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Jan Koniarik
schpin-robot
Commits
723c7498
Commit
723c7498
authored
Apr 13, 2021
by
Jan Koniarik
Browse files
chagnes due to schpin-lib updated and split package export into package/extras
parent
9f04e645
Pipeline
#80048
passed with stage
in 10 minutes and 50 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
schpin_koke/src/Main.hs
View file @
723c7498
...
...
@@ -269,5 +269,7 @@ koke conf_type = Walker
legs
=
(`
leg
`
conf_type
)
<$>
[
RR
,
RL
,
FR
,
FL
]
main
::
IO
()
main
=
exportPackage
koke
main
=
do
exportPackage
koke
exportExtras
koke
schpin_koke/src/Package.hs
View file @
723c7498
...
...
@@ -17,26 +17,45 @@ import Walker.URDF
data
ConfType
=
Default
|
Folded
|
Expanded
deriving
(
Show
,
Eq
);
exportPackage
::
(
ConfType
->
SimpleWalker
)
->
IO
()
exportPackage
w
=
do
kokePackageConfig
::
String
->
PackageConfig
kokePackageConfig
cwd
=
PackageConfig
{
pkg_name
=
"schpin_koke"
,
scad_dir
=
cwd
++
"/out/tmp/scad"
,
pkg_dir
=
cwd
++
"/out/pkg/schpin_koke"
,
src_dir
=
cwd
++
"/src/scad"
,
urdf_subdir
=
"/src/"
,
srdf_subdir
=
"/src/"
}
exportExtras
::
(
ConfType
->
SimpleWalker
)
->
IO
()
exportExtras
w
=
do
cwd
<-
getCurrentDirectory
let
ew
=
ewalker
cwd
Default
let
conf
=
config
cwd
let
conf
=
kokePackageConfig
cwd
let
ew
=
ewalker
conf
Default
mapM_
(
uncurry
renderSCAD
)
$
[
(
cwd
++
"/out/gen/skeleton/default.scad"
,
getSCADVisualSkeleton
ew
)
,
(
cwd
++
"/out/gen/skeleton/default_col.scad"
,
getSCADCollisionSkeleton
ew
)
,
(
cwd
++
"/out/gen/skeleton/folded.scad"
,
getSCADVisualSkeleton
(
ewalker
c
wd
Folded
)
,
getSCADVisualSkeleton
(
ewalker
c
onf
Folded
)
)
,
(
cwd
++
"/out/gen/skeleton/expanded.scad"
,
getSCADVisualSkeleton
(
ewalker
c
wd
Expanded
)
,
getSCADVisualSkeleton
(
ewalker
c
onf
Expanded
)
)
]
generateBOM
(
ew
)
(
config
cwd
)
generatePrint
(
ew
)
(
config
cwd
)
generateBOM
(
ew
)
(
conf
)
generatePrint
(
ew
)
(
conf
)
where
ewalker
conf
conf_type
=
runReader
(
extendWalker
$
w
conf_type
)
$
conf
exportPackage
::
(
ConfType
->
SimpleWalker
)
->
IO
()
exportPackage
w
=
do
cwd
<-
getCurrentDirectory
let
conf
=
kokePackageConfig
cwd
let
ew
=
ewalker
conf
Default
generateWalkerPackage
(
w
Default
)
conf
createDirectoryIfMissing
False
(
pkg_dir
conf
++
"/launch"
)
...
...
@@ -52,11 +71,5 @@ exportPackage w = do
copyFile
"general/package.xml"
(
pkg_dir
conf
++
"/package.xml"
)
where
ewalker
cwd
conf_type
=
runReader
(
extendWalker
$
w
conf_type
)
$
config
cwd
config
cwd
=
PackageConfig
{
pkg_name
=
"schpin_koke"
,
scad_dir
=
cwd
++
"/out/tmp/scad"
,
pkg_dir
=
cwd
++
"/out/pkg/schpin_koke"
,
src_dir
=
cwd
++
"/src/scad"
}
ewalker
conf
conf_type
=
runReader
(
extendWalker
$
w
conf_type
)
$
conf
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