Started on adding tasks

ARTasks.py

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+import FreeCAD
+import ARTools
+import ARFrames
+if FreeCAD.GuiUp:
+    import os
+    import FreeCADGui
+    from PySide import QtCore, QtGui, QtSvg
+__title__ = "ARTasks"
+__author__ = "Mathias Hauan Arbo"
+__workbenchname__ = "ARBench"
+__version__ = "0.1"
+__url__ = "https://github.com/mahaarbo/ARBench"
+__doc__ = """"""
+
+# Ideally tasks inherit from base task, and are constructed based on what is
+# available in the expert system
+
+
+###################################################################
+## Module objects
+###################################################################
+class BaseTask(object):
+    """
+    Base task object that new tasks inherit from.
+    """
+    def __init__(self, obj):
+        obj.Proxy = self
+
+    def onChanged(self, fp, prop):
+        pass
+
+    def execute(self, obj):
+        pass
+
+    def __getstate__(self):
+        return None
+
+    def __setstate__(self):
+        return None
+
+
+class InsertTask(BaseTask):
+    def __init__(self, obj, holeface, pegface):
+        BaseTask.__init__(self, obj)
+
+        # Hole info
+        obj.addProperty("App::PropertyLinkSub", "HoleFace",
+                        "Feature", "The inner face of the hole.").HoleFace = holeface
+        obj.addProperty("App::PropertyString", "HolePart",
+                        "Feature", "The part that the holeface is on.").HolePart = holeface[0].Label
+        obj.setEditorMode("HolePart", 1)
+        obj.addProperty("App::PropertyString", "HoleFaceID",
+                        "Feature", "The FaceID associated with the hole.").HoleFaceID = holeface[1]
+        obj.setEditorMode("HoleFaceID", 1)
+        obj.setEditorMode("HoleFaceID", 1)
+        holeface_subelem = holeface[0].Shape.getElement(holeface[1])
+        holefeature, temp = ARTools.describeSubObject(holeface_subelem)
+        obj.addProperty("App::PropertyString", "HoleFeature",
+                        "Feature", "The type of feature of the hole.").HoleFeature = holefeature
+        obj.setEditorMode("HoleFeature", 1)
+
+        # Peg info
+        obj.addProperty("App::PropertyLinkSub", "PegFace",
+                        "Feature", "The outer face of the peg.").PegFace = pegface
+        obj.addProperty("App::PropertyString", "PegPart",
+                        "Feature", "The part that the pegface is on.").PegPart = pegface[0].Label
+        obj.setEditorMode("PegPart", 1)
+        pegface_subelem = pegface[0].Shape.getElement(pegface[1])
+        pegfeature, temp = ARTools.describeObject(pegface_subelem)
+        obj.addProperty("App::PropertyString", "PegPart",
+                        "Feature", "The type of feature of the peg.").PegFeature = pegfeature
+        obj.setEditorMode("PegFeature", 1)
+
+        # Create Task Frame
+        # For now it is set to be pointing down the hole axis.
+        if holeface_subelem.Surface.Axis.dot(pegface_subelem.Surface.Axis) < 0:
+            p_dist = pegface_subelem.ParameterRange[3]
+            v = FreeCAD.Vector(0, 0, 1)
+        else:
+            p_dist = pegface_subelem.ParameterRange[2]
+            v = FreeCAD.Vector(0, 0, -1)
+        axis_rot = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1), pegface_subelem.Surface.Axis)
+        task_frame_rot = FreeCAD.Rotation(v, pegface_subelem.Surface.Axis)
+
+        # pegface can be anywhere on the object, so define it wrt origo from the local
+        center_point = pegface_subelem.Surface.Center
+        center_placement = FreeCAD.Placement(center_point, axis_rot)
+        abs_taskframe_point = center_placement.multVec(FreeCAD.Vector(0, 0, p_dist))
+        abs_taskframe_placement = FreeCAD.Placement(abs_taskframe_point, task_frame_rot)
+        inv_pegobject_placement = pegface[0].Placement.inverse()
+
+        peglocal_taskframe_placement = inv_pegobject_placement.multiply(abs_taskframe_placement)
+        taskframe = ARFrames.makeFeatureFrame(pegface[0], peglocal_taskframe_placement)
+        taskframe.Label = obj.Label+"_task_frame"
+        obj.addProperty("App::PropertyLink", "TaskFrame", "Process", "The task frame for the insertion task.").TaskFrame = taskframe
+
+
+class ScrewTask(InsertTask):
+    def __init__(self, obj, holeface, screwface):
+        BaseTask.__init__(self, obj)
+        # Hole info
+        obj.addProperty("App::PropertyLinkSub", "HoleFace", "Feature", "The inner face of the screw.").HoleFace = holeface
+        obj.addProperty("App::PropertyString", "HolePart", "Feature", "The part that the holeface is on.").HolePart = holeface[0].Label
+        obj.setEditorMode("HolePart", 1)
+        obj.addProperty("App::PropertyString", "HoleFaceID", "Feature", "The FaceID associated with the hole.").HoleFaceID = holeface[1]
+        obj.setEditorMode("HoleFaceID", 1)
+        holeface_subelem = holeface[0].Shape.getElement(holeface[1])
+        holefeature, temp = ARTools.describeSubObject(holeface_subelem)
+        obj.addProperty("App::PropertyString", "HoleFeature", "Feature", "The type of feature of the hole.").HoleFeature = holefeature
+        obj.setEditorMode("HoleFaceID", 1)
+
+        # Screw info
+        obj.addProperty("App::PropertyLinkSub", "ScrewFace", "Feature", "The outer face of the screw.").ScrewFace = screwface
+        obj.addProperty("App::PropertyString", "ScrewPart", "Feature", "The part that the screwface is on").ScrewPart = screwface[0].Label
+        obj.setEditorMode("ScrewPart", 1)
+        obj.addProperty("App::PropertyString", "ScrewFaceID", "Feature", "The FaceID associated with the screw.").ScrewFaceID = screwface[1]
+        obj.setEditorMode("ScrewFaceID", 1)
+        screwface_subelem = screwface[0].Shape.getElement(screwface[1])
+        screwfeature, temp = ARTools.describeSubObject(screwface_subelem)
+        
+        # Create Task Frame
+        # For now we set the task frame to be pointing down the hole axis.
+        if holeface_subelem.Surface.Axis.dot(screwface_subelem.Surface.Axis) < 0:
+            p_dist = screwface_subelem.ParameterRange[3]
+            v = FreeCAD.Vector(0, 0, 1)
+        else:
+            p_dist = screwface_subelem.ParameterRange[2]
+            v = FreeCAD.Vector(0, 0, -1)
+        axis_rot = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1), screwface_subelem.Surface.Axis)
+        task_frame_rot = FreeCAD.Rotation(v, screwface_subelem.Surface.Axis)
+
+        # Screface can be anywhere on screw object so define it wrt origo then find local
+        center_point = screwface_subelem.Surface.Center
+        center_placement = FreeCAD.Placement(center_point, axis_rot)
+        abs_taskframe_point = center_placement.multVec(FreeCAD.Vector(0, 0, p_dist))
+        abs_taskframe_placement = FreeCAD.Placement(abs_taskframe_point, task_frame_rot)
+        inv_screwobject_placement = screwface[0].Placement.inverse()
+
+        screwlocal_taskframe_placement = inv_screwobject_placement.multiply(abs_taskframe_placement)
+        taskframe = ARFrames.makeFeatureFrame(screwface[0], screwlocal_taskframe_placement)
+        taskframe.Label = obj.Label+"_task_frame"
+        obj.addProperty("App::PropertyLink", "TaskFrame", "Process", "The task frame for the insertion task.").TaskFrame = taskframe
+
+
+class PlaceTask(BaseTask):
+    def __init__(self, obj, partA, partB):
+        BaseTask.__init__(self, obj)
+        obj.addProperty("App::PropertyLink", "PartA",
+                        "Feature", "The first face.").PartA = partA
+        obj.addProperty("App::PropertyLink", "PartB",
+                        "Feature", "The second face.").PartB = partB
+        obj.setEditorMode("PartA", 1)
+        obj.setEditorMode("PartB", 1)
+        obj.addProperty("App::PropertyVector", "AssemblyAxis",
+                        "Process", "The linear axis to move A onto B.").AssemblyAxis = FreeCAD.Vector()
+
+
+class CustomTask(BaseTask):
+    def __init__(self, obj, partA, partB):
+        BaseTask.__init__(self, obj)
+        obj.addProperty("App::PropertyLink", "PartA",
+                        "Parts", "The first part.").PartA = partA
+        obj.addProperty("App::PropertyLink", "PartB",
+                        "Parts", "The second part.").PartB = partB
+        obj.addProperty("App::PropertyString", "TaskDescription",
+                        "Process", "The description of the custom task.").TaskDescription = ""
+
+
+###################################################################
+## ViewProviders to the objects
+###################################################################
+class ViewProviderBaseTask(object):
+    """
+    View provider for the base task.
+    """
+    def __init__(self, vobj):
+        vobj.Proxy = self
+        col = (0.64, 0., 0., 0.)
+        vobj.addProperty("App::PropertyColor", "Color").Color = col
+
+    def attach(self, vobj):
+        pass
+
+    def updateData(self, fp, prop):
+        pass
+
+    def getDisplayModes(self, vobj):
+        modes = []
+        return []
+
+    def getDefaultDisplayMode(self):
+        return None
+
+    def setDisplayMode(self, mode):
+        return mode
+
+    def onChanged(self, vp, prop):
+        pass
+
+    def getIcon(self):
+        return """"""
+
+    def __getstate__(self):
+        return None
+
+    def __setstate__(self):
+        return None
+
+
+###################################################################
+## Module functions
+###################################################################
+def createInsertTask(holeface, pegface):
+    a = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "Task")
+    InsertTask(a, holeface, pegface)
+    # if FreeCAD.GuiUp:
+    #     ViewProviderBaseTask(a.ViewObject)
+    return a
+
+
+def createScrewTask(holeface, screwface):
+    a = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "Task")
+    ScrewTask(a, holeface, screwface)
+    # if FreeCAD.GuiUp:
+    #     ViewProviderBaseTask(a.ViewObject)
+    return a
+
+
+def createCustomTask(partA, partB):
+    a = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "Task")
+    CustomTask(a, partA, partB)
+    if FreeCAD.GuiUp:
+        ViewProviderBaseTask(a.ViewObject)
+    return a
+
+
+def spawnTaskCreator():
+    taskpanel = TaskSelectionPanel()
+    FreeCADGui.Control.showDialog(taskpanel)
+
+
+###################################################################
+## GUI Commands
+###################################################################
+if FreeCAD.GuiUp:
+    icondir = os.path.join(FreeCAD.getUserAppDataDir(),
+                           "Mod", __workbenchname__, "UI", "icons")
+
+    def spawnClassCommand(command_classname,
+                          command_function,
+                          command_resources):
+        """
+        Commands, or buttons, are tedious to write. So this function spawns one if the command_function to be executed takes no arguments.
+        Example:
+        spawnClassCommand("testCommand",testfunc, {"Pixmap":"","MenuText":"test","ToolTip":"Test tooltip"
+        then add "testcommand" to commandlist in InitGui.py
+        """
+        def Activated(s):
+            command_function()
+        def GetResources(s):
+            return command_resources
+        commandClass = type("command_classname", (object,), {"Activated":Activated,"GetResources":GetResources})
+        FreeCADGui.addCommand(command_classname,commandClass())
+
+    spawnClassCommand("spawnTaskCreatorCommand",spawnTaskCreator, {"Pixmap":str(os.path.join(icondir, "taskcreator.svg")),
+                                                                   "MenuText": "Spawn task creator",
+                                                                   "ToolTip": "Spawn task creator."})
+
+###################################################################
+## GUI widgets
+###################################################################
+if FreeCAD.GuiUp:
+    uidir = os.path.join(FreeCAD.getUserAppDataDir(),"Mod",__workbenchname__, "UI")
+    icondir = os.path.join(uidir,"icons")
+
+    class TaskSelectionPanel:
+        """Choose appropriate skill"""
+        def __init__(self):
+            self.form = FreeCADGui.PySideUic.loadUi(os.path.join(uidir,"FeatureFrameCreator.ui"))
+            self.choices = ("Insert","Place","Screw")
+            self.picked_type = "Insert"
+            self.form.ChoicesBox.addItems(self.choices)
+            QtCore.QObject.connect(self.form.ChoicesBox,
+                                   QtCore.SIGNAL("currentIndexChanged(QString)"),
+                                   self.ChoiceChanged)
+            self.form.PickedTypeLabel.setText(self.picked_type)
+            self.scenes = {}
+            iscene = QtGui.QGraphicsScene()
+            iscene.addItem(QtSvg.QGraphicsSvgItem(str(os.path.join(icondir, "inserttask.svg"))))
+            self.scenes["Insert"] = iscene
+            pscene = QtGui.QGraphicsScene()
+            pscene.addItem(QtSvg.QGraphicsSvgItem(str(os.path.join(icondir, "placetask.svg"))))
+            self.scenes["Place"] = pscene
+            sscene = QtGui.QGraphicsScene()
+            sscene.addItem(QtSvg.QGraphicsSvgItem(str(os.path.join(icondir, "screwtask.svg"))))
+            self.scenes["Screw"] = sscene
+            self.ChoiceChanged(self.picked_type)
+            
+        def ChoiceChanged(self, choice):
+            if choice in self.scenes.keys():
+                self.picked_type = choice
+                self.form.Preview.setScene(self.scenes[choice])
+                self.form.PickedTypeLabel.setText(self.picked_type)
+        def accept(self):
+            paneldict = {"Insert":InsertPanel,
+                         "Place":PlacePanel,
+                         "Screw":ScrewPanel}
+            picked_type = self.form.ChoicesBox.currentText()
+            new_panel = paneldict[picked_type]()
+            FreeCADGui.Control.closeDialog()
+            QtCore.QTimer.singleShot(0,
+                                 lambda: FreeCADGui.Control.showDialog(new_panel))
+
+        def reject(self):
+            FreeCADGui.Control.closeDialog()
+
+
+    class InsertPanel(object):
+        """Selection panel for the insertion task."""
+        def __init__(self):
+            self.form = FreeCADGui.PySideUic.loadUi(os.path.join(uidir, "InsertTaskCreator.ui"))
+            self.pegsel = None
+            self.holesel = None
+            QtCore.QObject.connect(self.form.SelectButton,
+                                   QtCore.SIGNAL("released()"),
+                                   self.FromSelection)
+            QtCore.QObject.connect(self.form.AnimateButton,
+                                   QtCore.SIGNAL("released()"),
+                                   self.Animate)
+
+        def FromSelection(self):
+            s = FreeCADGui.Selection.getSelectionEx()
+            #Nothing selected, do nothing
+            if len(s) == 0:
+                FreeCAD.Console.PrintWarning("No part selected.\n")
+                return
+            #One selected
+            elif len(s) == 1:
+                if not s[0].HasSubObjects:
+                    FreeCAD.Console.PrintWarning("Selection has no subobject.\n")
+                if s[0].SubObjects[0].Orientation == "Forward":
+                    FreeCAD.Console.PrintMessage("Pegface selected.\n")
+                    self.SetPeg(s[0])
+                elif s[0].SubObjects[0].Orientation == "Reversed":
+                    FreeCAD.Console.PrintMessage("Holeface selected.\n")
+                    self.SetHole(s[0])
+                else:
+                    FreeCAD.Console.PrintWarning("Only handles Forward and Reversed oriented faces.\n")
+            else:
+                FreeCAD.Console.PrintError("Too many parts involved, undefined behavior.\n")
+            return
+            
+        def ClearPeg(self):
+            self.pegsel = None
+            self.form.PegPartField.setText("PartLabel")
+            self.form.PegFaceIDField.setText("FaceID")
+            self.form.PegFeatureSummary.setText("Feature Description")
+            return
+
+        def ClearHole():
+            self.holesel = None
+            self.form.HolePartField.setText("PartLabel")
+            self.form.HoleFaceIDField.setText("FaceID")
+            self.form.HoleFeatureSummary.setText("Feature Description")
+            return
+        
+        def SetPeg(self,sel):
+            self.pegsel = sel
+            self.form.PegPartField.setText(sel.Object.Label)
+            self.form.PegFaceIDField.setText(sel.SubElementNames[0])
+            class_name, prim_class_name = ARTools.describeSubObject(sel.SubObjects[0])
+            self.form.PegFeatureSummary.setText(class_name)
+            return
+        
+        def SetHole(self,sel):
+            self.holesel = sel
+            self.form.HolePartField.setText(sel.Object.Label)
+            self.form.HoleFaceIDField.setText(sel.SubElementNames[0])
+            class_name, prim_class_name = ARTools.describeSubObject(sel.SubObjects[0])
+            self.form.HoleFeatureSummary.setText(class_name)
+            return
+
+        def Animate(self):
+            FreeCAD.Console.PrintWarning("Not available yet.\n")
+            pass
+
+        def accept(self):
+            if self.pegsel is None:
+                FreeCAD.Console.PrintError("No pegface selected.\n")
+                return
+            if self.holesel is None:
+                FreeCAD.Console.PrintError("No holeface selected.\n")
+                return
+            holeface = self.holesel.Object, self.holesel.SubElementNames[0]
+            pegface = self.pegsel.Object, self.pegsel.SubElementNames[0]
+            ins_task = createInsertTask(holeface, pegface)
+            txtlabel = self.form.TaskLabelField.text()
+            if txtlabel == "":
+                txtlabel = "Task"+self.holesel.Object.Label+self.pegsel.Object.Label
+            ins_task.Label = txtlabel
+            ins_task.TaskFrame.Label = txtlabel+"_task_frame"
+            FreeCADGui.Control.closeDialog()
+        
+        def reject(self):
+            FreeCADGui.Control.closeDialog()
+
+    class PlacePanel(object):
+        def __init__(self):
+            pass
+        def SetFaceA(self,sel):
+            pass
+        def SetFaceB(self,sel):
+            pass
+        
+        def accept(self):
+            pass
+        def reject(self):
+            FreeCADGui.Control.closeDialog()
+        
+    class ScrewPanel(object):
+        def __init__(self):
+            self.form = FreeCADGui.PySideUic.loadUi(os.path.join(uidir, "ScrewTaskCreator.ui"))
+            self.screwsel = None
+            self.holesel = None
+            QtCore.QObject.connect(self.form.SelectButton,
+                                   QtCore.SIGNAL("released()"),
+                                   self.FromSelection)
+            QtCore.QObject.connect(self.form.AnimateButton,
+                                   QtCore.SIGNAL("released()"),
+                                   self.Animate)
+        def FromSelection(self):
+            s = FreeCADGui.Selection.getSelectionEx()
+            #Nothing selected, do nothing
+            if len(s) == 0:
+                FreeCAD.Console.PrintWarning("No face selected.\n")
+            #One selected
+            elif len(s) == 1:
+                if not s[0].HasSubObjects:
+                    FreeCAD.Console.PrintError("Selection has no subobject.\n")
+                elif s[0].SubObjects[0].Orientation == "Forward":
+                    FreeCAD.Console.PrintMessage("Screwface selected.\n")
+                    self.SetScrew(s[0])
+                elif s[0].SubObjects[0].Orientation == "Reversed":
+                    FreeCAD.Console.PrintMessage("Holeface selected.\n")
+                    self.SetHole(s[0])
+                else:
+                    FreeCAD.Console.PrintError("Only handles Forward and Reversed oriented faces.\n")
+            else:
+                FreeCAD.Console.PrintError("Too many parts involved, undefined behavior.\n")
+            return
+        
+        def ClearScrew(self):
+            self.screwsel = None
+            self.form.PegPartField.setText("PartLabel")
+            self.form.PegFaceIDField.setText("FaceID")
+            self.form.ScrewTypeField.setText("ScrewType")
+
+        def ClearHole(self):
+            self.holesel = None
+            self.form.HolePartField.setText("PartLabel")
+            self.form.HoleFaceIDField.setText("FaceID")
+            return
+            
+        def SetScrew(self,sel):
+            self.screwsel = sel
+            self.form.PegPartField.setText(sel.Object.Label)
+            self.form.PegFaceIDField.setText(sel.SubElementNames[0])
+            class_name,  prim_class_name = ARTools.describeSubObject(sel.SubObjects[0])
+            self.form.ScrewTypeField.setText("M"+str(int(2*sel.SubObjects[0].Surface.Radius)))
+            
+            return
+        
+        def SetHole(self,sel):
+            self.holesel = sel
+            self.form.HolePartField.setText(sel.Object.Label)
+            self.form.HoleFaceIDField.setText(sel.SubElementNames[0])
+            return
+        
+        def Animate(self):
+            FreeCAD.Console.PrintWarning("Not available yet.\n")
+            pass
+
+        def accept(self):
+            if self.screwsel is None:
+                FreeCAD.Console.PrintError("No screwface selected.\n")
+                return
+            if self.holesel is None:
+                FreeCAD.Console.PrintError("No holeface selected.\n")
+                return
+            holeface = self.holesel.Object, self.holesel.SubElementNames[0]
+            screwface = self.screwsel.Object, self.screwsel.SubElementNames[0]
+            ins_task = createScrewTask(holeface, screwface)
+            txtlabel = self.form.TaskLabelField.text()
+            if txtlabel == "":
+                txtlabel = "task_"+self.holesel.Object.Label+self.screwsel.Object.Label
+            ins_task.Label = txtlabel
+            ins_task.TaskFrame.Label = txtlabel+"_task_frame"
+            FreeCADGui.Control.closeDialog()
+
+        def reject(self):
+            FreeCADGui.Control.closeDialog()