Free(comp->children);

	if(comp->next!=NULL)
		Project_VA_Model_Component_Free(comp->next);

	free(comp);
}

void Project_VA_Model_Free(VA_assembly *asm)
{
	if(asm==NULL)
		return;
	if(asm->head_comp!=NULL)
		Project_VA_Model_Component_Free(asm->head_comp);
	if(asm->moves!=NULL)
		Project_VA_Model_Moves_Free(asm->moves);
	free(asm);
	asm=NULL;
	return;
}

int Project_VA_Component_Resume(VA_component *p_comp)
{
	int               n_instances, failures[1] ;
	tag_t             instances[1] ;
	logical           log=FALSE;
	int               err;

	n_instances=1;
    instances[0]=p_comp->instance_tag;
	UF_ASSEM_ask_suppress_state(p_comp->instance_tag,&log);
	if(log==TRUE)
	{
		UF_ASSEM_unsuppress_instances(n_instances, instances, failures );
        err=failures[0];
		return err;
	}
	return UG_NO_ERROR;
}


int Project_VA_Model_Refresh(VA_assembly *asm,int root_tag)
{

	VACompLoadLocationData appdata;
	VA_component* comp=NULL;
	double origin[3];double csys_matrix[9];
	extern VA_assembly *p_gbl_asm;
	


	if (p_gbl_asm!=NULL)  Project_VA_Model_Free(p_gbl_asm);

	p_gbl_asm=(VA_assembly*)malloc(sizeof(VA_assembly));

	p_gbl_asm->moves=(VA_movements *)malloc(sizeof(VA_movements));
	p_gbl_asm->moves->head=NULL;
	p_gbl_asm->moves->tail=NULL;
	p_gbl_asm->moves->move_num=0;


	
	strcpy(p_gbl_asm->file_name,"");
    comp=(VA_component *)malloc(sizeof(VA_component));
	p_gbl_asm->head_comp=comp;
	comp->occurence_tag=root_tag;
	comp->instance_tag=UF_ASSEM_ask_prototype_of_occ (root_tag);
	UF_PART_ask_units(comp->instance_tag,&comp->unit);

	UF_ASSEM_ask_component_data(root_tag,comp->part_name,comp->refset_name,
				comp->instance_name,origin,csys_matrix,comp->ini_pos);

	/////////////////////////////////////////////////////////////////////////
	if(strcmp(comp->instance_name,"")==0)
		strcpy(comp->instance_name,"BaseAssembly");

	comp->children=NULL;
	comp->next=NULL;
	comp->parent=NULL;
	comp->type=1;

	appdata.parent=comp;
	appdata.prev=NULL;

	Project_VA_Model_Load_From_UG(root_tag,&appdata);
	
	return UG_NO_ERROR;
	
}
void Project_VA_Model_Load_From_UG(int parent_tag,VACompLoadLocationData* appdata)
{
	
	VACompLoadLocationData *pdata;
	VACompLoadLocationData data;
	VA_component* comp=NULL;
	tag_t *child_part_occs,*cpo_for_type;
	double origin[3],csys_matrix[9]; 
	int partNum,partnum_for_type,i;
	char message[100];

	UF_initialize();

	pdata=(VACompLoadLocationData*)appdata;
	partNum=UF_ASSEM_ask_part_occ_children(parent_tag,&child_part_occs);
	for(i=0;i<partNum;i++)
	{	
		comp=(VA_component*)malloc(sizeof(VA_component));
		comp->occurence_tag=child_part_occs[i];
		comp->instance_tag=UF_ASSEM_ask_inst_of_part_occ(comp->occurence_tag);
		UF_ASSEM_ask_component_data(comp->instance_tag,comp->part_name,comp->refset_name,
				comp->instance_name,origin,csys_matrix,comp->ini_pos);
		/////////////////////////////////////////////////////////////////////////
		if(strcmp(comp->instance_name,"")==0)
		{
			strcpy(comp->instance_name,"None");
			uc1601("有instance_name为空的实例",1);
			sprintf(message,"%d",comp->instance_tag);
			uc1601(message,1);
		}

		UF_ASSEM_ask_transform_of_occ(comp->occurence_tag,comp->ini_pos);
		UF_PART_ask_units(comp->instance_tag,&comp->unit);

		comp->parent=pdata->parent;
		comp->children=NULL;
	    comp->next=NULL;

		if(pdata->prev==NULL)
			pdata->parent->children=comp;
		else
		   pdata->prev->next=comp;

		partnum_for_type=UF_ASSEM_ask_part_occ_children(comp->occurence_tag,&cpo_for_type);		
        if(partnum_for_type==0)
			comp->type=0;
		else if(partnum_for_type>0)
			comp->type=1;
		pdata->prev=comp;
		
		if(comp->type==1)
		{
			data.parent=comp;
			data.prev=NULL;
            Project_VA_Model_Load_From_UG(comp->occurence_tag,&data);
		}
	}
	UF_free(child_part_occs);
	UF_free(cpo_for_type);
}

static int init_proc(UF_UI_selection_p_t select,void* user_data)
{
    int num_triples = 1;
    UF_UI_mask_t mask_triples[] = {UF_component_type,UF_part_occurrence_subtype, 0};
	int      err;
  
    err=UF_UI_set_sel_mask(select,UF_UI_SEL_MASK_CLEAR_AND_ENABLE_SPECIFIC,
            num_triples, mask_triples);
	if(err==0)
		return (UF_UI_SEL_SUCCESS);
	return (UF_UI_SEL_FAILURE);
	
}

int Project_VA_Model_Append_Move(VA_movement *p_move)
{
	extern    VA_assembly *p_gbl_asm;
	VA_component          *p_comp;
	char                  prompt[200];
	tag_t                 comp_tag,view,supress_instances[1];
	int                   response,mode=UF_UI_NEGATIVE_ZC_AXIS;
	double                cursor[3],direction[3],dir_ori[3];
	double                v=0.0,step_length;
	int					  action,i,failures[1];
	double                trans_pos[4][4],pos[4][4],ini_pos[4][4];
	double				  new_origin[3],new_csys_matrix[6];

	do
	{
		UF_UI_select_with_single_dialog("选择装配组件","选择组件",UF_UI_SEL_SCOPE_ANY_IN_ASSEMBLY,
			init_proc,NULL,&response,&comp_tag,cursor,&view);

		if(response==UF_UI_CANCEL)
			return UG_ERROR;
		if(p_gbl_asm->head_comp->occurence_tag==comp_tag)
		{
			UF_DISP_set_highlight(comp_tag,1);
			p_move->comp=p_gbl_asm->head_comp;
			strcpy(prompt,"您选择的组件是\t");
			strcat(prompt,p_move->comp->instance_name);	
			UF_UI_set_status(prompt);
			break;
		}
		p_comp=p_gbl_asm->head_comp->children;
		while(p_comp!=NULL)
		{
			if(p_comp->occurence_tag==comp_tag)
			{
				strcpy(prompt,"您选择的组件是\t");
				strcat(prompt,p_comp->instance_name);
				UF_UI_set_status(prompt);
				p_move->comp=p_comp;
				break;
			}
			p_comp=p_comp->next;
		}
		if(response==UF_UI_OK)
			break;	
	}while(1);
	response=-1;
	UF_UI_specify_vector("选择移动方向",&mode,UF_UI_DISP_TEMP_VECTOR,direction,dir_ori,&response);
	if(response!=UF_UI_OK)
		return UG_ERROR;
	step_length=5.0;

	do
	{
		response=-1;
		LaunchMovePlanningDialog(&response ,&action);
		if(response==UF_UI_OK)
			action=response;
		if(action==MOVE_PLUS)
			v=v+step_length;
		else if(action==MOVE_MINUS)
			v=v-step_length;
		else if(action==ADJUST_SEPT_SIZE)
		{
			char  cp[1][16];
			int   ip5,back;
			double s_l[1];
			strcpy(cp[0],"请输入移动步长");
			s_l[0]=5.0;
			back=uc1609("请输入移动步长",cp,1,s_l,&ip5);
			if(back==4)
				step_length=s_l[0];
			continue;
		}
		else if(action==UF_UI_OK)
		{
			if(fabs(v)<1e-6)
				return UG_ERROR;
			supress_instances[0]=p_move->comp->instance_tag;
			UF_ASSEM_suppress_instances(1,supress_instances,failures);
			break;
		}
		for(i=0;i<3;i++)
		{
			p_move->translation[i]=direction[i]*v;
			p_move->point[i]=0.0;
			p_move->rotation[i]=0.0;
		}
		p_move->rotation[0]=1.0;
		p_move->angle=0.0;
		Project_Matrix_Get_From_Move(p_move->translation,p_move->point,
			p_move->rotation,p_move->angle,trans_pos);
		Project_MatrixGet_Transpose(p_move->comp->ini_pos,ini_pos);
		Project_Matrix_Product(ini_pos,trans_pos,pos);
		for(i=0;i<3;i++)
		{
			new_origin[i]=pos[3][i];
			new_csys_matrix[i]=pos[0][i];
		}
		for(i=0;i<3;i++)
			new_csys_matrix[i+3]=pos[1][i];
		UF_ASSEM_suppress_mc(p_move->comp->occurence_tag,TRUE);
		UF_ASSEM_reposition_instance(p_move->comp->instance_tag,new_origin,new_csys_matrix);
		
	}while(1);
	return UG_NO_ERROR;

}

void Project_VA_Display_Move(VA_movement *p_move)
{
	double			   new_origin[3],new_csys_matrix[6];
	double             move_trans[4][4],ini_pos[4][4],pos[4][4];
	double             ini_point[3],trans_point[3];
	UF_OBJ_disp_props_t prop;
	UF_DISP_view_type_t view_type=UF_DISP_USE_WORK_VIEW;
	int					i;
	tag_t               work_view;

	for(i=0;i<3;i++)
	{
		new_origin[i]=p_move->comp->ini_pos[i][3];
		new_csys_matrix[i]=p_move->comp->ini_pos[i][0];
	}
	for(i=0;i<3;i++)
		new_csys_matrix[i+3]=p_move->comp->ini_pos[i][1];

	UF_ASSEM_suppress_mc(p_move->comp->occurence_tag,TRUE);
	UF_ASSEM_reposition_instance(p_move->comp->instance_tag,new_origin,new_csys_matrix);
	Project_Matrix_Get_From_Move(p_move->translation,p_move->point,
		p_move->rotation,p_move->angle,move_trans);
	Project_MatrixGet_Transpose(p_move->comp->ini_pos,ini_pos);
	Project_Matrix_Product(ini_pos,move_trans,pos);
	//pos放置的是变换之后的矩阵,UG矩阵的转置矩阵。ini_pos是组件的初始UG位姿矩阵
	for(i=0;i<3;i++)
	{
		ini_point[i]=p_move->comp->ini_pos[i][3];
		trans_point[i]=pos[3][i];
	}
	UF_VIEW_ask_work_view(&work_view);
	UF_DISP_refresh();
	prop.layer=1;
	prop.color=UF_OBJ_YELLOW;
	prop.blank_status=UF_OBJ_NOT_BLANKED;
	prop.line_width=UF_OBJ_WIDTH_THICK;
	prop.highlight_status=TRUE;
	prop.font=0;
	UF_DISP_display_temporary_line(work_view,view_type,ini_point,trans_point,&prop);
}

void Project_VA_Animation_Move(VA_movement *p_move)
{
	int i,j;
	double trans[3];
	double anim_step[4][4];
	double anim_pos[4][4],key_pos[4][4];
	double new_origin[3],new_csys_matrix[6];

	UF_DISP_refresh();
	Project_MatrixGet_Transpose(p_move->comp->ini_pos,anim_pos);
	Project_Matrix_Copy(anim_pos,key_pos);

	for(i=1;i<=30;i++)
	{
		Project_Vector_Scale(p_move->translation,1.0/20.0*i,trans);
		Project_Matrix_Get_From_Move(trans,p_move->point,p_move->rotation,
			p_move->angle,anim_step);
		Project_Matrix_Product(key_pos,anim_step,anim_pos);
		for(j=0;j<3;j++)
		{
			new_origin[j]=anim_pos[3][j];
			new_csys_matrix[j]=anim_pos[0][j];
		}
		for(j=0;j<3;j++)
			new_csys_matrix[j+3]=anim_pos[1][j];
		UF_ASSEM_suppress_mc(p_move->comp->occurence_tag,TRUE);
		UF_ASSEM_reposition_instance(p_move->comp->instance_tag,new_origin,new_csys_matrix);        
	}
}