private static void RegisterRobots()
{
Register(typeof(Robot), (componentData, component) =>
{
var userData = componentData.userData;
if (userData != null)
{
if (component is RobotVehicle vehicle)
{
if (userData.ContainsKey("left"))
{
var left = userData["left"];
int leftCount = left.Count;
var leftRotations = LitJsonHelper.ParseJsonArray(left, data => (string)data, ArrayHelper <string> .Empty);
vehicle.leftRotationParts = new RotationPartComponent[leftCount];
for (int i = 0; i < leftCount; i++)
{
vehicle.leftRotationParts[i] = vehicle.FindHierarchyPath <RotationPartComponent>(leftRotations[i]);
}
}
if (userData.ContainsKey("right"))
{
var right = userData["right"];
int rightCount = right.Count;
var rightRotations = LitJsonHelper.ParseJsonArray(right, data => (string)data, ArrayHelper <string> .Empty);
vehicle.rightRotationParts = new RotationPartComponent[rightCount];
for (int i = 0; i < rightCount; i++)
{
vehicle.rightRotationParts[i] = vehicle.FindHierarchyPath <RotationPartComponent>(rightRotations[i]);
}
}
vehicle.moveFactor = LitJsonHelper.ParseJsonToFloat(userData["moveFactor"]);
vehicle.rotationSpeed = LitJsonHelper.ParseJsonToFloat(userData["rotationSpeed"]);
vehicle.angularVelocity = LitJsonHelper.ParseJsonToFloat(userData["angularVelocity"]);
}
}
return(true);
});
}
public static ExploreProtocol Create(ExploreProtocolDataType type, string jsonStr, string context = "")
{
try
{
var node = JsonMapper.ToObject(jsonStr);
if (node != null)
{
int device = -1;
if (node.ContainsKey("device"))
{
device = (int)node["device"];
}
int mode = -1;
if (node.ContainsKey("mode"))
{
mode = (int)node["mode"];
}
int id = -1;
if (node.ContainsKey("id"))
{
id = (int)node["id"];
}
int code = -1;
if (node.ContainsKey("code"))
{
code = (int)node["code"];
}
string uuid = string.Empty;
if (node.ContainsKey("uuid"))
{
uuid = ((string)node["uuid"]); //.ToLower();
}
bool debug = false;
if (node.ContainsKey("debug"))
{
debug = (int)node["debug"] == 1;
}
ExploreProtocol p = new ExploreProtocol();
p.dataType = type;
p.device = device;
p.mode = mode;
p.id = id;
p.code = code;
p.uuid = uuid;
p.debug = debug;
if (node.ContainsKey("data"))
{
var datas = node["data"]; // it's array of int
switch (type)
{
case ExploreProtocolDataType.DTObject:
{
p.datas = LitJsonHelper.ParseJsonArray(datas, jsonParam =>
{
LitJsonHelper.SafeConvert(jsonParam, out object result);
return(result);
}, ArrayHelper <object> .Empty);
break;
}
case ExploreProtocolDataType.DTInt:
{
p.datas = LitJsonHelper.ParseJsonArray(datas, jsonParam =>
{
LitJsonHelper.SafeConvert(jsonParam, out int result);
return(result);
}, ArrayHelper <int> .Empty);
break;
}
case ExploreProtocolDataType.DTFloat:
{
p.datas = LitJsonHelper.ParseJsonArray(datas, jsonParam =>
{
LitJsonHelper.SafeConvert(jsonParam, out float result);
return(result);
}, ArrayHelper <float> .Empty);
break;
}
}
}
return(p);
}
}
catch (System.Exception ex)
{
DebugUtility.LogError(LoggerTags.Module, "Failure to create json data , Context : {0}, Stack : {1}", context, ex.StackTrace);
}
return(null);
}
private static void RegisterParts()
{
Register(typeof(Part), (componentData, component) =>
{
return(true);
});
Register(typeof(PartsGroup), (componentData, component) =>
{
var userData = componentData.userData;
if (userData != null)
{
if (component is PartsGroup group)
{
group.upAxis = (AxisType)(int)userData["up"];
group.inverseAxis = (int)userData["inv"] == 1;
group.commandType = (ECommandType)(int)userData["commandType"];
if (userData.ContainsKey("targets"))
{
var robot = group.robot;
var targetPaths = LitJsonHelper.ParseJsonArray(userData["targets"], data => (string)data, ArrayHelper <string> .Empty);
group.controlTargets = new Group[targetPaths.Length];
for (int i = 0; i < targetPaths.Length; i++)
{
string path = targetPaths[i];
if (string.IsNullOrEmpty(path))
{
continue;
}
group.controlTargets[i] = robot.transform.FindHierarchyPath <Group>(path);
}
}
}
}
return(true);
});
Register(typeof(PartComponent), (componentData, component) =>
{
var userData = componentData.userData;
if (userData != null)
{
var pc = (PartComponent)component;
var part = pc.GetPart();
if (userData.ContainsKey("pivotLink"))
{
if (part != null)
{
pc.pivotLink = part.FindHierarchyPath((string)userData["pivotLink"]);
}
}
if (component is AdvancedPartComponent apc)
{
apc.id = (int)userData["id"];
}
if (component is ButtonSensorComponent bsc)
{
bsc.eventTimeout = LitJsonHelper.ParseJsonToFloat(userData["eventTimeout"]);
bsc.timeout = LitJsonHelper.ParseJsonToFloat(userData["timeout"]);
}
if (component is LineTraceSensorComponent ltsc)
{
ltsc.expectedRange = LitJsonHelper.ParseJsonToFloat(userData["expectedRange"]);
}
if (component is RotationPartComponent rpc)
{
if (part != null)
{
if (userData.ContainsKey("axisDP"))
{
rpc.axisDP = part.FindHierarchyPath <AxleConnectivity>((string)userData["axisDP"]);
}
}
rpc.wrapMode = (ERotationWrapMode)(int)userData["wrapMode"];
rpc.convertMode = (EEulerAngleConvertMode)(int)userData["convertMode"];
rpc.minEularAngleY = LitJsonHelper.ParseJsonToFloat(userData["minEularAngleY"]);
rpc.maxEularAngleY = LitJsonHelper.ParseJsonToFloat(userData["maxEularAngleY"]);
rpc.localEulerAnglesY = LitJsonHelper.ParseJsonToFloat(userData["localEulerAnglesY"]);
}
}
return(true);
});
}
