public Statement serialize2ROSCode()
{
Statement statement;
if (Command.value == 0)
{
statement = new MoveToJ1();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as MoveToJ1).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
else if (Command.value == 2)
{
statement = new ClawUp();
(statement as ClawUp).isClawUp = CommandArgs.text.Trim().ToLower().Equals("up");
}
else
{
statement = new BruteMoveToJ1();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as BruteMoveToJ1).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
return(statement);
}
/*
* As of now, the example BruteMove types are below as for the move statement
*/
private BruteMove brutestatementFromParsedString(int movementType, float x, float y, float z, float r)
{
Vector4 target = new Vector4(x, y, z, r);
BruteMove bruteStatement = new BruteMoveToJ1(); // default as for move statement
switch (movementType)
{
case 0:
bruteStatement = new BruteMoveToL1();
break;
case 1:
bruteStatement = new BruteMoveToJ1();
break;
case 2:
bruteStatement = new BruteJumpTo1();
break;
case 3:
bruteStatement = new BruteMoveArc1();
break;
default:
bruteStatement = new BruteMoveToJ1();
break;
}
bruteStatement.target = target;
return(bruteStatement);
}
//Brute Move
public override BruteMove getBruteMoveFromUI(GameObject movementTypeUI)
{
List <TMP_Dropdown> dropdowns;
BruteMove bruteStatement;
dropdowns = new List <TMP_Dropdown>();
bruteStatement = new BruteMoveToL1();
movementTypeUI.GetComponentsInChildren <TMP_Dropdown>(dropdowns);
foreach (TMP_Dropdown dropdown in dropdowns)
{
switch (dropdown.value)
{
case 0:
bruteStatement = new BruteMoveToL1();
break;
case 1:
bruteStatement = new BruteMoveToJ1();
break;
case 2:
bruteStatement = new BruteJumpTo1();
break;
case 3:
bruteStatement = new BruteMoveArc1();
break;
default:
break;
}
}
return(bruteStatement);
}
public void addBruteStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program currentProgram = ctcGenerator.currentProgram;
List <Statement> statements = currentProgram.statements;
BruteMoveToJ1 moveToL = new BruteMoveToJ1();
moveToL.target = new Vector3(215f, 0f, 145f);
statements.Insert(currentStatement, moveToL);
currentProgram.statements = statements;
//debug
Debug.Log("Program by adding Brute Move :" + statements);
ctcGenerator.currentProgram = currentProgram;
ctcGenerator.redraw();
}
public override Statement generateStatementFromUI(GameObject commandContainer)
{
MoveStatement1 moveStatement = new MoveToJ1();
BruteMove bruteStatement = new BruteMoveToJ1();
Statement defaultStatement = new MoveToL1();
bool isMoveStatement = true;
//also the below toggle suction is not needed for NXT robot
/*
* foreach (Transform child in commandContainer.transform)
* {
* if (child.name.StartsWith("ToggleSuction"))
* {
* ToggleSuction1 toggleSuctionCommand = new ToggleSuction1();
* if (child.name.Contains("false"))
* {
* toggleSuctionCommand.isSuctionEnabled = false;
* }
* if (child.name.Contains("true"))
* {
* toggleSuctionCommand.isSuctionEnabled = true;
* }
* return toggleSuctionCommand;
* isMoveStatement = false;
* }
* } */
//Deciding on statement type
/* foreach (Transform child in commandContainer.transform)
* {
* if (child.name.StartsWith("ClawUp"))
* {
* ClawUp clawupCommand = new ClawUp();
* if (child.name.Contains("false"))
* {
* clawupCommand.isClawUp = false;
* }
* if (child.name.Contains("true"))
* {
* clawupCommand.isClawUp = true;
* }
* return clawupCommand;
* isMoveStatement = false;
* }
* } */
foreach (Transform child in commandContainer.transform)
{
if (child.name.StartsWith("Brute"))
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
bruteStatement = movementTypeSelector.getBruteMoveFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
bruteStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
//Returning bruteStatement
bruteType = false;
//countbruteType--;
//Debug
Debug.Log("Brute found in generateStatementFromUI");
isMoveStatement = false;
return(bruteStatement);
}
if (child.name.StartsWith("Move"))
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
//Returning moveStatement
Debug.Log("Move found in generateStatementFromUI");
return(moveStatement);
}
//ClawUp Command
if (child.name.StartsWith("Toggle"))
{
ClawUp clawupCommand = new ClawUp();
if (child.name.Contains("false"))
{
clawupCommand.isClawUp = false;
}
if (child.name.Contains("true"))
{
clawupCommand.isClawUp = true;
}
//Returning ClawUp
return(clawupCommand);
isMoveStatement = false;
}
}
/* if(isMoveStatement)
* {
* List<Toggle> toggles = new List<Toggle>();
* commandContainer.GetComponentsInChildren<Toggle>(toggles);
*
* List<Transform> childTransforms = new List<Transform>();
* commandContainer.GetComponentsInChildren<Transform>(childTransforms);
* foreach (Transform childTransform in childTransforms)
* {
*
* if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
* {
* moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
* }
* else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
* {
* moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
* }
*
* }
* //Returning moveStatement
* Debug.Log("Move found in generateStatementFromUI");
* return moveStatement;
* } */
//Returning defaultStatement
//Debug
Debug.Log("Default found in generateStatementFromUI");
return(defaultStatement);
}
