Enable latest analyzers

Directory.Build.props

@@ -2,7 +2,7 @@
 
   <PropertyGroup>
     <Product>Robots</Product>
-    <Version>1.6.5</Version>
+    <Version>1.6.6</Version>
     <Authors>Robots Authors</Authors>
     <Description>Create and simulate ABB, KUKA, UR, and Staubli robot programs.</Description>
     <PackageTags>Robots;ABB;KUKA;UR;Staubli;Robotics</PackageTags>
@@ -21,7 +21,7 @@
     <LangVersion>latest</LangVersion>
     <Nullable>enable</Nullable>
     <ImplicitUsings>enable</ImplicitUsings>
-    <!--<AnalysisLevel>latest</AnalysisLevel>-->
+    <AnalysisLevel>latest</AnalysisLevel>
     <NoWarn>MSB3270</NoWarn>
     <RootDir>$(MSBuildThisFileDirectory)</RootDir>
     <ArtifactsDir>$(RootDir)artifacts\</ArtifactsDir>

RELEASE

@@ -1,3 +1,8 @@
+- version: 1.6.6
+  changes:
+  - Fixed UR pulseDO command
+  - Fixed KUKA custom external
+
 - version: 1.6.5
   changes:
   - Added Orocos KDL solver for Franka Emika (Windows only)

src/Robots.Grasshopper/Goos/GH_Joints.cs

@@ -24,7 +24,7 @@ public override bool CastFrom(object source)
                 {
                     if (string.IsNullOrWhiteSpace(text.Value))
                     {
-                        Value = new double[0];
+                        Value = Array.Empty<double>();
                         return true;
                     }
 

src/Robots.Grasshopper/Obsolete/CreateProgram.cs

@@ -1,9 +1,9 @@
-using Grasshopper.Kernel.Types;
+using Grasshopper.Kernel.Types;
 using Grasshopper.Kernel.Data;
 
 namespace Robots.Grasshopper;
 
-[Obsolete]
+[Obsolete("Replace with the new CreateProgram component")]
 public class CreateProgram : GH_Component
 {
     public CreateProgram() : base("Create program", "Program", "Creates a program, checks for possible issues and fixes common mistakes.", "Robots", "Components") { }

src/Robots.Grasshopper/Obsolete/Custom.cs

@@ -1,9 +1,9 @@
-namespace Robots.Grasshopper.Commands;
+namespace Robots.Grasshopper.Commands;
 
-[Obsolete]
+[Obsolete("Replace with new Custom Command component")]
 public class Custom : GH_Component
 {
-    public Custom() : base(" command", "CustomCmd", "Custom command written in the manufacturer specific language", "Robots", "Commands") { }
+    public Custom() : base("Custom command", "CustomCmd", "Custom command written in the manufacturer specific language", "Robots", "Commands") { }
     public override GH_Exposure Exposure => GH_Exposure.hidden;
     public override bool Obsolete => true;
     public override Guid ComponentGuid => new("{D15B1F9D-B3B9-4105-A365-234C1329B092}");

src/Robots.Grasshopper/Program/Simulation.cs

@@ -6,8 +6,8 @@ public sealed class Simulation : GH_Component
 {
     SimulationForm? _form;
     DateTime? _lastTime;
-    double _time = 0;
-    double _lastInputTime = 0;
+    double _time;
+    double _lastInputTime;
 
     internal double Speed = 1;
 

src/Robots.Grasshopper/RobotSystem/LibraryForm.cs

@@ -1,4 +1,4 @@
-using System.Linq.Expressions;
+using System.Linq.Expressions;
 using System.Diagnostics;
 using Eto.Drawing;
 using Eto.Forms;
@@ -137,15 +137,15 @@ async Task DownloadAsync()
         _grid.DataStore = _grid.DataStore;
     }
 
-    string ItemActions(LibraryItem item) => item switch
+    static string ItemActions(LibraryItem item) => item switch
     {
         { IsDownloaded: true, IsUpdateAvailable: true } => "Update",
         { IsUpdateAvailable: true } => "Install",
         { IsDownloaded: true } => "Remove",
         _ => ""
     };
 
-    GridView Grid() => new()
+    static GridView Grid() => new()
     {
         Size = new Size(300, 300),
         Border = BorderType.None,
@@ -205,7 +205,7 @@ async Task DownloadAsync()
         }
     };
 
-    string Description(LibraryItem item) => item switch
+    static string Description(LibraryItem item) => item switch
     {
         { IsLocal: true, IsDownloaded: true } => "❕📁 Installed, local override",
         { IsLocal: true, IsOnline: true } => "📁 Local, available on-line",
@@ -226,7 +226,7 @@ StackLayout NewDetailButton()
         return detailButton;
     }
 
-    StackLayout NewAsyncButton(Func<Task> actionAsync, string? label = null, bool runOnce = false)
+    static StackLayout NewAsyncButton(Func<Task> actionAsync, string? label = null, bool runOnce = false)
     {
         Button button = new()
         {
@@ -268,4 +268,4 @@ async Task ClickAsync()
             spinner.Enabled = false;
         }
     }
-}
+}

src/Robots.Grasshopper/RobotsInfo.cs

@@ -27,13 +27,13 @@ public RobotsInfo()
     public override string AuthorContact => GetCompany()[1];
     public override Guid Id => new("0c4dd17f-db66-4895-9565-412eb167503f");
 
-    T GetInfo<T>() where T : Attribute
+    static T GetInfo<T>() where T : Attribute
     {
         var assembly = Assembly.GetExecutingAssembly();
         return assembly.GetCustomAttribute<T>();
     }
 
-    string[] GetCompany()
+    static string[] GetCompany()
     {
         var company = GetInfo<AssemblyCompanyAttribute>().Company;
         return company.Split(new[] { " - " }, StringSplitOptions.None);
@@ -90,7 +90,7 @@ void UpdateToLibraryParams(GH_DocumentServer sender, GH_Document doc)
             Rhino.RhinoApp.WriteLine($"Updated {count} robot library value list(s).");
     }
 
-    string GetRobotsPath()
+    static string GetRobotsPath()
     {
         var robotsLib = Instances.ComponentServer.Libraries.FirstOrDefault(l => l.Name == "Robots");
 

src/Robots.Grasshopper/Target/CreateTarget.cs

@@ -1,4 +1,4 @@
-using System.Drawing;
+using System.Drawing;
 using Rhino.Geometry;
 using Grasshopper;
 using Grasshopper.Kernel.Parameters;
@@ -140,7 +140,9 @@ protected override void SolveInstance(IGH_DataAccess DA)
         {
             string motionText = "Joint";
             DA.GetData("Motion", ref motionText);
-            Enum.TryParse(motionText, out motion);
+
+            if (!Enum.TryParse(motionText, out motion))
+                throw new ArgumentException($"Motion {motionText} not valid.");
         }
         else if (sourceTarget is not null)
         {
@@ -216,7 +218,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
         else
         {
             if (joints is null)
-                throw new ArgumentNullException(nameof(joints));
+                throw new ArgumentException("Joints should not be null");
 
             target = new JointTarget(joints, tool, speed, zone, command, frame, external);
         }

src/Robots/Commands/Command.cs

@@ -11,7 +11,7 @@ protected Command(string? name = null) : base(name) { }
 
     protected virtual void ErrorChecking(RobotSystem robotSystem) { }
     protected virtual void Populate() { }
-    public bool RunBefore { get; set; } = false;
+    public bool RunBefore { get; set; }
     internal virtual IEnumerable<Command> Flatten()
     {
         if (this != Default)

src/Robots/Commands/Group.cs

@@ -16,8 +16,8 @@ public Group(IEnumerable<Command> commands) : base("GroupCommand")
     // IList implementation
     public Command this[int index]
     {
-        get { return _commandList[index]; }
-        set { _commandList[index] = value; }
+        get => _commandList[index];
+        set => _commandList[index] = value;
     }
 
     public int IndexOf(Command item) => _commandList.IndexOf(item);

src/Robots/Geometry/CircumcentreSolver.cs

@@ -9,11 +9,9 @@ namespace Robots.Geometry;
 class CircumcentreSolver
 {
     double _x, _y, _z;
-    double _radius;
     readonly double[,] _p = { { 0, 0, 0 }, { 0, 0, 0 }, { 0, 0, 0 }, { 0, 0, 0 } };
 
     internal Point3d Center => new(_x, _y, _z);
-    internal double Radius => _radius;
 
     /// <summary>
     /// Computes the center of a sphere such that all four specified points in
@@ -25,10 +23,10 @@ class CircumcentreSolver
     /// <param name="d">The fourth point (array of 3 doubles for X, Y, Z).</param>
     internal CircumcentreSolver(Point3d pa, Point3d pb, Point3d pc, Point3d pd)
     {
-        double[] a = new double[] { pa.X, pa.Y, pa.Z };
-        double[] b = new double[] { pb.X, pb.Y, pb.Z };
-        double[] c = new double[] { pc.X, pc.Y, pc.Z };
-        double[] d = new double[] { pd.X, pd.Y, pd.Z };
+        double[] a = { pa.X, pa.Y, pa.Z };
+        double[] b = { pb.X, pb.Y, pb.Z };
+        double[] c = { pc.X, pc.Y, pc.Z };
+        double[] d = { pd.X, pd.Y, pd.Z };
         Compute(a, b, c, d);
     }
 
@@ -56,7 +54,7 @@ void Compute(double[] a, double[] b, double[] c, double[] d)
 
     void Sphere()
     {
-        double m11, m12, m13, m14, m15;
+        double m11, m12, m13, m14;
         double[,] a = { { 0, 0, 0, 0 }, { 0, 0, 0, 0 }, { 0, 0, 0, 0 }, { 0, 0, 0, 0 } };
 
         // Find minor 1, 1.
@@ -107,22 +105,19 @@ void Sphere()
             a[i, 2] = _p[i, 1];
             a[i, 3] = _p[i, 2];
         }
-        m15 = Determinant(a, 4);
 
         // Calculate result.
         if (m11 == 0)
         {
             _x = 0;
             _y = 0;
             _z = 0;
-            _radius = 0;
         }
         else
         {
             _x = 0.5 * m12 / m11;
             _y = -0.5 * m13 / m11;
             _z = 0.5 * m14 / m11;
-            _radius = Sqrt(_x * _x + _y * _y + _z * _z - m15 / m11);
         }
     }
 

src/Robots/IO/FileIO.cs

@@ -142,14 +142,14 @@ static RobotSystem CreateRobotSystem(XElement element, Plane basePlane, bool loa
             && (!Enum.TryParse<ElementType>(typeName, out var type)
             || type != ElementType.RobotSystem))
         {
-            throw new ArgumentException($" Element '{typeName}' should be 'RobotSystem'", nameof(typeName));
+            throw new ArgumentException($" Element '{typeName}' should be 'RobotSystem'");
         }
 
         var name = element.GetAttribute("name");
         var manufacturerAttribute = element.GetAttribute("manufacturer");
 
         if (!Enum.TryParse<Manufacturers>(manufacturerAttribute, out var manufacturer))
-            throw new ArgumentException($" Manufacturer '{manufacturerAttribute}' not valid.", nameof(manufacturerAttribute));
+            throw new ArgumentException($" Manufacturer '{manufacturerAttribute}' not valid.");
 
         var mechanicalGroups = new List<MechanicalGroup>();
 
@@ -168,7 +168,7 @@ static RobotSystem CreateRobotSystem(XElement element, Plane basePlane, bool loa
             Manufacturers.FrankaEmika => new SystemFranka(name, (RobotFranka)mechanicalGroups[0].Robot, io, basePlane, environment),
             Manufacturers.Doosan => new SystemDoosan(name, (RobotDoosan)mechanicalGroups[0].Robot, io, basePlane, environment),
 
-            _ => throw new ArgumentException($" Manufacturer '{manufacturer} is not supported.", nameof(manufacturer))
+            _ => throw new ArgumentException($" Manufacturer '{manufacturer} is not supported.")
         };
     }
 
@@ -227,7 +227,7 @@ static Mechanism CreateMechanism(XElement element, bool loadMeshes)
             {
                 "Revolute" => new RevoluteJoint { Index = i, Number = number, A = a, D = d, Alpha = α, Theta = θ, Sign = sign, Range = range, MaxSpeed = maxSpeed, Mesh = mesh },
                 "Prismatic" => new PrismaticJoint { Index = i, Number = number, A = a, D = d, Alpha = α, Theta = θ, Sign = sign, Range = range, MaxSpeed = maxSpeed, Mesh = mesh },
-                _ => throw new ArgumentException(" Invalid joint type.", nameof(jointElement.Name.LocalName))
+                _ => throw new ArgumentException(" Invalid joint type.")
             };
         }
 
@@ -241,12 +241,12 @@ static Mechanism CreateMechanism(XElement element, bool loadMeshes)
                 Manufacturers.Staubli => new RobotStaubli(model, payload, basePlane, baseMesh, joints),
                 Manufacturers.FrankaEmika => new RobotFranka(model, payload, basePlane, baseMesh, joints),
                 Manufacturers.Doosan => new RobotDoosan(model, payload, basePlane, baseMesh, joints),
-                _ => throw new ArgumentException($" Manufacturer '{manufacturer}' not supported.", nameof(manufacturer)),
+                _ => throw new ArgumentException($" Manufacturer '{manufacturer}' not supported."),
             },
             "Positioner" => new Positioner(model, manufacturer, payload, basePlane, baseMesh, joints, movesRobot),
             "Track" => new Track(model, manufacturer, payload, basePlane, baseMesh, joints, movesRobot),
             "Custom" => new Custom(model, manufacturer, payload, basePlane, baseMesh, joints, movesRobot),
-            _ => throw new ArgumentException($" Unknown mechanism type '{element.Name}'.", nameof(element.Name))
+            _ => throw new ArgumentException($" Unknown mechanism type '{element.Name}'.")
         };
     }
 
@@ -277,7 +277,7 @@ static Tool CreateTool(XElement element)
         var type = element.Name.LocalName;
 
         if (type != "Tool")
-            throw new ArgumentException($" Element '{type}' should be 'Tool'", nameof(type));
+            throw new ArgumentException($" Element '{type}' should be 'Tool'");
 
         var name = element.GetAttribute("name");
 
@@ -301,7 +301,7 @@ static Frame CreateFrame(XElement element)
         var type = element.Name.LocalName;
 
         if (type != "Frame")
-            throw new ArgumentException($" Element '{type}' should be 'Frame'", nameof(type));
+            throw new ArgumentException($" Element '{type}' should be 'Frame'");
 
         var name = element.GetAttribute("name");
         var useController = element.GetBoolAttributeOrDefault("useController");

src/Robots/IO/OnlineLibrary.cs

@@ -110,7 +110,7 @@ async Task AddOnlineLibrariesAsync()
         }
     }
 
-    string? GetValidExtension(string fileName)
+    static string? GetValidExtension(string fileName)
     {
         foreach (var extension in new[] { ".xml", ".3dm" })
         {
@@ -145,20 +145,20 @@ void AddDiskLibraries(string folder, bool isLocal)
         }
     }
 
-    string GetLocalSha(string xmlPath)
+    static string GetLocalSha(string xmlPath)
     {
         var shaXml = GetSha1(xmlPath);
         var sha3dm = GetSha1(Path.ChangeExtension(xmlPath, ".3dm"));
         return shaXml + sha3dm;
     }
 
-    string GetSha1(string file)
+    static string GetSha1(string file)
     {
         var bytes = File.ReadAllBytes(file);
         return GetSha1(bytes);
     }
 
-    string GetSha1(byte[] contentBytes)
+    static string GetSha1(byte[] contentBytes)
     {
         var header = $"blob {contentBytes.Length}\0";
         var encoding = new System.Text.UTF8Encoding();

src/Robots/Kinematics/FrankaKdlKinematics.cs

@@ -121,9 +121,9 @@ protected override Transform[] ForwardKinematics(double[] joints)
         return _ts;
     }
 
-    Vector3d ToVector3d(K.Vector v) => new(v.x(), v.y(), v.z());
+    static Vector3d ToVector3d(K.Vector v) => new(v.x(), v.y(), v.z());
 
-    K.Frame ToFrame(Transform t)
+    static K.Frame ToFrame(Transform t)
     {
         using K.Rotation rotation = new(
             t.M00, t.M01, t.M02,
@@ -135,7 +135,7 @@ K.Frame ToFrame(Transform t)
         return new(rotation, vector);
     }
 
-    double[] FromJntArray(K.JntArray ja)
+    static double[] FromJntArray(K.JntArray ja)
     {
         int count = (int)ja.rows();
         var vals = new double[count];
@@ -146,7 +146,7 @@ double[] FromJntArray(K.JntArray ja)
         return vals;
     }
 
-    K.JntArray ToJntArray(double[] joints)
+    static K.JntArray ToJntArray(double[] joints)
     {
         var ja = new K.JntArray((uint)joints.Length);
 

src/Robots/Kinematics/RobotCellKinematics.cs

@@ -43,7 +43,7 @@ internal IndustrialSystemKinematics(IndustrialSystem system, IEnumerable<Target>
             if (coupledGroup != -1 && target.Frame.CoupledMechanism == -1)
             {
                 if (coupledGroup == i)
-                    throw new ArgumentException(" Cannot couple a robot with itself.", nameof(coupledGroup));
+                    throw new ArgumentException(" Cannot couple a robot with itself.");
 
                 coupledPlane = Solutions[coupledGroup].Planes[Solutions[coupledGroup].Planes.Length - 2] as Plane?;
             }