# Adapted original macro (Weld_On) by Wolfgang Sperk (WS)
# 24.6.2024: (WS)Added new argument for object name
# 25.6.2023: (WS)Corrected some minor bugs 
#
#-------------------------------------------------------------------------------------
#
#
# This macro allows simulating the material deposition of a weld gun
# By default, this macro will activate the trace once it is called.
# Run the macro ArcEnd to stop the trace.
#
# The macros ArcStart, ArcEnd and WeldOn, SpindleOn, all behave in a similar way, the only difference is the default behavior
# This behavior simmulates Fanuc Arc Welding and triggers appropriate output when using the customized post processor.
# Select ESC to clear the trace manually.
#
# It is possible to call WeldOn(ON) to simulate turning the material deposition ON or WeldOn(OFF) to stop simulating the gun
# Calling WeldOn(RESET) clears all displayed data.
# The macro will output spray gun statistics
#
# Optional:
#     This macro can manage multiple guns and multiple colors.
#     As an example, you can call this macro the following way:
#
# WeldOn(State, ToolName, Color)
#     State: [ON/OFF/RESET]
#     TorchName: The name of the tool. For example: Tool 1
#     Color: A named color or a hex color in the format: '#AARRGGBB'
#             Important: for full color definition you should provide Alpha channel first
#
# Examples:
#     WeldOn(ON)                 # Turn on the trace using the default color
#     WeldOn(OFF)                # Turn off the tool trace
#     WeldOn(ON, Tool 1, yellow) # Turn on the trace for tool 1 in yellow
#     WeldOn(ON, Tool 2, blue) # Turn on the trace for tool 2 in blue
#     WeldOn(OFF, Torch1)        # Turn off trace for Torch 1
#     WeldOn(ON, Torch1, #889900FF) # Turn on the trace for torch 2 in a violet color
#     WeldOn(ON, ,red)         # Turn on the trace for a generic torch in red color
# 
#     Added WS: 24.06.2023
#     WeldOn(ON, Spraygun, #FF646464, DP1_100x50) # Turn on the trace for Spraygun with color gray for Dämmplatte DP1_100x50
#
# --------------------------------------------------------------
# This script shows how to create "spray" object in RoboDK that allows simulating particle deposition by using:
# RDK.Spray_Add(tool, object, options_command, volume, geometry)
#    tool: tool item (TCP) to use
#    object: object to project the particles
#    options_command (optional): string to specify options.
#    volume (optional): Matrix of parameters defining the volume of the spray gun
#    geometry (optional): Matrix of vertices defining the triangles.
#
# More information here:
# https://robodk.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Spray_Add
# https://robodk.com/doc/en/RoboDK-API.html
#
# The scripts ArcStart, ArcEnd and WeldOn and SpindleOn behave in a similar way, the only difference is the default behavior
# This behavior simmulates Fanuc Arc Welding and triggers appropriate output when using the customized post processor.
# Select ESC to clear the trace manually.
#
# Example scripts that use Spray_Add:
#     SpindleOn / SpindleOff    -> Turn trace On/Off
#     ArcOn / ArcOff            -> Turn trace On/Off
#     SprayOn / SprayOff        -> Simulate a spray given a workspace volume (for painting)
#     WeldOn / WeldOff          -> Support for multiple weld guns
#
#----------------------------------------------------------
# Modification W.Sperk
# add new argument for object 

# Constant variables for the first parameter:
ACTION_RESET = -1  # Same as: RESET (clear all traces)
ACTION_OFF = 0  # Same as: OFF (turn on)
ACTION_ON = 1  # Same as: ON (turn off)

# Define the default Action (ACTION_OFF to deactivate, ACTION_ON to activate, ACTION_RESET to clear any spray gun/trace)
# Setting it to None will display a message
Action = ACTION_ON

# Define the default color as a named color or as #AARRGGBB (Alpha, Red, Green Blue)
# COLOR = 'blue'
COLOR = '#CC3344FF'  # AARRGGBB

# Use a specific tool as a spray gun
Tool_Name = None  # Use the active tool
#Tool_Name = 'Torch1'

# Use a specific object to project particles:
Object_Name = None  # Use the first object in the active reference frame
#Object_Name = 'Part'

# --------------------------------------------------
# Program start:
from robodk.robolink import *  # API to communicate with RoboDK
from robodk.robodialogs import *

RDK = Robolink()

# quit if we are not in simulation mode
if RDK.RunMode() != RUNMODE_SIMULATE:
    quit()

# Check command input (parameters passed in the call). This is the same as if we were doing a command line call passing parameters.
import sys
if len(sys.argv) > 1:
    Action_str = sys.argv[1].strip().upper()
    if 'ON' in Action_str:
        Action = ACTION_ON
    elif 'OFF' in Action_str:
        Action = ACTION_OFF
    elif 'RESET' in Action_str:
        Action = ACTION_RESET
    else:
        Action = int(Action_str)

    if len(sys.argv) > 2:
        Tool_Name = sys.argv[2].strip()
        if Tool_Name == '':
            Tool_Name = None
# WS: chached to read upper/lower
        if len(sys.argv) > 3:
            COLOR = sys.argv[3].strip()
# Added WS: 24.06.2023
            if len(sys.argv) > 4:
                Object_Name = sys.argv[4].strip()
                if Object_Name == '':
                    Object_Name = None            
 
# Display summary
print("Applying action: " + str(Action))
print("Using tool: " + str(Tool_Name))
print("Using color: " + COLOR)
# Added WS: 24.06.2023
print("Using object: " + str(Object_Name))

# Get any previously added spray gun simulations and display statistics (spray on the part vs spray falling out of the part)
info, data = RDK.Spray_GetStats()
n_sprays = data.size(1)
spray_id = -1
if n_sprays > 0 and Tool_Name is not None:
    spray_id = RDK.getParam(Tool_Name)
    if spray_id is None or Action == ACTION_ON or type(spray_id) == str or spray_id >= n_sprays:
        spray_id = -1

    print("Spray gun statistics:")
    print(info)
    print(data.tr())
    # # Diplay statistics
    # RDK.ShowMessage("Material used: %.1f%%<br>Material waisted: %.1f%%<br>Total particles: %.1f" % (data[1,0],data[2,0],data[3,0]), True)
    # # Clear previous spray
    # RDK.Spray_Clear()

# If the default Action is None, display a message to activate/deactivate the spray gun
if Action is None:
    print('Note: This macro can be called as ArcStart(1) or ArcStart(0) or ArcStart(-1)')
    entry = mbox('Turn gun ON or OFF', ('On', '1'), ('Off', '0'))
    if not entry:
        quit()
    Action = int(entry)

# Apply the desired action
if Action == ACTION_OFF:
    # Turn the gun off
    RDK.Spray_SetState(SPRAY_OFF, spray_id)
# WS : changed to RESET !!
elif Action == ACTION_RESET:
    # Clear all spray simulations (same as pressing ESC key)
    RDK.Spray_Clear(spray_id)

elif Action == ACTION_ON:
    # Create a new spray gun object in RoboDK
    # by using RDK.Spray_Add(tool, object, options_command, volume, geometry)
    # tool: tool item (TCP) to use
    # object: object to project the particles
    # options_command (optional): string to specify options. Example:
    #     STEP=AxB: Defines the grid to be projected 1x1 means only one line of particle projection (for example, for welding)
    #     PARTICLE: Defines the shape and size of particle (sphere or particle), unless a specific geometry is provided:
    #       a- SPHERE(radius, facets)
    #       b- SPHERE(radius, facets, scalex, scaley, scalez)
    #       b- CUBE(sizex, sizey, sizez)
    #     RAND=factor: Defines a random factor factor 0 means that the particles are not deposited randomly
    #     ELLYPSE: defines the volume as an ellypse (default)
    #     RECTANGLE: defines the volume as a rectangle
    #     PROJECT: project the particles to the surface (default) (for welding, painting or scanning)
    #     NO_PROJECT: does not project the particles to the surface (for example, for 3D printing)
    #
    # volume (optional): Matrix of parameters defining the volume of the spray gun
    # geometry (optional): Matrix of vertices defining the triangles.

    if spray_id < 0:
        tool = 0  # auto detect active tool
        obj = 0  # auto detect object in active reference frame
        if Tool_Name is not None:
            tool = RDK.Item(Tool_Name, ITEM_TYPE_TOOL)

        if Object_Name is not None:
            obj = RDK.Item(Object_Name, ITEM_TYPE_OBJECT)
        # We can specify a given tool object and/or object
        #robot = RDK.Item("ABB IRB 2600-12/1.85", ITEM_TYPE_ROBOT)
        #tools = robot.Childs()
        #if len(tools) > 0:
        #    tool = tools[0]
        #obj = RDK.Item('object', ITEM_TYPE_OBJECT)

        # Create volume parameters
#WS Changed
        #options_command = "NO_PROJECT PARTICLE=SPHERE(2,8,1,1,1) STEP=1x0 RAND=0 COLOR=" + COLOR
        options_command = "PROJECT PARTICLE=SPHERE(10,50) STEP=1x0 RAND=0 COLOR=" + COLOR
       
        spray_id = RDK.Spray_Add(tool, obj, options_command)

    # Remember the ID of the spray gun for later
    if Tool_Name is not None:
        RDK.setParam(Tool_Name, spray_id)

    # Apply the state to activate the trace
    RDK.Spray_SetState(SPRAY_ON, spray_id)