Fix init command, throw exception for Ignus if Declaration is used, f…

…ormatting

src/Robots/Commands/Command.cs

@@ -1,29 +1,37 @@
+
 namespace Robots;
 
 public abstract class Command(string? name = null) : TargetAttribute(name)
 {
     public static Command Default { get; } = new Commands.Custom("DefaultCommand");
 
-    protected Dictionary<Manufacturers, Func<RobotSystem, string>> _declarations = new(6);
-    protected Dictionary<Manufacturers, Func<RobotSystem, Target, string>> _commands = new(6);
+    protected Dictionary<Manufacturers, Func<RobotSystem, string>> _declarations = new(8);
+    protected Dictionary<Manufacturers, Func<RobotSystem, Target, string>> _commands = new(8);
 
     protected virtual void ErrorChecking(RobotSystem robotSystem) { }
+
     protected virtual void Populate() { }
     public bool RunBefore { get; set; }
+
     internal virtual IEnumerable<Command> Flatten()
     {
         if (this != Default)
             yield return this;
     }
 
-    internal string Declaration(Program program)
+    void Init(RobotSystem robot)
     {
-        var robot = program.RobotSystem;
-        ErrorChecking(robot);
+        if (_commands.Count > 0 || _declarations.Count > 0)
+            return;
 
-        _declarations.Clear();
-        _commands.Clear();
+        ErrorChecking(robot);
         Populate();
+    }
+
+    internal string Declaration(Program program)
+    {
+        var robot = program.RobotSystem;
+        Init(robot);
 
         if (_declarations.TryGetValue(robot.Manufacturer, out var declaration))
             return declaration(robot);
@@ -36,10 +44,8 @@ internal string Declaration(Program program)
 
     internal string Code(Program program, Target target)
     {
-        _declarations.Clear();
-        _commands.Clear();
-        Populate();
         var robot = program.RobotSystem;
+        Init(robot);
 
         if (_commands.TryGetValue(robot.Manufacturer, out var command))
             return command(robot, target);

src/Robots/Commands/Custom.cs

@@ -1,4 +1,5 @@
-namespace Robots.Commands;
+
+namespace Robots.Commands;
 
 public class Custom : Command
 {

src/Robots/PostProcessors/IgusPostProcessor.cs

@@ -1,6 +1,6 @@
 using static System.Math;
+
 namespace Robots;
-using System.Linq;
 
 class IgusPostProcessor : IPostProcessor
 {
@@ -19,7 +19,6 @@ class PostInstance
 
         public PostInstance(SystemIgus system, Program program)
         {
-
             _system = system;
             _program = program;
             bool isMultiProgram = _program.MultiFileIndices.Count > 1;
@@ -42,8 +41,8 @@ public PostInstance(SystemIgus system, Program program)
                     groupCode.Add(SubModule(j));
                 }
             }
-            Code = [groupCode];
 
+            Code = [groupCode];
         }
 
         List<string> MainModule()
@@ -55,12 +54,11 @@ List<string> MainModule()
             code.Add("<Program>");
             code.Add(" <Header RobotName=\"igus REBEL-6DOF\" RobotType=\"igus-REBEL/REBEL-6DOF-01\" " +
                 $"GripperType=\"{ToolName()}.xml\" Software=\"\" VelocitySetting=\"0\" />");
-            //_program.
+
             if (is_multiProgram)
             {
                 for (int i = 0; i < _program.MultiFileIndices.Count; i++)
                     code.Add($"<Sub Nr=\"{i + 1}\" File=\"{_program.Name}_{i + 1}.xml\" Descr=\"\" />");
-
             }
             else
             {
@@ -74,19 +72,26 @@ List<string> MainModule()
 
         List<string> SubModule(int index)
         {
-            var code = new List<string>
-            {
+            List<string> code =
+            [
                 "<?xml version=\"1.0\" encoding=\"utf-8\"?>",
                 "<Program>",
                 "<Header RobotName=\"igus REBEL-6DOF\" RobotType=\"igus-REBEL/REBEL-6DOF-01\" " +
                 $"GripperType=\"{ToolName()}.xml\" Software=\"\" VelocitySetting=\"0\" />"
-            };
+            ];
+
             if (index == 0)
+            {
                 code.AddRange(TargetsCode(0, _program.MultiFileIndices[index + 1]));
+            }
             else if (index == _program.MultiFileIndices.Count - 1)
+            {
                 code.AddRange(TargetsCode(_program.MultiFileIndices.Last(), _program.Targets.Count));
+            }
             else
+            {
                 code.AddRange(TargetsCode(_program.MultiFileIndices[index], _program.MultiFileIndices[index + 1]));
+            }
 
             code.Add("</Program>");
 
@@ -97,31 +102,32 @@ string ToolName()
         {
             var attributes = _program.Attributes;
             var toolsNames = new List<string>();
+
             foreach (var tool in attributes.OfType<Tool>().Where(t => !t.UseController))
             {
                 if (toolsNames.Count == 0)
                     toolsNames.Add(tool.Name);
             }
 
-            if (toolsNames.Count == 0)
-                return "";
-            else
-                return toolsNames[0];//We are only allowed to have a single tool
+            return toolsNames.Count switch
+            {
+                0 => "",
+                _ => toolsNames[0] //We are only allowed to have a single tool
+            };
         }
 
         List<string> TargetsCode(int startIndex, int endIndex)
         {
-
-            var instructions = new List<string>();
+            List<string> instructions = [];
             int lineCounter = 1;
 
             for (int group = 0; group < _system.MechanicalGroups.Count; group++)
             {
                 for (int j = startIndex; j < endIndex; j++)
                 {
-
                     var programTarget = _program.Targets[j].ProgramTargets[group];
                     var target = programTarget.Target;
+
                     if (j == 0)
                     {
                         foreach (var command in _program.InitCommands)
@@ -133,6 +139,7 @@ List<string> TargetsCode(int startIndex, int endIndex)
                     }
 
                     string moveText = "";
+
                     if (_system.MechanicalGroups[group].Externals.Count > 0)
                     {
                         _program.Warnings.Add("External axes not implemented in Staubli.");
@@ -188,6 +195,15 @@ List<string> TargetsCode(int startIndex, int endIndex)
 
                         }
                     }
+
+                    foreach(var command in programTarget.Commands)
+                    {
+                        var declaration = command.Declaration(_program);
+
+                        if (!string.IsNullOrWhiteSpace(declaration))
+                            throw new NotImplementedException("Declaration of a command is not implemented for Igus robots.");
+                    }
+
                     foreach (var command in programTarget.Commands.Where(c => c.RunBefore))
                     {
                         var instructionsStr = AddNumber(command.Code(_program, target), lineCounter);
@@ -206,6 +222,7 @@ List<string> TargetsCode(int startIndex, int endIndex)
                     }
                 }
             }
+
             return instructions;
         }
 
@@ -223,9 +240,7 @@ string AddNumber(string input, int number)
             {
                 _program.Errors.Add("Error at add_number function!");
                 return "Error at add_number function";
-
             }
         }
-
     }
 }

src/Robots/Remotes/URRealTime.cs

@@ -1,4 +1,4 @@
-using System.Net;
+using System.Net;
 using System.Net.Sockets;
 using System.Text;
 
@@ -84,7 +84,7 @@ void UpdateBuffer()
         using var client = GetClient();
         var stream = client.GetStream();
 
-        stream.Read(_buffer, 0, _bufferLength);
+        _ = stream.Read(_buffer, 0, _bufferLength);
         Array.Reverse(_buffer);
     }
 

src/Robots/RobotArms/RobotIgus.cs

@@ -14,8 +14,10 @@ internal RobotIgus(string model, double payload, Plane basePlane, Mesh baseMesh,
     public override double DegreeToRadian(double degree, int i)
     {
         double radian = degree.ToRadians();
+
         if (i == 1 || i == 2)
             radian -= HalfPI;
+
         radian = -radian;
         return radian;
     }
@@ -24,8 +26,10 @@ public override double RadianToDegree(double radian, int i)
     {
         if (i != 0 && i != 5)
             radian = -radian;
+
         if (i == 1 || i == 2)
             radian += HalfPI;
+
         return radian.ToDegrees();
     }
 

src/Robots/RobotSystems/SystemIgus.cs

@@ -56,30 +56,25 @@ internal override void SaveCode(IProgram program, string folder)
 
         for (int i = 0; i < program.Code.Count; i++)
         {
-
             if (!multiProgram)
             {
                 string filePath = Path.Combine(folder, $"{program.Name}.xml");
                 var code = program.Code[i][0];
                 var joinedCode = string.Join("\r\n", code);
                 File.WriteAllText(filePath, joinedCode);
-
             }
             else
             {
                 for (int j = 0; j < program.Code[i].Count; j++)
                 {
-                    string filePath;
-                    if (j == 0)
-                        filePath = Path.Combine(folder, $"{program.Name}.xml");
-                    else
-                        filePath = Path.Combine(folder, $"{program.Name}_{j:000}.xml");
+                    string filePath = j == 0
+                        ? Path.Combine(folder, $"{program.Name}.xml")
+                        : Path.Combine(folder, $"{program.Name}_{j:000}.xml");
+
                     var joinedCode = string.Join("\r\n", program.Code[i][j]);
                     File.WriteAllText(filePath, joinedCode);
                 }
             }
         }
-
     }
-
 }

tests/Robots.Tests/ABBTests.cs

@@ -21,7 +21,7 @@ public ABBTests()
         var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
         var toolpath = new SimpleToolpath() { targetA, targetB };
 
-        _program = new Program("TestProgram", robot, new[] { toolpath });
+        _program = new Program("TestProgram", robot, [toolpath]);
     }
 
     [Test]

tests/Robots.Tests/Performance.cs

@@ -52,14 +52,15 @@ void PerfTestAbb()
 
         Log("Toolpath");
 
-        var program = new Program("TestProgram", robot, new[] { toolpath }, stepSize: 0.02);
+        var program = new Program("TestProgram", robot, [toolpath], stepSize: 0.02);
 
         Log("Program"); // 486
 
         double expected = 3.7851345985264309;
         Debug.Assert(program.Duration == expected, "Test failed");
     }
 
+#pragma warning disable IDE0051
     void PerfTestUR()
     {
         _watch.Restart();
@@ -79,7 +80,7 @@ void PerfTestUR()
 
         Log("Toolpath");
 
-        var program = new Program("URTest", robot, new[] { toolpath }, stepSize: 0.01);
+        var program = new Program("URTest", robot, [toolpath], stepSize: 0.01);
 
         Log("Program");
 

tests/Robots.Tests/URTests.cs

@@ -21,7 +21,7 @@ public URTests()
         var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
         var toolpath = new SimpleToolpath() { targetA, targetB };
 
-        _program = new Program("URTest", robot, new[] { toolpath });
+        _program = new Program("URTest", robot, [toolpath]);
     }
 
     [Test]