From b17a9f0bc606760fba4ea13a95451a63363d0905 Mon Sep 17 00:00:00 2001
From: Kevin Harrington <mad.hephaestus@gmail.com>
Date: Tue, 29 Mar 2022 13:59:26 -0400
Subject: [PATCH] connect the mobile base before generating cad

---
 .../bowlerstudio/BowlerKernel.java            | 31 ++++++++++---------
 .../creature/MobileBaseCadManager.java        | 16 ++++++++--
 2 files changed, 30 insertions(+), 17 deletions(-)

diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/BowlerKernel.java b/src/main/java/com/neuronrobotics/bowlerstudio/BowlerKernel.java
index 97dfc82d..c589eda5 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/BowlerKernel.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/BowlerKernel.java
@@ -32,6 +32,7 @@
 import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
 
 import eu.mihosoft.vrl.v3d.CSG;
+import eu.mihosoft.vrl.v3d.ICSGProgress;
 import eu.mihosoft.vrl.v3d.JavaFXInitializer;
 import marytts.signalproc.effects.LpcWhisperiserEffect;
 import marytts.signalproc.effects.RobotiserEffect;
@@ -41,7 +42,7 @@
 
 public class BowlerKernel {
 
-	private static final String CSG = null;
+	//private static final String CSG = null;
 	private static File historyFile = new File(ScriptingEngine.getWorkspace().getAbsolutePath() + "/bowler.history");
 
 	static {
@@ -298,6 +299,15 @@ public void run() {
 
 	}
 	private static void processReturnedObjects(Object ret) {
+		CSG.setProgressMoniter(new ICSGProgress() {
+			@Override
+			public void progressUpdate(int currentIndex, int finalIndex, String type,
+					eu.mihosoft.vrl.v3d.CSG intermediateShape) {
+	
+			}
+			
+		});
+		
 		ArrayList<CSG> csgBits = new ArrayList<>();
 		processReturnedObjects(ret,csgBits);
 		try {
@@ -318,20 +328,13 @@ private static void processReturnedObjects(Object ret, ArrayList<CSG> csgBits) {
 			csgBits.add((CSG)ret);
 		}
 		if(MobileBase.class.isInstance(ret)) {
-			MobileBaseCadManager m=MobileBaseCadManager.get((MobileBase)ret);
+			
+			MobileBase ret2 = (MobileBase)ret;
+			ret2.connect();
+			MobileBaseCadManager m=MobileBaseCadManager.get(ret2);
 			m.setConfigurationViewerMode(false);
-			m.generateCad();
-			while(m.getProcesIndictor().get()<1) {
-				try {
-					Thread.sleep(200);
-				} catch (InterruptedException e) {
-					// TODO Auto-generated catch block
-					e.printStackTrace();
-				}
-				System.out.println("Building cad "+(m.getProcesIndictor().get()*100)+"%");
-				
-			}
-			processReturnedObjects(m.getAllCad(),csgBits);
+			ArrayList<CSG> generateBody = m.generateBody();
+			processReturnedObjects(generateBody,csgBits);
 		}
 		
 				
diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/creature/MobileBaseCadManager.java b/src/main/java/com/neuronrobotics/bowlerstudio/creature/MobileBaseCadManager.java
index e1a61c93..c8dfdef1 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/creature/MobileBaseCadManager.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/creature/MobileBaseCadManager.java
@@ -374,8 +374,12 @@ private static File resetConfigurationScript()
 		cadEngineConfiguration = (ICadGenerator) ScriptingEngine.inlineFileScriptRun(confFile, null);
 		return confFile;
 	}
-
+	public ArrayList<CSG> generateBody() {
+		return generateBody(getMobileBase());
+	}
 	public ArrayList<CSG> generateBody(MobileBase base) {
+		if(base.isAvailable())
+			throw new RuntimeException("Device "+base.getScriptingName()+" is not connected, can not generate cad");
 
 		getProcesIndictor().set(0);
 		setAllCad(new ArrayList<>());
@@ -830,7 +834,7 @@ public void run() {
 				} catch (Exception e) {
 					getUi().highlightException(getCadScript(), e);
 				}
-				// System.out.print("\r\nDone Generating CAD!\r\n");
+				
 				if (master != null) {
 					for (int i = 0; i < allCad.size(); i++)
 						master.allCad.add(allCad.get(i));
@@ -838,7 +842,13 @@ public void run() {
 				} else
 					getUi().setCsg(MobileBaseCadManager.get(base), getCadScript());
 				cadGenerating = false;
-				System.out.print("\r\nDone Generating CAD!\r\n");
+				System.out.print("\r\nDone Generating CAD! num parts: "+allCad.size()+"\r\n");
+				try {
+					Thread.sleep(100);
+				} catch (InterruptedException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
 				getProcesIndictor().set(1);
 				// System.gc();
 			}