private void updatePID(string a)
{
Debug.Log(a);
float[] farr = new float[12];
for (int i = 0; i < 6; i++)
{
float.TryParse(pnlOuterLoop.GetComponentsInChildren <InputField>()[i].text, out farr[i]);
}
for (int i = 6; i < 12; i++)
{
float.TryParse(pnlInnerLoop.GetComponentsInChildren <InputField>()[i - 6].text, out farr[i]);
}
bpsSocketSendData sendData = new bpsSocketSendData((Int16)bpsCommandTypeDef.BPS_UPDATE_PID,
farr[0], farr[3], farr[6], farr[9], farr[1], farr[4],
farr[7], farr[10], farr[2], farr[5], farr[8], farr[11]);
client.SendAsync(sendData.data, sendData.data.Length);
PlayerPrefs.SetFloat("KpxInner", farr[6]);
PlayerPrefs.SetFloat("KixInner", farr[7]);
PlayerPrefs.SetFloat("KdxInner", farr[8]);
PlayerPrefs.SetFloat("KpyInner", farr[9]);
PlayerPrefs.SetFloat("KiyInner", farr[10]);
PlayerPrefs.SetFloat("KdyInner", farr[11]);
PlayerPrefs.SetFloat("KpxOuter", farr[0]);
PlayerPrefs.SetFloat("KixOuter", farr[1]);
PlayerPrefs.SetFloat("KdxOuter", farr[2]);
PlayerPrefs.SetFloat("KpyOuter", farr[3]);
PlayerPrefs.SetFloat("KiyOuter", farr[4]);
PlayerPrefs.SetFloat("KdyOuter", farr[5]);
}
private void Update()
{
if (logined)
{
if (cameraDesiredLookAt != null)
{
cameraTransform.rotation = Quaternion.Slerp
(cameraTransform.rotation, cameraDesiredLookAt.rotation, CAMERA_TRANSITION_SPEED * Time.deltaTime);
}
Transform pin = GameObject.Find("pin").GetComponent <Transform>().transform;
Transform pin1 = GameObject.Find("pin1").GetComponent <Transform>().transform;
Transform pin2 = GameObject.Find("pin2").GetComponent <Transform>().transform;
Transform pin3 = GameObject.Find("pin3").GetComponent <Transform>().transform;
Transform pin4 = GameObject.Find("pin4").GetComponent <Transform>().transform;
if (GameObject.Find("tglGroup").GetComponent <ToggleGroup>().GetComponentsInChildren <Toggle>()[0].isOn) // setpoint
{
if (Input.GetMouseButtonDown(0))
{
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (Physics.Raycast(ray, out hit))
{
if (hit.transform.name == "Plane")
{
if (Mathf.Abs(hit.point.x) < ACTIVE_REGION)
{
if (Mathf.Abs(hit.point.z - Z_OFFSET) < ACTIVE_REGION)
{
GameObject.Find("pin").GetComponent <Transform>().transform.position = hit.point + pinOffset;
bpsSocketSendData sendData = new bpsSocketSendData((Int16)bpsCommandTypeDef.BPS_MODE_SETPOINT,
(Int16)(hit.point.x + BALL_OFFSET), (Int16)(hit.point.z - Z_OFFSET + BALL_OFFSET));
client.SendAsync(sendData.data, sendData.data.Length);
}
}
}
}
}
Vector3 newPinDragPosition = GameObject.Find("pin").GetComponent <bpsPinMove>().position;
if (newPinDragPosition != pinDragPosition || mode == 1)
{
pinDragPosition = newPinDragPosition;
bpsSocketSendData sendData = new bpsSocketSendData((Int16)bpsCommandTypeDef.BPS_MODE_SETPOINT,
(Int16)(pinDragPosition.x + BALL_OFFSET), (Int16)(pinDragPosition.z - Z_OFFSET + BALL_OFFSET));
client.SendAsync(sendData.data, sendData.data.Length);
mode = 0;
}
PointWithinActiveregion(pin, 0);
}
else if (GameObject.Find("tglGroup").GetComponent <ToggleGroup>().GetComponentsInChildren <Toggle>()[1].isOn) // circle
{
if (Input.GetMouseButtonDown(0))
{
Ray ray = Camera.main.ScreenPointToRay(Input.
mousePosition);
RaycastHit hit;
if (Physics.Raycast(ray, out hit))
{
if (hit.transform.name == "Plane")
{
radius = Vector3.Distance(hit.point, pin.position);
}
}
}
PointWithinActiveregion(pin, radius);
if (pin.position.x < pin.position.z - Z_OFFSET)
{
if (Mathf.Abs(pin.position.x) + radius > ACTIVE_REGION)
{
radius = ACTIVE_REGION - Mathf.Abs(pin.position.x);
}
else
if (Mathf.Abs(pin.position.z - Z_OFFSET) + radius > ACTIVE_REGION)
{
radius = ACTIVE_REGION - Mathf.Abs(pin.position.z - Z_OFFSET);
}
}
if (radius < RADIUS_MIN)
{
radius = RADIUS_MIN;
}
GameObject.Find("circle").GetComponent <bpsCircle>().SetupCirlce(radius, pin.position);
Vector3 newPinDragPosition = GameObject.Find("pin").GetComponent <bpsPinMove>().position;
if (newPinDragPosition != pinDragPosition || oldRadius != radius || mode == 2)
{
pinDragPosition = newPinDragPosition;
bpsSocketSendData sendData = new bpsSocketSendData((Int16)bpsCommandTypeDef.BPS_MODE_CIRCLE,
(Int16)(pinDragPosition.x + BALL_OFFSET), (Int16)(pinDragPosition.z - Z_OFFSET + BALL_OFFSET), (UInt16)radius, (UInt16)1);
client.SendAsync(sendData.data, sendData.data.Length);
oldRadius = radius;
mode = 0;
}
}
else // rectangle
{
if (DistanceFromPointToLine(pin1.position, pin2.position, pin3.position) < DISTANCE_MIN)
{
pin1.position = pin1OldPosition;
}
else if (pin1.position != pin1OldPosition)
{
pin1OldPosition = pin1.position;
isDataToSend = true;
}
PointWithinActiveregion(pin1, 0);
if (DistanceFromPointToLine(pin2.position, pin1.position, pin4.position) > -DISTANCE_MIN)
{
pin2.position = pin2OldPosition;
}
else if (pin2.position != pin2OldPosition)
{
pin2OldPosition = pin2.position;
isDataToSend |= true;
}
PointWithinActiveregion(pin2, 0);
if (DistanceFromPointToLine(pin3.position, pin1.position, pin4.position) < DISTANCE_MIN)
{
pin3.position = pin3OldPosition;
}
else if (pin3.position != pin3OldPosition)
{
pin3OldPosition = pin3.position;
isDataToSend |= true;
}
PointWithinActiveregion(pin3, 0);
if (DistanceFromPointToLine(pin4.position, pin2.position, pin3.position) > -DISTANCE_MIN)
{
pin4.position = pin4OldPosition;
}
else if (pin4.position != pin4OldPosition)
{
pin4OldPosition = pin4.position;
isDataToSend |= true;
}
PointWithinActiveregion(pin4, 0);
if (isDataToSend)
{
bpsSocketSendData sendData = new bpsSocketSendData((Int16)bpsCommandTypeDef.BPS_MODE_RECTANGLE,
(Int16)(pin1.position.x + BALL_OFFSET), (Int16)(pin1.position.z - Z_OFFSET + BALL_OFFSET),
(Int16)(pin2.position.x + BALL_OFFSET), (Int16)(pin2.position.z - Z_OFFSET + BALL_OFFSET),
(Int16)(pin3.position.x + BALL_OFFSET), (Int16)(pin3.position.z - Z_OFFSET + BALL_OFFSET),
(Int16)(pin4.position.x + BALL_OFFSET), (Int16)(pin4.position.z - Z_OFFSET + BALL_OFFSET));
client.SendAsync(sendData.data, sendData.data.Length);
isDataToSend = false;
}
}
}
}
