public static UserTransformableRecording Load(string filename)
{
UserTransformableRecording newRecording = new UserTransformableRecording();
try {
FileStream file = File.OpenRead(Path.Combine(Application.persistentDataPath, filename));
BinaryReader reader = new BinaryReader(file);
int nKeyframes = reader.ReadInt32();
for (int i = 0; i < nKeyframes; i++)
{
newRecording.AddKeyframe(new UserTransformKeyframe(ref reader));
}
if (reader.ReadUInt32() != 0xffffffff)
{
throw new Exception("Invalid save file");
}
OneButtonAlert.Create("Loaded recording successfully.");
}
catch (Exception e) {
OneButtonAlert.Create("Failed to load saved recording.");
}
return(newRecording);
}
public void onConnectSuccess()
{
try {
OneButtonAlert.Create("Connected successfully!");
SaveDefaults();
Close();
RobotInterface.instance.MoveNow(new RobotInterface.MoveJointsCommand(new float[] { 0, -Mathf.PI / 2.0f, Mathf.PI / 2.0f, -Mathf.PI / 2.0f, 0, 0 }));
RobotInterface.instance.FetchRealPose();
} catch (Exception e) {
OutputText.instance.text = OutputText.instance.text + "\n" + e.Message + "\n" + e.StackTrace;
}
}
public void Save(string filename)
{
try {
FileStream file = File.Create(Path.Combine(Application.persistentDataPath, filename));
BinaryWriter writer = new BinaryWriter(file);
writer.Write((UInt32)keyframes.Count);
for (int i = 0; i < keyframes.Count; i++)
{
keyframes[i].PutToBinary(ref writer);
}
writer.Write((UInt32)0xffffffff);
writer.Flush();
file.Flush();
OneButtonAlert.Create("Saved recording successfully.");
}
catch (Exception e) {
OneButtonAlert.Create("Failed to save recording.");
}
}
public void onConnectFailure(string errorMessage)
{
OneButtonAlert.Create("Failed to connect. Error message:\n" + errorMessage);
}