//design this blocking untill the statement is actually completed
private void executeStatement(Statement currentStatement)
{
semaphor_dobot_is_ready = false;
if (connector == null)
{
throw new ArgumentException("The Connector instance has to be set");
}
RosSocket rosSocket =
connector.RosSocket;
if (currentStatement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
MoveStatement moveStatement = (MoveStatement)currentStatement;
//sphereDrawer.drawSphereAtROSCoords(moveStatement.target);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest req =
moveStatement.SendCommandToRos();
String x = rosSocket.CallService <RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest,
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdResponse>
("/SetPTPCmds", ResponseHandler, req);
}
else
{
if (currentStatement is ToggleSuction)
{
ToggleSuction toggleSuction = (ToggleSuction)currentStatement;
setEndeffectorSuctionCup.setEndEffectorSuctionCup(toggleSuction.isSuctionEnabled);
}
}
semaphor_dobot_is_ready = false;
}
public override GameObject createCoordinatesSelector(MoveStatement moveStatement)
{
GameObject coordinateDisplay;
List <TMP_Dropdown> dropdownFields;
List <TMP_Dropdown.OptionData> options;
coordinateDisplay = Instantiate(singleCoordinateDropdownPrefab);
dropdownFields = new List <TMP_Dropdown>();
coordinateDisplay.GetComponentsInChildren <TMP_Dropdown>(dropdownFields);
int currentObject;
Vector4 parsedDropdown = Vector4.zero;
Vector4 targetInV4 = new Vector4(moveStatement.target.x, moveStatement.target.y, moveStatement.target.z, 0f);
foreach (TMP_Dropdown dropdownCoordinate in dropdownFields)
{
options = dropdownCoordinate.options;
currentObject = 0;
foreach (TMP_Dropdown.OptionData optionData in options)
{
parsedDropdown = parseDropdownText(optionData.text);
if (parsedDropdown.Equals(targetInV4))
{
dropdownCoordinate.value = currentObject;
}
currentObject += 1;
}
}
return(coordinateDisplay);
}
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement statement in program.statements)
{
if (statement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
MoveStatement moveStatement = (MoveStatement)statement;
byte ptpMode_byte;
byte.TryParse("" + moveStatement.movementValueForCanvas, out ptpMode_byte);
float x = moveStatement.target.x;
float y = moveStatement.target.y;
float z = moveStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Move({request.x} {request.y} {request.z});\n";
}
else
{
if (statement is ToggleSuction)
{
ToggleSuction toggleSuction = (ToggleSuction)statement;
programString += $"ToggleSuction({toggleSuction.isSuctionEnabled});\n";
}
}
}
return(programString);
}
public override Object Visit(MoveStatement node, Object obj)
{
this.printIndentation(Convert.ToInt32(obj));
if (node.LeftExp.IndexOfSSA != -1)
{
this.output.Write("{0}{1}", node.LeftExp.Identifier, node.LeftExp.IndexOfSSA);
}
else
{
this.output.Write("{0}", node.LeftExp.Identifier);
}
this.output.Write(" ({0})", printType(node.LeftExp.ExpressionType));
this.output.Write(" <-- ");
if (node.RightExp.IndexOfSSA != -1)
{
this.output.Write("{0}{1}", node.RightExp.Identifier, node.RightExp.IndexOfSSA);
}
else
{
this.output.Write("{0}", node.RightExp.Identifier);
}
this.output.WriteLine(" ({0})", printType(node.RightExp.ExpressionType));
if (node.MoveStat != null)
{
node.MoveStat.Accept(this, obj);
}
return(null);
}
public override object Visit(MoveStatement node, object obj)
{
if (node.Location == ((AstNode)obj).Location || found)
{
found = true;
return(this.table);
}
return(base.Visit(node, obj));
}
public override Object Visit(MoveStatement node, Object obj)
{
MoveStatement clonedMoveStatement = new MoveStatement((SingleIdentifierExpression)node.LeftExp.Accept(this, obj), (SingleIdentifierExpression)node.RightExp.Accept(this, obj), node.Location.FileName, node.Location.Line);
if (node.MoveStat != null)
{
clonedMoveStatement.MoveStat = (MoveStatement)node.MoveStat.Accept(this, obj);
}
return(clonedMoveStatement);
}
public override GameObject generateMovmentTypeSelectorFromStatement(MoveStatement moveStatement)
{
GameObject dropdownObject;
dropdownObject = Instantiate(movementTypeDropdownPrefab);
dropdownObject.TryGetComponent(out RectTransform rectTransformDropDown);
dropdownObject.TryGetComponent(out TMP_Dropdown dropdown);
dropdown.value = moveStatement.movementValueForCanvas;
dropdown.RefreshShownValue();
return(dropdownObject);
}
public override Object Visit(MoveStatement node, Object obj)
{
node.LeftExp.Accept(this, obj);
node.RightExp.Accept(this, obj);
if (node.MoveStat != null)
{
node.MoveStat.Accept(this, obj);
}
return(null);
}
public override GameObject createCoordinatesSelector(MoveStatement moveStatement)
{
GameObject coordinateDisplay;
List <TextMeshPro> textFields;
Button button;
Interactable interactable;
textFields = new List <TextMeshPro>();
coordinateDisplay = Instantiate(targetSelectorPrefab);
coordinateDisplay.GetComponentsInChildren <TextMeshPro>(textFields);
Vector4 targetInV4 = new Vector4(moveStatement.target.x, moveStatement.target.y, moveStatement.target.z, 0f);
button = coordinateDisplay.GetComponentInChildren <Button>();
interactable = coordinateDisplay.GetComponentInChildren <Interactable>();
foreach (TextMeshPro textField in textFields)
{
if (textField.name.Contains("TargetValue"))
{
textField.text = moveStatement.target.ToString();
interactable.OnClick.AddListener(() =>
{
if (useROSCoordinates)
{
if (coordinateTargetSelector.selectedRosTransform != null)
{
Transform rosCoords = coordinateTargetSelector.selectedRosTransform;
textField.text = rosCoords.localPosition.ToString();
}
}
else
{
Transform ownCoords = GameObject.Find("RealTargetSphere").transform;// coordinateTargetSelector.selectedOwnTransform;
textField.text = ownCoords.localPosition.ToString();
}
});
/*
* button.onClick.AddListener(() =>
* {
* if(coordinateTargetSelector.selectedRosTransform != null)
* {
* Transform rosCoords = coordinateTargetSelector.selectedRosTransform;
* textField.text = rosCoords.localPosition.ToString();
* }
* });
*/
}
}
return(coordinateDisplay);
}
public void StartProgram()
{
sphereDrawer.clearTargets();
foreach (Statement currentStatement in this.currentProgram.statements)
{
if (currentStatement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
MoveStatement moveStatement = (MoveStatement)currentStatement;
sphereDrawer.drawNewTargetSphereAtROSCoords(moveStatement.target);
}
}
currentPosition = 0;
PhysicsManager.continuePhysics();
}
public override Object Visit(MoveStatement node, Object obj)
{
SSAMap mapX;
SSAMap mapY;
if (obj is SSAInfo)
{
if ((mapX = ((SSAInfo)obj).FirstOperandToMove) != null)
{
if (mapX.Search(node.LeftExp.Identifier) != -1) // <-- Modified
{
if ((mapY = ((SSAInfo)obj).SecondOperandToMove) != null)
{
if (node.LeftExp.IndexOfSSA == mapX.Search(node.LeftExp.Identifier))
{
node.MoveStat = createMoveStatement(node.LeftExp.Identifier, mapX, mapY, node.Location.FileName, node.Location.Line);
}
}
else
{
if (node.LeftExp.IndexOfSSA == mapX.Search(node.LeftExp.Identifier) - 1)
{
node.MoveStat = createMoveStatement(node.LeftExp.Identifier, mapX, node.Location.FileName, node.Location.Line);
}
}
}
}
}
node.RightExp.Accept(this, obj);
if (node.MoveStat != null)
{
node.MoveStat.Accept(this, obj);
}
return(null);
}
public virtual void OnMoveStatement(MoveStatement stmt)
{
Enter(new Move(stmt), stmt);
Exit();
}
private List <Statement> newMovementCommand(Vector3 target, MoveStatement statement, List <Statement> statements)
{
statement.target = target;
statements.Add(statement);
return(statements);
}
public abstract Object Visit(MoveStatement node, Object obj);
public abstract GameObject createCoordinatesSelector(MoveStatement moveStatement);
public abstract GameObject generateMovmentTypeSelectorFromStatement(MoveStatement moveStatement);
