Read joint values in CSV format and plot it within AdskF360. CSV file needs to be placed next to the F360 binary files

F360Script

// Generic CXX
#include <thread>
#include <chrono>
#include <iostream>
#include <map>
#include <algorithm>
#include <vector>

#include <iterator>
#include <fstream>
#include <sstream>
#include <string>


// F360 API
#include <Core/CoreAll.h>
#include <Fusion/FusionAll.h>
#include <CAM/CAMAll.h>
#include <Fusion/Components/RevoluteJointMotion.h>
#include <Fusion/Components/CylindricalJointMotion.h>
#include <Fusion/Components/Component.h>

using namespace adsk::core;
using namespace adsk::fusion;
using namespace adsk::cam;

///////////////
// CSV CLASS //
///////////////
class CSVRow
{
public:
	std::string const& operator[](std::size_t __index) const
	{
		return m_data__[__index];
	}

	std::size_t size() const
	{
		return m_data__.size();
	}

	void readNextRow(std::istream& __str)
	{
		std::string line;
		std::getline(__str, line);

		std::stringstream lineStream(line);
		std::string cell;

		m_data__.clear();
		// CHOOSE YOUR DELIMITER HERE
		while (std::getline(lineStream, cell, ','))
		{
			m_data__.push_back(cell);
		}

		// This checks for a trailing comma with no data after it.
		if (!lineStream && cell.empty())
		{
			// If there was a trailing comma then add an empty element.
			m_data__.push_back("");
		}
	}
private:
	std::vector<std::string> m_data__;
};

std::istream& operator>>(std::istream& str, CSVRow& data)
{
	data.readNextRow(str);
	return str;
}
///////////////////
// END CSV CLASS //
///////////////////

Ptr<Application> app;
Ptr<UserInterface> ui;

extern "C" XI_EXPORT bool run(const char* context)
{
	// F360 stuff
	app = Application::get();
	if (!app)
		return false;

	ui = app->userInterface();
	if (!ui)
		return false;

	Ptr<Product> product = app->activeProduct();
	if (!product)
		return false;

	Ptr<Design> design = product;
	if (!design)
		return false;

	// Get the root component of the active design
	Ptr<Component> rootComp = design->rootComponent();
	if (!rootComp)
		return false;

	Ptr<Joints> joints = rootComp->joints();
	if (!joints)
		return false;

	/*
	 * DESIGN DEPENDANT CODE
	 * 
	 * Name joints, and get them here by type
	 */
	// Get Revolute joints by Id
	Ptr<RevoluteJointMotion> theta1 = joints->itemByName("theta1")->jointMotion();
	if (!theta1)
		return false;
	Ptr<RevoluteJointMotion> theta3 = joints->itemByName("theta3")->jointMotion();
	if (!theta3)
		return false;
	Ptr<RevoluteJointMotion> theta5 = joints->itemByName("theta5")->jointMotion();
	if (!theta5)
		return false;

	// Get Cylindrical joints by Id
	Ptr<CylindricalJointMotion> theta2 = joints->itemByName("theta2")->jointMotion();
	if (!theta2)
		return false;
	Ptr<CylindricalJointMotion> theta4 = joints->itemByName("theta4")->jointMotion();
	if (!theta4)
		return false;

	/* CSV File config
	 *
	 * I don't know how to pass absolute paths in windows!
	 * Solution: you need to find where the F360 binaries (the one executing the program) are
	 * and paste your file there
	 * 
	 * Here is where you customize the filename
	 */
	std::string filename("solutions.txt");
	std::ifstream file(filename.c_str());
	std::string textFile = "Visualize solutions from file: " + filename;
	ui->messageBox(textFile);

	// Variables to hold the values
	std::vector<double> theta1_R, theta2_R, theta2_S, theta3_R, theta4_R, theta4_S, theta5_R;
	
	// Column mapping to values
	int theta1_R_col = 0;
	int theta2_R_col = 1;
	int theta2_S_col = 2;
	int theta3_R_col = 3;
	int theta4_R_col = 4;
	int theta4_S_col = 5;
	int theta5_R_col = 6;

	// Flag to avoid header or not... set to false if file does not have header
	bool is_first_row = true;

	// CSV parsing
	CSVRow row;
	while (file >> row)
	{
		/* Debug code, in case you want see what you are reading from the file
		std::string text1 = "Row 1st column: " + row[0];
		ui->messageBox(text1);
		std::string text2 = "Row 2st column: " + row[1];
		ui->messageBox(text2);
		std::string text4 = "Row 3st column: " + row[2];
		ui->messageBox(text4);
		std::string text3 = "Row 4st column: " + row[3];
		ui->messageBox(text3);
		std::string text5 = "Row 5st column: " + row[4];
		ui->messageBox(text5);
		std::string text6 = "Row 6st column: " + row[5];
		ui->messageBox(text6);
		std::string text7 = "Row 7st column: " + row[6];
		ui->messageBox(text7);*/
	
		if (is_first_row)
		{
			std::cout << "Skipping header row, do nothing.." << std::endl;
			is_first_row = false;
		}
		else
		{
			// This order depends on the header.. the mapping is defined above
			double value;

			std::stringstream theta1_str(row[theta1_R_col]);
			theta1_str >> value;
			theta1_R.push_back(value);

			std::stringstream theta2_str(row[theta2_R_col]);
			theta2_str >> value;
			theta2_R.push_back(value);

			std::stringstream theta2s_str(row[theta2_S_col]);
			theta2s_str >> value;
			theta2_S.push_back(value);

			std::stringstream theta3_str(row[theta3_R_col]);
			theta3_str >> value;
			theta3_R.push_back(value);

			std::stringstream theta4_str(row[theta4_R_col]);
			theta4_str >> value;
			theta4_R.push_back(value);

			std::stringstream theta4s_str(row[theta4_S_col]);
			theta4s_str >> value;
			theta4_S.push_back(value);

			std::stringstream theta5_str(row[theta5_R_col]);
			theta5_str >> value;
			theta5_R.push_back(value);
		}
	}

	// Moving the joints
	int n_solutions = theta1_R.size();
	double deg_to_rad = 3.141592 / 180.0;
	for (int i = 0; i < n_solutions; i++)
	{
		theta1->rotationValue(theta1_R[i]*deg_to_rad);
		theta2->rotationValue(theta2_R[i]*deg_to_rad);
		theta2->slideValue(theta2_S[i]/10.0);
		theta3->rotationValue(theta3_R[i]*deg_to_rad);
		theta4->rotationValue(theta4_R[i]*deg_to_rad);
		theta4->slideValue(theta4_S[i]/10.0);
		theta5->rotationValue(theta5_R[i]*deg_to_rad);
		std::string text = "Showing solution " + std::to_string(i + 1) + " / " + std::to_string(n_solutions);
		ui->messageBox(text);
	}

	return true;
}

// Added by F360

#ifdef XI_WIN

#include <windows.h>

BOOL APIENTRY DllMain(HMODULE hmodule, DWORD reason, LPVOID reserved)
{
	switch (reason)
	{
	case DLL_PROCESS_ATTACH:
	case DLL_THREAD_ATTACH:
	case DLL_THREAD_DETACH:
	case DLL_PROCESS_DETACH:
		break;
	}
	return TRUE;
}

#endif // XI_WIN