FreeCAD

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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# Kuka export lib (c) Jürgen Riegel 2009 LGPL 2.1 or higher
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import time
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TeachPointFold = """
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;FOLD LIN P4  Vel= 0.2 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 5.4.27,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:0.2, 7:CPDAT1
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$BWDSTART = FALSE
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LDAT_ACT=LCPDAT1
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FDAT_ACT=FP4
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BAS(#CP_PARAMS,0.2)
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LIN XP4
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;ENDFOLD
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"""
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TeachPointDat = """
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DECL E6POS XP4={X -25.1844196,Y 1122.42603,Z 1158.07996,A -14.3267002,B 0.537901878,C 179.028305,S 6,T 59,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
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"""
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HeaderSrc = """&ACCESS RVP
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&REL 1
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
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&PARAM EDITMASK = *
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"""
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def ExportCompactSub(Rob, Trak, FileName):
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    print(Rob, Trak, FileName)
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    Traj = Trak.Trajectory
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    # open the output file
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    SrcFile = open(FileName, "w")
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    # header
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    SrcFile.write(HeaderSrc)
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    # subroutine definition
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    SrcFile.write("DEF " + Trak.Name + "( )\n\n")
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    SrcFile.write(";- Kuka src file, generated by FreeCAD (https://www.freecad.org)\n")
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    SrcFile.write(";- " + time.asctime() + "\n\n")
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    # defining world and base
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    SrcFile.write(";------------- definitions ------------\n")
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    SrcFile.write("EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World\n")
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    SrcFile.write("BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on \n\n")
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    SrcFile.write("\n;------------- main part ------------\n")
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    for w in Traj.Waypoints:
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        (X, Y, Z) = (w.Pos.Base.x, w.Pos.Base.x, w.Pos.Base.x)
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        (A, B, C) = w.Pos.Rotation.toEuler()
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        V = w.Velocity / 1000.0  # from mm/s to m/s
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        SrcFile.write("$VEL.CP = %f ; m/s ; m/s \n" % V)
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        SrcFile.write(
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            "LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s\n"
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            % (w.Pos.Base.x, w.Pos.Base.y, w.Pos.Base.z, A, B, C, w.Name)
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        )
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    # end of subroutine
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    SrcFile.write("\n;------------- end ------------\n")
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    SrcFile.write("END \n\n")
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    SrcFile.close()
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    # open the output file
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    # DatFile = open(FileName[:-4]+'.dat','w')
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    # header
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    # DatFile.write(HeaderSrc)
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    # subroutine definition
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    # DatFile.write("DEFDAT "+Trak.Name+" PUBLIC\n\n")
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    # DatFile.write("ENDDAT\n")
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    # DatFile.close()
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def ExportFullSub(Rob, Trak, FileName):
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    print(Trak, FileName)
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