use list input for better performance

Blank mxA component
Up -> 1.6.5

Properties/AssemblyInfo.cs

@@ -14,7 +14,7 @@
 #endif
 [assembly: AssemblyCompany("Yu Chieh (Victor) Lin")]
 [assembly: AssemblyProduct("RobotsExtended")]
-[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyCopyright("Copyright ©  2023")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
@@ -36,7 +36,7 @@
 // You can specify all the values or you can default the Build and Revision Numbers 
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.6.1")]
+[assembly: AssemblyVersion("1.6.5")]
 #pragma warning disable CS7035 // The specified version string does not conform to the recommended format - major.minor.build.revision
-[assembly: AssemblyFileVersion("1.6.1")]
+[assembly: AssemblyFileVersion("1.6.5")]
 #pragma warning restore CS7035 // The specified version string does not conform to the recommended format - major.minor.build.revision

RobotsExtended.csproj

@@ -47,6 +47,7 @@
     </Compile>
     <Compile Include="RobotsExtendedInfo.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="src\Kuka\MxAutomation.cs" />
     <Compile Include="src\Util\RenderColour.cs" />
     <Compile Include="src\Util\RotateEuler.cs" />
     <Compile Include="src\Util\UpdateFrame.cs" />
@@ -90,25 +91,32 @@
   <ItemGroup>
     <Reference Include="Eto, Version=2.6.0.0, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
       <HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\Eto.dll</HintPath>
+      <Private>False</Private>
     </Reference>
     <Reference Include="GH_IO, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=6a29997d2e6b4f97, processorArchitecture=MSIL">
       <HintPath>packages\Grasshopper.7.14.22010.17001\lib\net48\GH_IO.dll</HintPath>
+      <Private>False</Private>
     </Reference>
     <Reference Include="Grasshopper, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=dda4f5ec2cd80803, processorArchitecture=MSIL">
       <HintPath>packages\Grasshopper.7.14.22010.17001\lib\net48\Grasshopper.dll</HintPath>
+      <Private>False</Private>
     </Reference>
     <Reference Include="Microsoft.CSharp" />
     <Reference Include="Rhino.UI, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
       <HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\Rhino.UI.dll</HintPath>
+      <Private>False</Private>
     </Reference>
     <Reference Include="RhinoCommon, Version=7.14.22010.17000, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
       <HintPath>packages\RhinoCommon.7.14.22010.17001\lib\net48\RhinoCommon.dll</HintPath>
+      <Private>False</Private>
     </Reference>
-    <Reference Include="Robots, Version=1.6.1.0, Culture=neutral, processorArchitecture=MSIL">
-      <HintPath>packages\Robots.Rhino.1.6.1\lib\net48\Robots.dll</HintPath>
+    <Reference Include="Robots, Version=1.6.5.0, Culture=neutral, processorArchitecture=MSIL">
+      <HintPath>packages\Robots.Rhino.1.6.5\lib\net48\Robots.dll</HintPath>
+      <Private>False</Private>
     </Reference>
-    <Reference Include="Robots.Grasshopper, Version=1.6.1.0, Culture=neutral, processorArchitecture=MSIL">
-      <HintPath>packages\Robots.Rhino.1.6.1\lib\net48\Robots.Grasshopper.dll</HintPath>
+    <Reference Include="Robots.Grasshopper, Version=1.6.5.0, Culture=neutral, processorArchitecture=MSIL">
+      <HintPath>packages\Robots.Rhino.1.6.5\lib\net48\Robots.Grasshopper.dll</HintPath>
+      <Private>False</Private>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Drawing" />
@@ -131,8 +139,8 @@ Erase "$(TargetPath)"
 if $(ConfigurationName) == Release (
  del /Q "$(TargetDir)*.config"
  del /Q "$(TargetDir)*.pdb"
-)
-rmdir /S /Q "$(TargetDir)\..\obj"</PostBuildEvent>
+ rmdir /S /Q "$(TargetDir)\..\obj"
+)</PostBuildEvent>
   </PropertyGroup>
   <PropertyGroup>
     <FallbackCulture>en-US</FallbackCulture>

packages.config

@@ -2,5 +2,5 @@
 <packages>
   <package id="Grasshopper" version="7.14.22010.17001" targetFramework="net48" />
   <package id="RhinoCommon" version="7.14.22010.17001" targetFramework="net48" />
-  <package id="Robots.Rhino" version="1.6.1" targetFramework="net48" />
+  <package id="Robots.Rhino" version="1.6.5" targetFramework="net48" />
 </packages>

src/Kuka/CVEL.cs

@@ -12,7 +12,7 @@ public class CVEL : GH_Component
     {
         public CVEL()
           : base("Speed Approximation", "CVEL",
-              "Commands the robot to maintain defined speed percentage by zoning (Custom Command)",
+              "Commands the robot to maintain defined speed percentage by zoning (Custom Command)\r\nShould be the first command if in a command group",
               "Robots", "Commands")
         { }
         public override GH_Exposure Exposure => GH_Exposure.secondary;

src/Kuka/MergeKRL.cs

@@ -172,13 +172,14 @@ protected override void SolveInstance(IGH_DataAccess DA)
         bool IGH_VariableParameterComponent.CanRemoveParameter(GH_ParameterSide side, int index) => false;
         IGH_Param IGH_VariableParameterComponent.CreateParameter(GH_ParameterSide side, int index) => null;
         bool IGH_VariableParameterComponent.DestroyParameter(GH_ParameterSide side, int index) => false;
-        void IGH_VariableParameterComponent.VariableParameterMaintenance() { }
+        void IGH_VariableParameterComponent.VariableParameterMaintenance() {}
         bool save = false;
         bool fold = false;
         readonly Param_String param = new Param_String { Name = "Directory", NickName = "P", Description = "Specify Path where file will be saved\nIf not specified, will try to save to Desktop", Optional = true };
         readonly Param_Boolean param2 = new Param_Boolean { Name = "Save", NickName = "S", Description = "Button or toggle to specify saving", Optional = false };
         private void SaveInputs(object sender, EventArgs e)
         {
+            RecordUndoEvent("Enable/disable Save param");
             save = !save;
             if (save)
             {

src/Kuka/MxAutomation.cs

@@ -0,0 +1,33 @@
+using Grasshopper.Kernel;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobotsExtended.Kuka
+{
+    public class MxAutomation : GH_Component
+    {
+        public MxAutomation() : base("mxAutomation","KUKA.mxA","KUKA mxAutomation. [Requires mxA package]", "Robots", "Components") { }
+        public override GH_Exposure Exposure => GH_Exposure.senary; //| GH_Exposure.obscure;
+        protected override Bitmap Icon => Properties.Resources.KukaVarProxyConnect;
+        public override Guid ComponentGuid => new Guid("{30263A03-866C-4BBF-A90A-5C3F0DC62926}");
+
+        protected override void RegisterInputParams(GH_InputParamManager pManager)
+        {
+            pManager.AddTextParameter("", "IP", "IP Address of the controller to communicate with", GH_ParamAccess.item);
+
+        }
+
+        protected override void RegisterOutputParams(GH_OutputParamManager pManager)
+        {
+        }
+
+        protected override void SolveInstance(IGH_DataAccess DA)
+        {
+            // TO BE IMPLEMENTED
+        }
+    }
+}

src/Util/DefineJoints.cs

@@ -85,6 +85,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
         }
         private void ChangeInput(object sender, EventArgs e)
         {
+            RecordUndoEvent("Toggle params");
             external = !external;
             if (external)
             {
@@ -142,7 +143,7 @@ void IGH_VariableParameterComponent.VariableParameterMaintenance() { }
         };
         readonly int[,] limits = new int[2, 6]
         {
-            {-185,-35,-120,-68,-119,-350},
+            {-185,-35,-68,-185,-119,-350},
             { 185, 135, 210, 185, 119, 350},
         };
     }

src/Util/RotateEuler.cs

@@ -6,6 +6,7 @@
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using static Rhino.Render.Dithering;
 
 namespace RobotsExtended.Util
 {
@@ -17,62 +18,59 @@ public RotateEuler() : base("Rotate Euler", "RotEuler", "Rotate an object with (
 
         protected override void RegisterInputParams(GH_InputParamManager pManager)
         {
-            pManager.AddGeometryParameter("Geometry", "Geo", "Geometry or plane to rotate", GH_ParamAccess.item);
-            pManager.AddPlaneParameter("Rotation Plane", "Pln", "Plane to use for center or rotation", GH_ParamAccess.item);
-            pManager.AddNumberParameter("Z-Axis", "A", "Degree of rotation on Z-Axis", GH_ParamAccess.item);
-            pManager.AddNumberParameter("Y-Axis", "B", "Degree of rotation on Y-Axis", GH_ParamAccess.item);
-            pManager.AddNumberParameter("X-Axis", "C", "Degree of rotation on X-Axis", GH_ParamAccess.item);
+            // Switched to list input for better performance
+            pManager.AddGeometryParameter("Geometry", "Geo", "Geometry or plane to rotate", GH_ParamAccess.list);
+            pManager.AddPlaneParameter("Rotation Plane", "Pln", "Plane to use for center or rotation", GH_ParamAccess.list);
+            pManager.AddNumberParameter("Z-Axis", "A", "Degree of rotation on Z-Axis", GH_ParamAccess.list);
+            pManager.AddNumberParameter("Y-Axis", "B", "Degree of rotation on Y-Axis", GH_ParamAccess.list);
+            pManager.AddNumberParameter("X-Axis", "C", "Degree of rotation on X-Axis", GH_ParamAccess.list);
             pManager[0].Optional = true;
-            pManager[1].Optional = true;
             pManager[2].Optional = true;
             pManager[3].Optional = true;
             pManager[4].Optional = true;
         }
 
         protected override void RegisterOutputParams(GH_OutputParamManager pManager)
         {
-            pManager.AddGeometryParameter("Geometry", "G", "Rotated geometry", GH_ParamAccess.item);
-            pManager.AddTransformParameter("Transform", "X", "Transformation data", GH_ParamAccess.item);
+            pManager.AddGeometryParameter("Geometry", "G", "Rotated geometry", GH_ParamAccess.list);
+            pManager.AddTransformParameter("Transform", "X", "Transformation data", GH_ParamAccess.list);
         }
 
         protected override void SolveInstance(IGH_DataAccess DA)
         {
-            IGH_GeometricGoo geo = null;
-            Plane pln = Plane.Unset;
-            double a = 0, b = 0, c = 0;
-            DA.GetData(0, ref geo);
-            DA.GetData(1, ref pln);
-            DA.GetData(2, ref a);
-            DA.GetData(3, ref b);
-            DA.GetData(4, ref c);
-            if (geo != null)
-                geo = geo.DuplicateGeometry();
-            if (pln == Plane.Unset && geo is GH_Plane p)
-            {
-                GH_Convert.ToPlane(p, ref pln, GH_Conversion.Both);
-            }
-            else if (geo == null && pln != Plane.Unset)
-            {
-                geo = GH_Convert.ToGeometricGoo(pln);
-            }
-            else if (pln == Plane.Unset || geo == null)
-            {
-                string e;
-                if (pln == Plane.Unset)
-                    e = Grasshopper.CentralSettings.CanvasFullNames ? Params.Input[1].Name : Params.Input[1].NickName;
-                else
-                    e = Grasshopper.CentralSettings.CanvasFullNames ? Params.Input[0].Name : Params.Input[0].NickName;
-                AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, $"Input parameter {e} failed to collect data");
-                return;
-            }
+            List<IGH_GeometricGoo> geo = new List<IGH_GeometricGoo>();
+            List<Plane> pln = new List<Plane>();
+            List<double>[] ro = new List<double>[3] { new List<double>(), new List<double>(), new List<double>() };
+
+            DA.GetDataList(0, geo);
+            DA.GetDataList(1, pln);
+            DA.GetDataList(2, ro[0]);
+            DA.GetDataList(3, ro[1]);
+            DA.GetDataList(4, ro[2]);
+
+            for (int i = 0; i < geo.Count; i++) 
+                geo[i] = geo[i].DuplicateGeometry();
+            if (geo.Count == 0 && pln.Count > 0)
+                geo.AddRange(pln.Select(p=> GH_Convert.ToGeometricGoo(p)));
+            for(int i = 0; i < ro.Length; i++)
+                if (!ro[i].Any())
+                    ro[i].Add(0);
 
+            List<Transform> transforms = new List<Transform>();
             double r = Math.PI / 180;
-            Transform x = Transform.Rotation(a * r, pln.ZAxis, pln.Origin);
-            x *= Transform.Rotation(b * r, pln.YAxis, pln.Origin);
-            x *= Transform.Rotation(c * r, pln.XAxis, pln.Origin);
+            for (int i = 0; i < pln.Count; i++)
+            {
+                if (i > geo.Count) break;
+                Transform x = Transform.Rotation(ro[0][Math.Min(i, ro[0].Count-1)] * r, pln[i].ZAxis, pln[i].Origin);
+                x *= Transform.Rotation(ro[1][Math.Min(i, ro[1].Count - 1)] * r, pln[i].YAxis, pln[i].Origin);
+                x *= Transform.Rotation(ro[2][Math.Min(i, ro[2].Count - 1)] * r, pln[i].XAxis, pln[i].Origin);
+                transforms.Add(x);
+                geo[i].Transform(x);
+            }
+
 
-            DA.SetData(0, geo.Transform(x));
-            DA.SetData(1, x);
+            DA.SetDataList(0, geo);
+            DA.SetDataList(1,transforms);
         }
     }