FlexCell events for bending

Author: hpcdgrie

src/OpenCOVER/plugins/hlrs/FlexCell/FlexCell.cpp

@@ -188,10 +188,15 @@ bool FlexCell::update()
             vrmlNode->bend();
             m_bend = false;
         }
-        if(m_variantChanged)
+        if(m_variant != -1)
         {
             vrmlNode->switchWorkpiece(m_variant);
-            m_variantChanged = false;
+            m_variant = -1;
+        }
+        if(m_bendAnimation > 0)
+        {
+            vrmlNode->bendAnimation(m_bendAnimation);
+            m_bendAnimation = -1;
         }
     }
     else if (m_isReplaying)
@@ -295,7 +300,10 @@ size_t FlexCell::sseWriteCallback(char* ptr, size_t size, size_t nmemb, void* us
                 if (j.contains("partState") && j["partState"].is_number_integer())
                 {
                     self->m_variant = j["partState"].get<int>();
-                    self->m_variantChanged = true;
+                }
+                if (j.contains("bendAnimation") && j["bendAnimation"].is_number_integer())
+                {
+                    self->m_bendAnimation = j["bendAnimation"].get<int>();
                 }
                 if (j.contains("partAttachedToRobot") && j["partAttachedToRobot"].is_boolean())
                 {

src/OpenCOVER/plugins/hlrs/FlexCell/FlexCell.h

@@ -55,9 +55,9 @@ class FlexCell : public opencover::coVRPlugin
     mutable std::mutex m_rabbitMutex;
     std::deque<RobotPosition> m_livePositions;
     bool m_bend = false;
-    int m_variant = 0;
+    int m_variant = -1;
+    int m_bendAnimation = -1;
     bool m_partAttachedToRobot = false;
-    bool m_variantChanged = false;
 };
 
 #endif // COVER_PLUGIN_FLEX_CELL_H

src/OpenCOVER/plugins/hlrs/FlexCell/VrmlNodes.cpp

@@ -11,8 +11,10 @@ void FlexCellNode::initFields(FlexCellNode *node, vrml::VrmlNodeType *t) {
     constexpr int numAxes = 7;
     for(size_t i = 0; i < numAxes; ++i)
         t->addEventOut(("Achse" + std::to_string(i+1)).c_str(), vrml::VrmlField::SFFLOAT);
-    t->addEventOut("Bend", vrml::VrmlField::SFTIME);
     t->addEventOut("Variant", vrml::VrmlField::SFINT32);
+    t->addEventOut("pinch", vrml::VrmlField::SFBOOL);
+    t->addEventOut("bend", vrml::VrmlField::SFBOOL);
+    t->addEventOut("loosen", vrml::VrmlField::SFBOOL);
 }
 
 FlexCellNode::FlexCellNode(vrml::VrmlScene *scene)
@@ -44,4 +46,24 @@ void FlexCellNode::switchWorkpiece(int variant)
 {
     vrml::VrmlSFInt vrmlValue(variant);
     eventOut(opencover::cover->frameTime(), "Variant", vrmlValue);
+}
+
+void FlexCellNode::bendAnimation(int animation)
+{
+    switch (animation)
+    {
+    case 0: //nothing
+        break;
+    case 1: // pinch
+        eventOut(opencover::cover->frameTime(), "pinch", vrml::VrmlSFBool(true));
+        break;
+    case 2: // bend
+        eventOut(opencover::cover->frameTime(), "bend", vrml::VrmlSFBool(true));
+        break;
+    case 3: // loosen
+        eventOut(opencover::cover->frameTime(), "loosen", vrml::VrmlSFBool(true));
+        break;
+    default:
+        break;
+    }
 }

src/OpenCOVER/plugins/hlrs/FlexCell/VrmlNodes.h

@@ -17,6 +17,8 @@ class FlexCellNode : public vrml::VrmlNodeChild {
     void send(size_t axis, float value);
     void bend();
     void switchWorkpiece(int variant);
+    void bendAnimation(int animation);
+
     // std::array<vrml::VrmlSFFloat, 7> axisNames;
 };