private void CreateFakeHololensStateMsg()
{
hololensStateMsg = new HololensStateMsg(hololens_state.STATE_VISUALIZING, visualization_state.VISUALIZATION_RUN, true);
}
public void SetHololensStateMsgFromROS(HololensStateMsg msg)
{
hololensStateMsg = msg;
hololensLastStateMsg = msg;
}
// Update is called once per frame
void Update()
{
if (SystemStarter.Instance.calibrated)
{
if (interfaceStateMsg != null)
{
if (interfaceStateMsg.GetSystemState() == InterfaceStateMsg.SystemState.STATE_VISUALIZE)
{
if (hololensStateMsg != null)
{
if (hololensStateMsg.GetHololensState() == hololens_state.STATE_VISUALIZING)
{
//sets current visualization state for program manager
ProgramManager.Instance.SetVisualizationState(hololensStateMsg.GetVisualizationState());
switch (hololensStateMsg.GetVisualizationState())
{
case visualization_state.VISUALIZATION_DISABLED:
Debug.Log("VISUALIZATION_DISABLED");
//when 'back to blocks' pressed
ProgramManager.Instance.ClearProgram();
hololensStateMsg = null;
visualization_running = false;
break;
case visualization_state.VISUALIZATION_RUN:
if (!visualization_running)
{
Debug.Log("VISUALIZATION_RUN");
ProgramManager.Instance.StartVisualization(interfaceStateMsg, hololensStateMsg.GetVisualizeWholeProgram());
//call for service to load current program.. response comes in ROSCommunicationManager's method ServiceCallBack()
ROSCommunicationManager.Instance.ros.CallService("/art/db/program/get", "{\"id\": " + interfaceStateMsg.GetProgramID() + "}");
visualization_running = true;
visualization_stopped = false;
hololensStateMsg = null;
}
break;
case visualization_state.VISUALIZATION_PAUSE:
if (visualization_running)
{
Debug.Log("VISUALIZATION_PAUSE");
Time.timeScale = 0;
visualization_running = false;
hololensStateMsg = null;
}
break;
case visualization_state.VISUALIZATION_RESUME:
if (!visualization_running)
{
Debug.Log("VISUALIZATION_RESUME");
Time.timeScale = 1;
visualization_running = true;
hololensStateMsg = null;
}
break;
case visualization_state.VISUALIZATION_STOP:
if (!visualization_stopped)
{
Debug.Log("VISUALIZATION_STOP");
Time.timeScale = 1;
ProgramManager.Instance.StopVisualization();
visualization_running = false;
visualization_stopped = true;
hololensStateMsg = null;
}
break;
case visualization_state.VISUALIZATION_REPLAY:
if (!visualization_running)
{
Debug.Log("VISUALIZATION_REPLAY");
ProgramManager.Instance.ReplayVisualization();
visualization_running = true;
visualization_stopped = false;
hololensStateMsg = null;
}
break;
}
}
}
}
}
}
}
public new static void CallBack(ROSBridgeMsg msg)
{
HololensStateMsg Hmsg = (HololensStateMsg)msg;
VisualizationManager.Instance.SetHololensStateMsgFromROS(Hmsg);
}
