Added attach/detach for workpiece

Author: hpcdgrie

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

@@ -191,13 +191,18 @@ bool FlexCell::update()
         if(m_variant != -1)
         {
             vrmlNode->switchWorkpiece(m_variant);
-            m_variant = -1;
+            m_variantChanged = false;
         }
         if(m_bendAnimation > 0)
         {
             vrmlNode->bendAnimation(m_bendAnimation);
             m_bendAnimation = -1;
         }
+        if(m_partAttachedToRobot > 0)
+        {
+            m_partAttachedToRobot ? vrmlNode->attachPartToRobot(m_variant) : vrmlNode->detachPartToRobot(m_variant);
+            m_partAttachedToRobot = -1;
+        }
     }
     else if (m_isReplaying)
     {
@@ -300,6 +305,7 @@ 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())
                 {

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

@@ -56,8 +56,9 @@ class FlexCell : public opencover::coVRPlugin
     std::deque<RobotPosition> m_livePositions;
     bool m_bend = false;
     int m_variant = -1;
+    bool m_variantChanged = false;
     int m_bendAnimation = -1;
-    bool m_partAttachedToRobot = false;
+    int m_partAttachedToRobot = -1;
 };
 
 #endif // COVER_PLUGIN_FLEX_CELL_H

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

@@ -15,6 +15,7 @@ void FlexCellNode::initFields(FlexCellNode *node, vrml::VrmlNodeType *t) {
     t->addEventOut("pinch", vrml::VrmlField::SFBOOL);
     t->addEventOut("bend", vrml::VrmlField::SFBOOL);
     t->addEventOut("loosen", vrml::VrmlField::SFBOOL);
+    t->addEventOut("attachPartToRobot", vrml::VrmlField::SFBOOL);
 }
 
 FlexCellNode::FlexCellNode(vrml::VrmlScene *scene)
@@ -48,6 +49,18 @@ void FlexCellNode::switchWorkpiece(int variant)
     eventOut(opencover::cover->frameTime(), "Variant", vrmlValue);
 }
 
+void FlexCellNode::attachPartToRobot(int variant)
+{
+    vrml::VrmlSFInt vrmlValue(variant);
+    eventOut(opencover::cover->frameTime(), "attachPartToRobot", vrmlValue);
+}
+
+void FlexCellNode::detachPartToRobot(int variant)
+{
+    vrml::VrmlSFInt vrmlValue(variant);
+    eventOut(opencover::cover->frameTime(), "detachPartToRobot", vrmlValue);
+}
+
 void FlexCellNode::bendAnimation(int animation)
 {
     switch (animation)

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 attachPartToRobot(int variant);
+    void detachPartToRobot(int variant);
     void bendAnimation(int animation);
 
     // std::array<vrml::VrmlSFFloat, 7> axisNames;