def objectsInZone(RDK=None):
if RDK is None:
RDK = Robolink()
global RADIUS
global PARENT
objects_in_zone = []
if PARENT is None or not PARENT.Valid():
return objects_in_zone
objects = RDK.ItemList(ITEM_TYPE_OBJECT)
if objects is None or len(objects) < 1:
return objects_in_zone
p_abs = PARENT.PoseAbs().Pos()
for obj in objects:
if distance(p_abs, obj.PoseAbs().Pos()) < RADIUS:
objects_in_zone.append(obj)
return objects_in_zone
class SpawnBoxEditor:
SIZE_SPINBOX_FROM = 0.1
SIZE_SPINBOX_TO = 10000
SIZE_SPINBOX_INCREMENT = 0.5
SIZE_SPINBOX_FORMAT = "%0.2f"
WIDTH_ENTRY = 32
STICKY = tk.NSEW
def __init__(self, RDK=None) -> None:
self.RDK = RDK
if self.RDK is None:
self.RDK = Robolink()
self.root = tk.Tk()
self.unit_options = tk.IntVar()
self.units_format = ''
self.box_length = tk.DoubleVar(value=0)
self.box_width = tk.DoubleVar(value=0)
self.box_height = tk.DoubleVar(value=0)
self.box_length_text = tk.StringVar(value='')
self.box_width_text = tk.StringVar(value='')
self.box_height_text = tk.StringVar(value='')
self.parent_name_text = tk.StringVar(value='')
self.conv_parent_name_text = tk.StringVar(value='')
sbt.loadParameters(self.RDK)
self.init()
def init(self):
self.unit_options.set(int(sbt.USE_METRIC))
self.units_format = '(mm)' if sbt.USE_METRIC else '(in)'
self.box_length.set(sbt.BOX_SIZE_XYZ[0])
self.box_width.set(sbt.BOX_SIZE_XYZ[1])
self.box_height.set(sbt.BOX_SIZE_XYZ[2])
self.box_length_text.set('Box Length ' + self.units_format)
self.box_width_text.set('Box Width ' + self.units_format)
self.box_height_text.set('Box Height ' + self.units_format)
self.parent_name_text.set(sbt.PARENT.Name() if sbt.PARENT is not None else 'Unset')
self.conv_parent_name_text.set(sbt.CONV_PARENT.Name() if sbt.CONV_PARENT is not None else 'Unset')
def switchUnitsFormat(self):
use_metric = self.unit_options.get() == 1
if use_metric != sbt.USE_METRIC:
# Convert units
factor = 25.4 # in to mm
if sbt.USE_METRIC and not use_metric:
factor = 1 / 25.4 # mm to in
self.box_length.set(self.box_length.get() * factor)
self.box_width.set(self.box_width.get() * factor)
self.box_height.set(self.box_height.get() * factor)
sbt.USE_METRIC = use_metric
def setBoxDimensions(self):
sbt.BOX_SIZE_XYZ[0] = self.box_length.get()
sbt.BOX_SIZE_XYZ[1] = self.box_width.get()
sbt.BOX_SIZE_XYZ[2] = self.box_height.get()
def selectParent(self):
self.RDK.setSelection([])
choices = self.RDK.ItemList(ITEM_TYPE_FRAME)
choices.append(self.RDK.ActiveStation())
parent = self.RDK.ItemUserPick('Select spawning location', choices)
if parent is not None and parent.Valid():
sbt.PARENT = parent
self.parent_name_text.set(sbt.PARENT.Name())
def selectConvParent(self):
self.RDK.setSelection([])
conv_parent = self.RDK.ItemUserPick('Select conveyor relocation', ITEM_TYPE_FRAME)
if conv_parent is not None and conv_parent.Valid():
sbt.CONV_PARENT = conv_parent
self.conv_parent_name_text.set(sbt.CONV_PARENT.Name())
def clearConvParent(self):
sbt.CONV_PARENT = None
self.conv_parent_name_text.set('Unset')
def saveAndClose(self):
self.setBoxDimensions() # This is not called if user entered manually
sbt.setParameters(self.RDK)
self.root.destroy()
def loadDefaults(self):
sbt.loadDefaults()
self.init()
def show(self):
# Generate the main window
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, fill=tk.X, padx=1, pady=1)
row = -1
# Unit selection
row += 1
l_units = tk.Label(frame, text='Units', anchor='w')
rb_box_units_mm = tk.Radiobutton(frame, text='mm', variable=self.unit_options, value=1, command=self.switchUnitsFormat)
rb_box_units_in = tk.Radiobutton(frame, text='in', variable=self.unit_options, value=0, command=self.switchUnitsFormat)
l_units.grid(column=0, row=row, sticky=self.STICKY)
rb_box_units_mm.grid(column=1, columnspan=1, row=row, sticky=tk.NW)
rb_box_units_in.grid(column=2, columnspan=3, row=row, sticky=tk.NW)
# Box length (x)
row += 1
l_box_length = tk.Label(frame, textvariable=self.box_length_text, anchor='w')
sb_box_length = tk.Spinbox(
frame,
textvariable=self.box_length,
from_=self.SIZE_SPINBOX_FROM,
to=self.SIZE_SPINBOX_TO,
increment=self.SIZE_SPINBOX_INCREMENT,
format=self.SIZE_SPINBOX_FORMAT,
command=self.setBoxDimensions,
)
l_box_length.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
sb_box_length.grid(column=1, columnspan=3, row=row, sticky=self.STICKY)
# Box width (y)
row += 1
l_box_width = tk.Label(frame, textvariable=self.box_width_text, anchor='w')
sb_box_width = tk.Spinbox(
frame,
textvariable=self.box_width,
from_=self.SIZE_SPINBOX_FROM,
to=self.SIZE_SPINBOX_TO,
increment=self.SIZE_SPINBOX_INCREMENT,
format=self.SIZE_SPINBOX_FORMAT,
command=self.setBoxDimensions,
)
l_box_width.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
sb_box_width.grid(column=1, columnspan=3, row=row, sticky=self.STICKY)
# Box height (z)
row += 1
l_box_height = tk.Label(frame, textvariable=self.box_height_text, anchor='w')
sb_box_height = tk.Spinbox(
frame,
textvariable=self.box_height,
from_=self.SIZE_SPINBOX_FROM,
to=self.SIZE_SPINBOX_TO,
increment=self.SIZE_SPINBOX_INCREMENT,
format=self.SIZE_SPINBOX_FORMAT,
command=self.setBoxDimensions,
)
l_box_height.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
sb_box_height.grid(column=1, columnspan=3, row=row, sticky=self.STICKY)
# Spawn location
row += 1
l_parent = tk.Label(frame, text='Spawn location (Item)', anchor='w')
e_parent = tk.Entry(frame, textvariable=self.parent_name_text, state='readonly', width=self.WIDTH_ENTRY)
b_parent = tk.Button(frame, text='Select', command=self.selectParent)
l_parent.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
e_parent.grid(column=1, columnspan=1, row=row, sticky=self.STICKY)
b_parent.grid(column=2, columnspan=2, row=row, sticky=self.STICKY, padx=1, pady=1)
# Conveyor remap
row += 1
l_conv_parent = tk.Label(frame, text='Conveyor relocation (Item)', anchor='w')
e_conv_parent = tk.Entry(frame, textvariable=self.conv_parent_name_text, state='readonly', width=self.WIDTH_ENTRY)
b_conv_parent = tk.Button(frame, text='Select', command=self.selectConvParent)
b_conv_parent_clr = tk.Button(frame, text='Clear', command=self.clearConvParent)
l_conv_parent.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
e_conv_parent.grid(column=1, columnspan=1, row=row, sticky=self.STICKY)
b_conv_parent.grid(column=2, columnspan=1, row=row, sticky=self.STICKY, padx=1, pady=1)
b_conv_parent_clr.grid(column=3, columnspan=1, row=row, sticky=self.STICKY, padx=1, pady=1)
# User controls
control_row = tk.Frame(self.root)
control_row.pack(side=tk.BOTTOM, padx=1, pady=1)
# Creating the OK button
b_ok = tk.Button(control_row, text='OK', command=self.saveAndClose, width=12)
b_ok.grid(column=0, row=0, sticky=self.STICKY, padx=1, pady=1)
# Creating the Cancel button
b_cancel = tk.Button(control_row, text='Cancel', command=self.root.destroy, width=12)
b_cancel.grid(column=1, row=0, sticky=self.STICKY, padx=1, pady=1)
# Creating the Default button
b_defaults = tk.Button(control_row, text='Defaults', command=self.loadDefaults, width=12)
b_defaults.grid(column=2, row=0, sticky=self.STICKY, padx=1, pady=1)
# Set window name
window_title = "Box Spawner Editor"
self.root.title(window_title)
# Logo
icon_path = getPathIcon()
if os.path.exists(icon_path):
self.root.iconbitmap(icon_path)
self.root.resizable(0, 0)
self.root.mainloop()
class ObjectDeleterEditor:
SIZE_SPINBOX_FROM = 0.1
SIZE_SPINBOX_TO = 10000
SIZE_SPINBOX_INCREMENT = 1
SIZE_SPINBOX_FORMAT = "%0.2f"
WIDTH_ENTRY = 32
STICKY = tk.NSEW
def __init__(self, RDK=None) -> None:
self.RDK = RDK
if self.RDK is None:
self.RDK = Robolink()
self.root = tk.Tk()
self.radius = tk.DoubleVar(value=0)
self.parent_name_text = tk.StringVar(
value=odt.PARENT.Name() if odt.PARENT is not None else 'Unset')
odt.loadParameters(self.RDK)
self.init()
def init(self):
self.radius.set(odt.RADIUS)
self.parent_name_text.set(
odt.PARENT.Name() if odt.PARENT is not None else 'Unset')
def setRadius(self):
odt.RADIUS = self.radius.get()
def selectParent(self):
self.RDK.setSelection([])
choices = self.RDK.ItemList(ITEM_TYPE_FRAME)
choices.append(self.RDK.ActiveStation())
parent = self.RDK.ItemUserPick('Select Deleter location', choices)
if parent is not None and parent.Valid():
odt.PARENT = parent
self.parent_name_text.set(odt.PARENT.Name())
def saveAndClose(self):
self.setRadius()
odt.setParameters(self.RDK)
self.root.destroy()
def loadDefaults(self):
odt.loadDefaults()
self.init()
def show(self):
# Generate the main window
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, fill=tk.X, padx=1, pady=1)
row = -1
# Radius
row += 1
l_radius = tk.Label(frame, text='Radius (mm)', anchor='w')
sb_radius = tk.Spinbox(
frame,
textvariable=self.radius,
from_=self.SIZE_SPINBOX_FROM,
to=self.SIZE_SPINBOX_TO,
increment=self.SIZE_SPINBOX_INCREMENT,
format=self.SIZE_SPINBOX_FORMAT,
command=self.setRadius,
)
l_radius.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
sb_radius.grid(column=1, columnspan=3, row=row, sticky=self.STICKY)
# Delete location
row += 1
l_parent = tk.Label(frame, text='Location (Item)', anchor='w')
e_parent = tk.Entry(frame,
textvariable=self.parent_name_text,
state='readonly',
width=self.WIDTH_ENTRY)
b_parent = tk.Button(frame,
text='Select',
command=self.selectParent,
padx=1,
pady=1)
l_parent.grid(column=0, columnspan=1, row=row, sticky=self.STICKY)
e_parent.grid(column=1, columnspan=1, row=row, sticky=self.STICKY)
b_parent.grid(column=2,
columnspan=2,
row=row,
sticky=self.STICKY,
padx=1,
pady=1)
# User controls
control_row = tk.Frame(self.root)
control_row.pack(side=tk.BOTTOM, padx=1, pady=1)
# Creating the OK button
b_ok = tk.Button(control_row,
text='OK',
command=self.saveAndClose,
width=12)
b_ok.grid(column=0, row=0, sticky=self.STICKY, padx=1, pady=1)
# Creating the Cancel button
b_cancel = tk.Button(control_row,
text='Cancel',
command=self.root.destroy,
width=12)
b_cancel.grid(column=1, row=0, sticky=self.STICKY, padx=1, pady=1)
# Creating the Default button
b_defaults = tk.Button(control_row,
text='Defaults',
command=self.loadDefaults,
width=12)
b_defaults.grid(column=2, row=0, sticky=self.STICKY, padx=1, pady=1)
# Set window name
window_title = "Object Deleter Editor"
self.root.title(window_title)
# Logo
icon_path = getPathIcon()
if os.path.exists(icon_path):
self.root.iconbitmap(icon_path)
self.root.resizable(0, 0)
self.root.mainloop()
