public override void Tick(int currentTime)
{
if (currentTime == timeForNextDecision)
{
Action action = null;
if (currentTime >= goalCheckTime)
{
action = level.GoalCheck(currentTime, this, currentTime >= loseTime);
}
//No goal related action follow schedule
if (action == null)
{
for (int i = 0, length = schedule.Length; i < length; i++)
{
ScheduleEntry entry = schedule[i];
if (entry.time == currentTime)
{
action = entry.GetAction(currentTime);
break;
}
}
}
//No schedule wait
if (action == null)
{
action = new ActionWait(currentTime, 1, currentLocation);
}
AddAction(action);
}
}
private void Update()
{
if (Input.GetKeyUp(KeyCode.M))
{
// Create Move
GameObject go = new GameObject(string.Format("{0}_Move", _actions.Count));
ActionMove a = go.AddComponent <ActionMove>();
a.Direction = Vector3.right;
a.Speed = 500.0f;
a.Duration = 1.0f;
Add(a);
go.transform.SetParent(transform);
}
if (Input.GetKeyUp(KeyCode.W))
{
GameObject go = new GameObject(string.Format("{0}_Wait", _actions.Count));
ActionWait w = go.AddComponent <ActionWait>();
w.Duration = 1.0f;
Add(w);
go.transform.SetParent(transform);
}
}
public void AddActionWait(float waitTime)
{
ActionWait action = new ActionWait {
waitTime = waitTime
};
this.AddAction(action);
}
public void AddActionWait(float waitTime)
{
ActionWait action = new ActionWait {
m_Entity = this.m_Entity,
waitTime = waitTime
};
this.AddAction(action);
}
private void ThreadPoolAction(object state)
{
//2、
//Thread.Sleep(500);
//Invoke(new Action(() =>
//{
// DialogResult = DialogResult.OK;
//}));
//1、
ActionWait?.Invoke();
Thread.Sleep(1000);
Invoke(new Action(() =>
{
DialogResult = DialogResult.OK;
}));
}
public override bool UrgentAction(out ActorAction?ret)
{
ret = null;
if (m_Plan.IsExpired)
{
return(true); // expired
}
if (!m_Plan.IsLegal())
{
_isExpired = true;
return(true);
}
if (m_Plan.IsRelevant(m_Actor.Location))
{
ret = m_Plan.Bind(m_Actor);
if (null != ret)
{
if (m_Plan.IsExpired)
{
_isExpired = true;
}
return(true);
}
ret = new ActionWait(m_Actor); // not necessarily (crowd control issues)
return(true);
}
var goals = m_Plan.Goals(m_Actor);
if (null != goals)
{
#if DEBUG
if (goals.Contains(m_Actor.Location))
{
throw new InvalidOperationException("test case");
}
#endif
ret = (m_Actor.Controller as ObjectiveAI).BehaviorPathTo(goals);
return(null != ret);
}
return(false);
}
void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
LoadLevel(currentLevel);
return;
// SceneManager.LoadScene( SceneManager.GetActiveScene().name );
}
if (Input.GetKeyDown(KeyCode.Z))
{
UndoLastAction();
}
if (Input.GetKeyDown(KeyCode.R))
{
Ripple();
}
for (int i = 1, length = levels.Length; i <= length; i++)
{
if (Input.GetKeyDown(i.ToString()))
{
LoadLevel(levels[i - 1]);
return;
}
}
if (paradoxFound || levelComplete)
{
return;
}
if (currentTime == timeForNextDecision && Input.GetKeyDown(KeyCode.Space))
{
ActionWait actionWait = new ActionWait(currentTime, 1, currentPlayer.GetCurrentLocation());
AddAction(actionWait);
}
Progress();
}
private List <ConstrucableTrigger> getActionTemplates()
{
List <ConstrucableTrigger> lst = new List <ConstrucableTrigger>();
lst.Add(new ConstrucableTriggerTemplate("Center View", () => new ActionCenterView(new WeakParser(ActionCenterView.getComponents(), ActionCenterView.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Comment", () => new ActionComment(new WeakParser(ActionComment.getComponents(), ActionComment.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Create Unit", () => new ActionCreateUnit(new WeakParser(ActionCreateUnit.getComponents(), ActionCreateUnit.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Create Unit With Properties", () => new ActionCreateUnitWithProperties(new WeakParser(ActionCreateUnitWithProperties.getComponents(), ActionCreateUnitWithProperties.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Defeat", () => new ActionDefeat(new WeakParser(ActionDefeat.getComponents(), ActionDefeat.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Display Text Message", () => new ActionDisplayTextMessage(new WeakParser(ActionDisplayTextMessage.getComponents(), ActionDisplayTextMessage.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Draw", () => new ActionDraw(new WeakParser(ActionDraw.getComponents(), ActionDraw.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Give Units To Player", () => new ActionGiveUnitsToPlayer(new WeakParser(ActionGiveUnitsToPlayer.getComponents(), ActionGiveUnitsToPlayer.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Kill Unit", () => new ActionKillUnit(new WeakParser(ActionKillUnit.getComponents(), ActionKillUnit.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Kill Unit At Location", () => new ActionKillUnitAtLocation(new WeakParser(ActionKillUnitAtLocation.getComponents(), ActionKillUnitAtLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Control At Location", () => new ActionLeaderBoardControlAtLocation(new WeakParser(ActionLeaderBoardControlAtLocation.getComponents(), ActionLeaderBoardControlAtLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Control", () => new ActionLeaderBoardControl(new WeakParser(ActionLeaderBoardControl.getComponents(), ActionLeaderBoardControl.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Deaths", () => new ActionLeaderBoardDeaths(new ActionLeaderBoardKills(new WeakParser(ActionLeaderBoardKills.getComponents(), ActionLeaderBoardKills.getTextMapping())))));
lst.Add(new ConstrucableTriggerTemplate("Leader board Greed", () => new ActionLeaderboardGreed(new WeakParser(ActionLeaderboardGreed.getComponents(), ActionLeaderboardGreed.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Kills", () => new ActionLeaderBoardKills(new WeakParser(ActionLeaderBoardKills.getComponents(), ActionLeaderBoardKills.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Points", () => new ActionLeaderBoardPoints(new WeakParser(ActionLeaderBoardPoints.getComponents(), ActionLeaderBoardPoints.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Resources", () => new ActionLeaderBoardResources(new WeakParser(ActionLeaderBoardResources.getComponents(), ActionLeaderBoardResources.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Computer Players", () => new ActionLeaderboardComputerPlayers(new WeakParser(ActionLeaderboardComputerPlayers.getComponents(), ActionLeaderboardComputerPlayers.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Goal Control At Location", () => new ActionLeaderboardGoalControlAtLocation(new WeakParser(ActionLeaderboardGoalControlAtLocation.getComponents(), ActionLeaderboardGoalControlAtLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Goal Control", () => new ActionLeaderboardGoalControl(new WeakParser(ActionLeaderboardGoalControl.getComponents(), ActionLeaderboardGoalControl.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Goal Kills", () => new ActionLeaderboardGoalKills(new WeakParser(ActionLeaderboardGoalKills.getComponents(), ActionLeaderboardGoalKills.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Goal Points", () => new ActionLeaderboardGoalPoints(new WeakParser(ActionLeaderboardGoalPoints.getComponents(), ActionLeaderboardGoalPoints.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Leader Board Goal Resources", () => new ActionLeaderboardGoalResources(new WeakParser(ActionLeaderboardGoalResources.getComponents(), ActionLeaderboardGoalResources.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Minimap Ping", () => new ActionMinimapPing(new WeakParser(ActionMinimapPing.getComponents(), ActionMinimapPing.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Modify Unit Energy", () => new ActionModifyUnitEnergy(new WeakParser(ActionModifyUnitEnergy.getComponents(), ActionModifyUnitEnergy.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Modify Unit Hanger Count", () => new ActionModifyUnitHangerCount(new WeakParser(ActionModifyUnitHangerCount.getComponents(), ActionModifyUnitHangerCount.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Modify Unit Hit Points", () => new ActionModifyUnitHitPoints(new WeakParser(ActionModifyUnitHitPoints.getComponents(), ActionModifyUnitHitPoints.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Modify Unit Resource Amount", () => new ActionModifyUnitResourceAmount(new WeakParser(ActionModifyUnitResourceAmount.getComponents(), ActionModifyUnitResourceAmount.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Modify Unit Shield Points", () => new ActionModifyUnitShieldPoints(new WeakParser(ActionModifyUnitShieldPoints.getComponents(), ActionModifyUnitShieldPoints.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Move Location", () => new ActionMoveLocation(new WeakParser(ActionMoveLocation.getComponents(), ActionMoveLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Play WAV", () => new ActionPlayWAV(new WeakParser(ActionPlayWAV.getComponents(), ActionPlayWAV.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Move Unit", () => new ActionMoveUnit(new WeakParser(ActionMoveUnit.getComponents(), ActionMoveUnit.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Mute Unit Speech", () => new ActionMuteUnitSpeech(new WeakParser(ActionMuteUnitSpeech.getComponents(), ActionMuteUnitSpeech.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Order", () => new ActionOrder(new WeakParser(ActionOrder.getComponents(), ActionOrder.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Pause Game", () => new ActionPauseGame(new WeakParser(ActionPauseGame.getComponents(), ActionPauseGame.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Pause Timer", () => new ActionPauseTimer(new WeakParser(ActionPauseTimer.getComponents(), ActionPauseTimer.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Preserve Trigger", () => new ActionPreserveTrigger(new WeakParser(ActionPreserveTrigger.getComponents(), ActionPreserveTrigger.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Remove Unit", () => new ActionRemoveUnit(new WeakParser(ActionRemoveUnit.getComponents(), ActionRemoveUnit.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Remove Unit At Location", () => new ActionRemoveUnitAtLocation(new WeakParser(ActionRemoveUnitAtLocation.getComponents(), ActionRemoveUnitAtLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Run AI Script", () => new ActionRunAIScript(new WeakParser(ActionRunAIScript.getComponents(), ActionRunAIScript.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Run AI Script At Location", () => new ActionRunAIScriptAtLocation(new WeakParser(ActionRunAIScriptAtLocation.getComponents(), ActionRunAIScriptAtLocation.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Alliance Status", () => new ActionSetAllianceStatus(new WeakParser(ActionSetAllianceStatus.getComponents(), ActionSetAllianceStatus.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Countdown Timer", () => new ActionSetCountdownTimer(new WeakParser(ActionSetCountdownTimer.getComponents(), ActionSetCountdownTimer.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Doodad State", () => new ActionSetDoodadState(new WeakParser(ActionSetDoodadState.getComponents(), ActionSetDoodadState.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Deaths", () => new ActionSetDeaths(new RawActionSetDeaths(new WeakParser(RawActionSetDeaths.getComponents(), RawActionSetDeaths.getTextMapping())))));
lst.Add(new ConstrucableTriggerTemplate("Set Invincibility", () => new ActionSetInvincibility(new WeakParser(ActionSetInvincibility.getComponents(), ActionSetInvincibility.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Mission Objectives", () => new ActionSetMissionObjectives(new WeakParser(ActionSetMissionObjectives.getComponents(), ActionSetMissionObjectives.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Next Scenario", () => new ActionSetNextScenario(new WeakParser(ActionSetNextScenario.getComponents(), ActionSetNextScenario.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Resources", () => new ActionSetResources(new WeakParser(ActionSetResources.getComponents(), ActionSetResources.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Score", () => new ActionSetScore(new WeakParser(ActionSetScore.getComponents(), ActionSetScore.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Set Switch", () => new ActionSetSwitch(new WeakParser(ActionSetSwitch.getComponents(), ActionSetSwitch.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Talking Portrait", () => new ActionTalkingPortrait(new WeakParser(ActionTalkingPortrait.getComponents(), ActionTalkingPortrait.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Transmission", () => new ActionTransmission(new WeakParser(ActionTransmission.getComponents(), ActionTransmission.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Unmute Unit Speech", () => new ActionUnmuteUnitSpeech(new WeakParser(ActionUnmuteUnitSpeech.getComponents(), ActionUnmuteUnitSpeech.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Unpause Game", () => new ActionUnpauseGame(new WeakParser(ActionUnpauseGame.getComponents(), ActionUnpauseGame.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Unpause Timer", () => new ActionUnpauseTimer(new WeakParser(ActionUnpauseTimer.getComponents(), ActionUnpauseTimer.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Victory", () => new ActionVictory(new WeakParser(ActionVictory.getComponents(), ActionVictory.getTextMapping()))));
lst.Add(new ConstrucableTriggerTemplate("Wait", () => new ActionWait(new WeakParser(ActionWait.getComponents(), ActionWait.getTextMapping()))));
EPDAction.fillConstructables(lst);
return(lst);
}
public override byte[] GetBytesForNextAction(RobotCursor cursor)
{
if (!cursor.ApplyNextAction(out _action))
{
return(null); // cursor buffer is empty
}
_params = null;
switch (_action.Type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
RotationVector rv = cursor.rotation.AA.ToRotationVector();
_params = new int[]
{
_action.Id,
cursor.motionType == MotionType.Joint ? INST_MOVEJ_P : INST_MOVEL,
(int)Math.Round(cursor.position.X * 0.001 * FACTOR_M),
(int)Math.Round(cursor.position.Y * 0.001 * FACTOR_M),
(int)Math.Round(cursor.position.Z * 0.001 * FACTOR_M),
(int)Math.Round(rv.X * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(rv.Y * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(rv.Z * Geometry.TO_RADS * FACTOR_RAD)
};
// Workaround to SW3.0 crash problem: https://github.com/RobotExMachina/Machina.NET/issues/7
if (ZERO_PRECISION_ON_SAME_POSITION_MOTION && cursor.precision != 0 && cursor.prevPosition != null && cursor.position.IsSimilar(cursor.prevPosition))
{
Logger.Debug("Applying ZERO_PRECISION_ON_SAME_POSITION_MOTION");
_params = WrapParamsWithZeroPrecision(_params, cursor);
}
break;
case ActionType.Axes:
_params = new int[]
{
_action.Id,
INST_MOVEJ_Q,
(int)Math.Round(cursor.axes.J1 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.axes.J2 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.axes.J3 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.axes.J4 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.axes.J5 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.axes.J6 * Geometry.TO_RADS * FACTOR_RAD),
};
// Another ZERO_PRECISION_ON_SAME_POSITION_MOTION check should happen here for 6th axis rotation only...
break;
case ActionType.Wait:
ActionWait aa = _action as ActionWait;
_params = new int[]
{
_action.Id,
INST_SLEEP,
(int)Math.Round(aa.millis * 0.001 * FACTOR_SEC)
};
break;
// Not implemented yet
//case ActionType.Message:
// ActionMessage am = (ActionMessage)action;
// dec = string.Format(" popup(\"{0}\", title=\"Machina Message\", warning=False, error=False)",
// am.message);
// break;
case ActionType.AttachTool:
//ActionAttachTool aatt = _action as ActionAttachTool;
//Tool t = aatt.tool;
Tool t = cursor.tool; // can cursor.tool be null? The action would have not gone through if there wasn't a tool available for attachment, right?
RotationVector trv = t.TCPOrientation.ToRotationVector();
_params = new int[]
{
_action.Id,
INST_SET_TOOL,
(int)Math.Round(t.TCPPosition.X * 0.001 * FACTOR_M),
(int)Math.Round(t.TCPPosition.Y * 0.001 * FACTOR_M),
(int)Math.Round(t.TCPPosition.Z * 0.001 * FACTOR_M),
(int)Math.Round(trv.X * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(trv.Y * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(trv.Z * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(t.Weight * FACTOR_KG)
};
break;
case ActionType.DetachTool:
_params = new int[]
{
_action.Id,
INST_SET_TOOL,
0,
0,
0,
0,
0,
0,
0
};
break;
case ActionType.IODigital:
ActionIODigital aiod = _action as ActionIODigital;
_params = new int[]
{
_action.Id,
INST_SET_DIGITAL_OUT,
aiod.pinNum,
aiod.on ? 1 : 0,
aiod.isToolPin ? 1 : 0
};
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = _action as ActionIOAnalog;
_params = new int[]
{
_action.Id,
INST_SET_ANALOG_OUT,
aioa.pinNum,
(int)Math.Round(aioa.value * FACTOR_VOLT)
//aioa.isToolPin ? 1 : 0 // there is no analog out on the tool
};
break;
// ╔═╗╔═╗╔╦╗╔╦╗╦╔╗╔╔═╗╔═╗
// ╚═╗║╣ ║ ║ ║║║║║ ╦╚═╗
// ╚═╝╚═╝ ╩ ╩ ╩╝╚╝╚═╝╚═╝
// Speed is now set globally, and the driver takes care of translating that internally
case ActionType.Speed:
_params = new int[]
{
_action.Id,
INST_ALL_SPEED,
(int)Math.Round(cursor.speed * 0.001 * FACTOR_M)
};
break;
// Idem for acceleration
case ActionType.Acceleration:
_params = new int[]
{
_action.Id,
INST_ALL_ACC,
(int)Math.Round(cursor.acceleration * 0.001 * FACTOR_M)
};
break;
case ActionType.Precision:
_params = new int[]
{
_action.Id,
INST_BLEND,
(int)Math.Round(cursor.precision * 0.001 * FACTOR_M)
};
break;
case ActionType.PushPop:
ActionPushPop app = _action as ActionPushPop;
if (app.push)
{
break;
}
Settings beforePop = cursor.settingsBuffer.SettingsBeforeLastPop;
Dictionary <int, int> poppedSettings = new Dictionary <int, int>();
// These are the states kept in the controller as of v1.0 of the driver
//if (beforePop.Speed != cursor.speed)
// poppedSettings.Add(INST_TCP_SPEED, (int)Math.Round(cursor.speed * 0.001 * FACTOR_M));
//if (beforePop.Acceleration != cursor.acceleration)
// poppedSettings.Add(INST_TCP_ACC, (int)Math.Round(cursor.acceleration * 0.001 * FACTOR_M));
//if (beforePop.JointSpeed != cursor.jointSpeed)
// poppedSettings.Add(INST_Q_SPEED, (int)Math.Round(cursor.jointSpeed * Geometry.TO_RADS * FACTOR_RAD));
//if (beforePop.JointAcceleration != cursor.jointAcceleration)
// poppedSettings.Add(INST_Q_ACC, (int)Math.Round(cursor.jointAcceleration * Geometry.TO_RADS * FACTOR_RAD));
// These are the states kept in the controller as of v1.0 of the driver
if (beforePop.Speed != cursor.speed)
{
poppedSettings.Add(INST_ALL_SPEED, (int)Math.Round(cursor.speed * 0.001 * FACTOR_M));
}
if (beforePop.Acceleration != cursor.acceleration)
{
poppedSettings.Add(INST_ALL_ACC, (int)Math.Round(cursor.acceleration * 0.001 * FACTOR_M));
}
if (beforePop.Precision != cursor.precision)
{
poppedSettings.Add(INST_BLEND, (int)Math.Round(cursor.precision * 0.001 * FACTOR_M));
}
// Generate a buffer with all instructions, ids of -1 except for the last one.
_params = new int[3 * poppedSettings.Count];
int it = 0;
foreach (var setting in poppedSettings)
{
_params[3 * it] = it == poppedSettings.Count - 1 ? app.Id : -1; // only attach the real id to the last instruction
_params[3 * it + 1] = setting.Key;
_params[3 * it + 2] = setting.Value;
it++;
}
break;
case ActionType.Coordinates:
throw new NotImplementedException(); // @TODO: this should also change the WObj, but not on it yet...
//// Send comma-separated integers
//case ActionType.CustomCode:
// ActionCustomCode acc = _action as ActionCustomCode;
// int[] values;
// if (Numeric.CommaSeparatedStringToInts(out values))
// {
// }
// else
// {
// Logger.Warning("Invalid CustomCode: please use a string of comma-separated integers, like \"1,);
// }
// break;
// If the Action wasn't on the list above, it doesn't have a message representation...
default:
Logger.Verbose("Cannot stream action `" + _action + "`");
return(null);
}
if (_params == null)
{
return(null);
}
_buffer = Utilities.Conversion.Int32ArrayToByteArray(_params, false);
return(_buffer);
}
void Sample2()
{
machine = new Machine();
Parameter round = new Parameter(0);
machine.SetParameter("round", round);
// 基本规则
// 吃饱了运动，运动累了睡，睡醒了吃
// 1. 定义状态
// 睡觉的状态
// ActionWait会调用doFinish，所以当行为完成时，调用状态的默认的Finish行为
State stateSleep = machine.NewState();
ActionWait actionWaitSleep = stateSleep.NewAction <ActionWait>();
actionWaitSleep.seconds = 6;
actionWaitSleep.owner = "Sleep";
// 吃的状态
// ActionWait会调用doFinish，所以当行为完成时，调用状态的默认的Finish行为
State stateEat = machine.NewState();
ActionWait actionWaitEatRice = stateEat.NewAction <ActionWait>();
actionWaitEatRice.seconds = 2;
actionWaitEatRice.owner = "Eate.Rice";
ActionWait actionWaitEatMeat = stateEat.NewAction <ActionWait>();
actionWaitEatMeat.seconds = 6;
actionWaitEatMeat.owner = "Eate.Meat";
// 走的状态
// ActionWait会调用doFinish，所以当行为完成时，调用状态的默认的Finish行为
State stateWalk = machine.NewState();
ActionWait actionWaitWalk = stateWalk.NewAction <ActionWait>();
actionWaitWalk.seconds = 3;
actionWaitWalk.owner = "Walk";
stateWalk.NewAction <ActionAddRound>();
// 跑的状态
// ActionWait会调用doFinish，所以当行为完成时，调用状态的默认的Finish行为
State stateRun = machine.NewState();
ActionWait actionWaitRun = stateRun.NewAction <ActionWait>();
actionWaitRun.seconds = 1.5f;
actionWaitRun.owner = "Run";
stateRun.NewAction <ActionAddRound>();
// 跳的状态
// ActionWait会调用doFinish，所以当行为完成时，调用状态的默认的Finish行为
State stateJump = machine.NewState();
ActionWait actionWaitJump = stateJump.NewAction <ActionWait>();
actionWaitJump.seconds = 3;
actionWaitJump.owner = "Jump";
stateJump.NewAction <ActionAddRound>();
// 思考的状态
// ActionRand没有调用doFinish，而是执行了指定的命令，所以不会调用状态的默认的Finish行为
State stateThink = machine.NewState();
ActionRand actionRand = stateThink.NewAction <ActionRand>();
actionRand.cmd1 = machine.NewInternalCommand("Run");
actionRand.cmd2 = machine.NewInternalCommand("Walk");
actionRand.owner = "Think";
// 2. 关联状态
// stateThink中的行为执行了指定的命令，所以不需要指定默认Finish行为的状态
stateEat.finishAction.state = stateThink;
actionRand.cmd1.state = stateRun;
actionRand.cmd2.state = stateJump;
actionRand.finishCommand.state = stateWalk;
stateRun.finishAction.state = stateSleep;
stateWalk.finishAction.state = stateSleep;
stateJump.finishAction.state = stateSleep;
stateSleep.finishAction.state = stateEat;
// 3. 设置初始状态
machine.startupCommand.state = stateSleep;
// 4. 运行状态机
machine.Run();
}
internal const char STR_MESSAGE_RESPONSE_CHAR = '$'; // Flags a message as a response to an information request(acknowledgments do not include it)
/// <summary>
/// Given an Action and a RobotCursor representing the state of the robot after application,
/// return a List of strings with the messages necessary to perform this Action adhering to
/// the Machina-ABB-Server protocol.
/// </summary>
/// <param name="action"></param>
/// <param name="cursor"></param>
/// <returns></returns>
internal override List <string> GetActionMessages(Action action, RobotCursor cursor)
{
List <string> msgs = new List <string>();
switch (action.Type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
//// MoveL/J X Y Z QW QX QY QZ
msgs.Add(string.Format(CultureInfo.InvariantCulture,
"{0}{1} {2} {3} {4} {5} {6} {7} {8} {9}{10}",
STR_MESSAGE_ID_CHAR,
action.Id,
cursor.motionType == MotionType.Linear ? INST_MOVEL : INST_MOVEJ,
Math.Round(cursor.position.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.position.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.position.Z, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.rotation.Q.W, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.X, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.Y, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.Z, Geometry.STRING_ROUND_DECIMALS_QUAT),
STR_MESSAGE_END_CHAR));
break;
case ActionType.Axes:
// MoveAbsJ J1 J2 J3 J4 J5 J6
msgs.Add(string.Format(CultureInfo.InvariantCulture,
"{0}{1} {2} {3} {4} {5} {6} {7} {8}{9}",
STR_MESSAGE_ID_CHAR,
action.Id,
INST_MOVEABSJ,
Math.Round(cursor.axes.J1, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.axes.J2, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.axes.J3, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.axes.J4, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.axes.J5, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.axes.J6, Geometry.STRING_ROUND_DECIMALS_DEGS),
STR_MESSAGE_END_CHAR));
break;
case ActionType.Speed:
// (setspeed V_TCP[V_ORI V_LEAX V_REAX])
msgs.Add(Invariant($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_SPEED} {cursor.speed}{STR_MESSAGE_END_CHAR}")); // this accepts more velocity params, but those are still not implemented in Machina...
break;
case ActionType.Acceleration:
Logger.Debug("Acceleration not implemented in ABBCommunicationProtocol");
break;
case ActionType.Precision:
// (setzone FINE TCP[ORI EAX ORI LEAX REAX])
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_ZONE} {cursor.precision}{STR_MESSAGE_END_CHAR}"); // this accepts more zone params, but those are still not implemented in Machina...
break;
case ActionType.Wait:
// !WaitTime T
ActionWait aw = (ActionWait)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_WAITTIME} {0.001 * aw.millis}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.Message:
// !TPWrite "MSG"
ActionMessage am = (ActionMessage)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_TPWRITE} \"{am.message}\"{STR_MESSAGE_END_CHAR}");
break;
case ActionType.AttachTool:
// !(settool X Y Z QW QX QY QZ KG CX CY CZ)
//ActionAttachTool aa = (ActionAttachTool)action;
//Tool t = aa.tool;
Tool t = cursor.tool; // @TODO: should I just pull from the library? need to rethink the general approach: take info from cursor state (like motion actions) or action data...
msgs.Add(string.Format("{0}{1} {2} {3} {4} {5} {6} {7} {8} {9} {10} {11} {12} {13}{14}",
STR_MESSAGE_ID_CHAR,
action.Id,
INST_TOOL,
Math.Round(t.TCPPosition.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPPosition.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPPosition.Z, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPOrientation.Q.W, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.X, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.Y, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.Z, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.Weight, Geometry.STRING_ROUND_DECIMALS_KG),
Math.Round(t.CenterOfGravity.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.CenterOfGravity.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.CenterOfGravity.Z, Geometry.STRING_ROUND_DECIMALS_MM),
STR_MESSAGE_END_CHAR));
break;
case ActionType.DetachTool:
// !(settool0)
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_NOTOOL}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.IODigital:
// !SetDO "NAME" ON
ActionIODigital aiod = (ActionIODigital)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_SETDO} \"{aiod.pinName}\" {(aiod.on ? 1 : 0)}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.IOAnalog:
// !SetAO "NAME" V
ActionIOAnalog aioa = (ActionIOAnalog)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_SETAO} \"{aioa.pinName}\" {aioa.value}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.PushPop:
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
return(null);
}
else
{
// Only precision, speed and acceleration are states kept on the controller
Settings beforePop = cursor.settingsBuffer.SettingsBeforeLastPop;
if (beforePop.Speed != cursor.speed)
{
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_SPEED} {cursor.speed}{STR_MESSAGE_END_CHAR}");
}
if (beforePop.Acceleration != cursor.acceleration)
{
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_ACCELERATION} {cursor.acceleration}{STR_MESSAGE_END_CHAR}");
}
if (beforePop.Precision != cursor.precision)
{
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.Id} {INST_ZONE} {cursor.precision}{STR_MESSAGE_END_CHAR}");
}
}
break;
case ActionType.Coordinates:
throw new NotImplementedException(); // @TODO: this should also change the WObj, but not on it yet...
case ActionType.ExternalAxis:
string msg, @params, id;
ActionExternalAxis aea = action as ActionExternalAxis;
// Cartesian msg
if (aea.target == ExternalAxesTarget.All || aea.target == ExternalAxesTarget.Cartesian)
{
if (aea.target == ExternalAxesTarget.All)
{
id = "0"; // If will need to send two messages, only add real id to the last one.
}
else
{
id = aea.Id.ToString();
}
@params = ExternalAxesToParameters(cursor.externalAxesCartesian);
msg = $"{STR_MESSAGE_ID_CHAR}{id} {INST_EXT_JOINTS_ROBTARGET} {@params}{STR_MESSAGE_END_CHAR}";
msgs.Add(msg);
}
// Joints msg
if (aea.target == ExternalAxesTarget.All || aea.target == ExternalAxesTarget.Joint)
{
id = aea.Id.ToString(); // now use the real id in any case
@params = ExternalAxesToParameters(cursor.externalAxesJoints);
msg = $"{STR_MESSAGE_ID_CHAR}{id} {INST_EXT_JOINTS_JOINTTARGET} {@params}{STR_MESSAGE_END_CHAR}";
msgs.Add(msg);
}
break;
case ActionType.ArmAngle:
// Send a request to change only the robtarget portion of the external axes for next motion.
ActionArmAngle aaa = action as ActionArmAngle;
msgs.Add(string.Format("{0}{1} {2} {3} 9E9 9E9 9E9 9E9 9E9{4}",
STR_MESSAGE_ID_CHAR,
action.Id,
INST_EXT_JOINTS_ROBTARGET,
Math.Round(aaa.angle, Geometry.STRING_ROUND_DECIMALS_DEGS),
STR_MESSAGE_END_CHAR));
break;
// When connected live, this is used as a way to stream a message directly to the robot. Unsafe, but oh well...
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
msgs.Add(acc.statement);
break;
// If the Action wasn't on the list above, it doesn't have a message representation...
default:
Logger.Warning("Cannot stream action `" + action + "`");
return(null);
}
return(msgs);
}
public override byte[] GetBytesForNextAction(RobotCursor cursor)
{
if (!cursor.ApplyNextAction(out _action))
{
return(null); // cursor buffer is empty
}
_params = null;
switch (_action.type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
RotationVector rv = cursor.rotation.AA.ToRotationVector();
_params = new int[]
{
_action.id,
cursor.motionType == MotionType.Joint ? INST_MOVEJ_P : INST_MOVEL,
(int)Math.Round(cursor.position.X * 0.001 * FACTOR_M),
(int)Math.Round(cursor.position.Y * 0.001 * FACTOR_M),
(int)Math.Round(cursor.position.Z * 0.001 * FACTOR_M),
(int)Math.Round(rv.X * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(rv.Y * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(rv.Z * Geometry.TO_RADS * FACTOR_RAD)
};
break;
case ActionType.Axes:
_params = new int[]
{
_action.id,
INST_MOVEJ_Q,
(int)Math.Round(cursor.joints.J1 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.joints.J2 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.joints.J3 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.joints.J4 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.joints.J5 * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(cursor.joints.J6 * Geometry.TO_RADS * FACTOR_RAD),
};
break;
case ActionType.Wait:
ActionWait aa = _action as ActionWait;
_params = new int[]
{
_action.id,
INST_SLEEP,
(int)Math.Round(aa.millis * 0.001 * FACTOR_SEC)
};
break;
// Not implemented yet
//case ActionType.Message:
// ActionMessage am = (ActionMessage)action;
// dec = string.Format(" popup(\"{0}\", title=\"Machina Message\", warning=False, error=False)",
// am.message);
// break;
case ActionType.Attach:
ActionAttach aatt = _action as ActionAttach;
Tool t = aatt.tool;
RotationVector trv = t.TCPOrientation.ToRotationVector();
_params = new int[]
{
_action.id,
INST_SET_TOOL,
(int)Math.Round(t.TCPPosition.X * 0.001 * FACTOR_M),
(int)Math.Round(t.TCPPosition.Y * 0.001 * FACTOR_M),
(int)Math.Round(t.TCPPosition.Z * 0.001 * FACTOR_M),
(int)Math.Round(trv.X * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(trv.Y * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(trv.Z * Geometry.TO_RADS * FACTOR_RAD),
(int)Math.Round(t.Weight * FACTOR_M)
};
break;
case ActionType.Detach:
_params = new int[]
{
_action.id,
INST_SET_TOOL,
0,
0,
0,
0,
0,
0,
0
};
break;
case ActionType.IODigital:
ActionIODigital aiod = _action as ActionIODigital;
_params = new int[]
{
_action.id,
INST_SET_DIGITAL_OUT,
aiod.pinNum,
aiod.on ? 1 : 0
};
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = _action as ActionIOAnalog;
_params = new int[]
{
_action.id,
INST_SET_DIGITAL_OUT,
aioa.pinNum,
(int)Math.Round(aioa.value * FACTOR_VOLT)
};
break;
// ╔═╗╔═╗╔╦╗╔╦╗╦╔╗╔╔═╗╔═╗
// ╚═╗║╣ ║ ║ ║║║║║ ╦╚═╗
// ╚═╝╚═╝ ╩ ╩ ╩╝╚╝╚═╝╚═╝
case ActionType.Speed:
_params = new int[]
{
_action.id,
INST_TCP_SPEED,
(int)Math.Round(cursor.speed * 0.001 * FACTOR_M)
};
break;
case ActionType.Acceleration:
_params = new int[]
{
_action.id,
INST_TCP_ACC,
(int)Math.Round(cursor.acceleration * 0.001 * FACTOR_M)
};
break;
case ActionType.JointSpeed:
_params = new int[]
{
_action.id,
INST_Q_SPEED,
(int)Math.Round(cursor.jointSpeed * Geometry.TO_RADS * FACTOR_RAD)
};
break;
case ActionType.JointAcceleration:
_params = new int[]
{
_action.id,
INST_Q_ACC,
(int)Math.Round(cursor.jointAcceleration * Geometry.TO_RADS * FACTOR_RAD)
};
break;
case ActionType.Precision:
_params = new int[]
{
_action.id,
INST_BLEND,
(int)Math.Round(cursor.precision * 0.001 * FACTOR_M)
};
break;
case ActionType.PushPop:
ActionPushPop app = _action as ActionPushPop;
if (app.push)
{
break;
}
Settings beforePop = cursor.settingsBuffer.SettingsBeforeLastPop;
Dictionary <int, int> poppedSettings = new Dictionary <int, int>();
// These are the states kept in the controller as of v1.0 of the driver
if (beforePop.Speed != cursor.speed)
{
poppedSettings.Add(INST_TCP_SPEED, (int)Math.Round(cursor.speed * 0.001 * FACTOR_M));
}
if (beforePop.Acceleration != cursor.acceleration)
{
poppedSettings.Add(INST_TCP_ACC, (int)Math.Round(cursor.acceleration * 0.001 * FACTOR_M));
}
if (beforePop.JointSpeed != cursor.jointSpeed)
{
poppedSettings.Add(INST_Q_SPEED, (int)Math.Round(cursor.jointSpeed * Geometry.TO_RADS * FACTOR_RAD));
}
if (beforePop.JointAcceleration != cursor.jointAcceleration)
{
poppedSettings.Add(INST_Q_ACC, (int)Math.Round(cursor.jointAcceleration * Geometry.TO_RADS * FACTOR_RAD));
}
if (beforePop.Precision != cursor.precision)
{
poppedSettings.Add(INST_BLEND, (int)Math.Round(cursor.precision * 0.001 * FACTOR_M));
}
// Generate a buffer with all instructions, ids of -1 except for the last one.
_params = new int[3 * poppedSettings.Count];
int it = 0;
foreach (var setting in poppedSettings)
{
_params[3 * it] = it == poppedSettings.Count - 1 ? app.id : -1; // only attach the real id to the last instruction
_params[3 * it + 1] = setting.Key;
_params[3 * it + 2] = setting.Value;
it++;
}
break;
case ActionType.Coordinates:
throw new NotImplementedException(); // @TODO: this should also change the WObj, but not on it yet...
}
if (_params == null)
{
return(null);
}
_buffer = Util.Int32ArrayToByteArray(_params, false);
return(_buffer);
}
internal const int RES_JOINTS = 22; // ">22 0 0 0 0 90 0;"
// const int RES_EXTAX = 23;
/// <summary>
/// Given an Action and a RobotCursor representing the state of the robot after application,
/// return a List of strings with the messages necessary to perform this Action adhering to
/// the Machina-ABB-Server protocol.
/// </summary>
/// <param name="action"></param>
/// <param name="cursor"></param>
/// <returns></returns>
internal override List <string> GetActionMessages(Action action, RobotCursor cursor)
{
List <string> msgs = new List <string>();
switch (action.type)
{
case ActionType.Translation:
case ActionType.Rotation:
case ActionType.Transformation:
//// MoveL/J X Y Z QW QX QY QZ
msgs.Add(string.Format("{0}{1} {2} {3} {4} {5} {6} {7} {8} {9}{10}",
STR_MESSAGE_ID_CHAR,
action.id,
cursor.motionType == MotionType.Linear ? INST_MOVEL : INST_MOVEJ,
Math.Round(cursor.position.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.position.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.position.Z, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(cursor.rotation.Q.W, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.X, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.Y, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(cursor.rotation.Q.Z, Geometry.STRING_ROUND_DECIMALS_QUAT),
STR_MESSAGE_END_CHAR));
break;
case ActionType.Axes:
// MoveAbsJ J1 J2 J3 J4 J5 J6
msgs.Add(string.Format("{0}{1} {2} {3} {4} {5} {6} {7} {8}{9}",
STR_MESSAGE_ID_CHAR,
action.id,
INST_MOVEABSJ,
Math.Round(cursor.joints.J1, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.joints.J2, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.joints.J3, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.joints.J4, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.joints.J5, Geometry.STRING_ROUND_DECIMALS_DEGS),
Math.Round(cursor.joints.J6, Geometry.STRING_ROUND_DECIMALS_DEGS),
STR_MESSAGE_END_CHAR));
break;
case ActionType.Speed:
// (setspeed V_TCP[V_ORI V_LEAX V_REAX])
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_SPEED} {cursor.speed}{STR_MESSAGE_END_CHAR}"); // this accepts more velocity params, but those are still not implemented in Machina...
break;
case ActionType.Precision:
// (setzone FINE TCP[ORI EAX ORI LEAX REAX])
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_ZONE} {cursor.precision}{STR_MESSAGE_END_CHAR}"); // this accepts more zone params, but those are still not implemented in Machina...
break;
case ActionType.Wait:
// !WaitTime T
ActionWait aw = (ActionWait)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_WAITTIME} {0.001 * aw.millis}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.Message:
// !TPWrite "MSG"
ActionMessage am = (ActionMessage)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_TPWRITE} \"{am.message}\"{STR_MESSAGE_END_CHAR}");
break;
case ActionType.Attach:
// !(settool X Y Z QW QX QY QZ KG CX CY CZ)
ActionAttach aa = (ActionAttach)action;
Tool t = aa.tool;
msgs.Add(string.Format("{0}{1} {2} {3} {4} {5} {6} {7} {8} {9} {10} {11} {12} {13}{14}",
STR_MESSAGE_ID_CHAR,
action.id,
INST_TOOL,
Math.Round(t.TCPPosition.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPPosition.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPPosition.Z, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.TCPOrientation.Q.W, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.X, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.Y, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.TCPOrientation.Q.Z, Geometry.STRING_ROUND_DECIMALS_QUAT),
Math.Round(t.Weight, Geometry.STRING_ROUND_DECIMALS_KG),
Math.Round(t.centerOfGravity.X, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.centerOfGravity.Y, Geometry.STRING_ROUND_DECIMALS_MM),
Math.Round(t.centerOfGravity.Z, Geometry.STRING_ROUND_DECIMALS_MM),
STR_MESSAGE_END_CHAR));
break;
case ActionType.Detach:
// !(settool0)
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_NOTOOL}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.IODigital:
// !SetDO "NAME" ON
ActionIODigital aiod = (ActionIODigital)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_SETDO} \"{aiod.pinName}\" {(aiod.on ? 1 : 0)}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.IOAnalog:
// !SetAO "NAME" V
ActionIOAnalog aioa = (ActionIOAnalog)action;
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_SETAO} \"{aioa.pinName}\" {aioa.value}{STR_MESSAGE_END_CHAR}");
break;
case ActionType.PushPop:
ActionPushPop app = action as ActionPushPop;
if (app.push)
{
return(null);
}
else
{
// Only precision and speed are states kept on the controller
Settings beforePop = cursor.settingsBuffer.SettingsBeforeLastPop;
if (beforePop.Speed != cursor.speed)
{
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_SPEED} {cursor.speed}{STR_MESSAGE_END_CHAR}");
}
if (beforePop.Precision != cursor.precision)
{
msgs.Add($"{STR_MESSAGE_ID_CHAR}{action.id} {INST_ZONE} {cursor.precision}{STR_MESSAGE_END_CHAR}");
}
}
break;
case ActionType.Coordinates:
throw new NotImplementedException(); // @TODO: this should also change the WObj, but not on it yet...
case ActionType.ExternalAxis:
string msg = $"{STR_MESSAGE_ID_CHAR}{action.id} {INST_EXT_JOINTS} ";
for (int i = 0; i < cursor.externalAxes.Length; i++)
{
// RAPID's StrToVal() will parse 9E9 into a 9E+9 num value, and ignore that axis on motions
msg += cursor.externalAxes[i]?.ToString() ?? "9E9";
if (i < cursor.externalAxes.Length - 1)
{
msg += " ";
}
}
msg += STR_MESSAGE_END_CHAR;
msgs.Add(msg);
break;
// CustomCode --> is non-streamable
// If the Action wasn't on the list above, it doesn't have a message representation...
default:
return(null);
}
return(msgs);
}
void DrawActions()
{
GUI.Label(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), "Actions : ");
posGUI.y += fieldHeight;
Location currentLocation = currentPlayer.GetCurrentLocation();
if (GUI.Button(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), "Wait"))
{
ActionWait actionWait = new ActionWait(currentTime, 1, currentLocation);
AddAction(actionWait);
}
posGUI.y += fieldHeight;
if (currentLocation != timeMachine)
{
for (int j = 0; j < currentLocation.items.Count; j++)
{
Item item = currentLocation.items[j];
if (item.pickup)
{
if (GUI.Button(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), "Pickup " + item.ToShortString()))
{
ActionPickup actionPickup = new ActionPickup(currentTime, item, j);
AddAction(actionPickup);
}
posGUI.y += fieldHeight;
}
}
//Inventory actions
for (int i = 0, count = currentPlayer.inventory.Count; i < count; i++)
{
Item item = currentPlayer.inventory[i];
Action[] itemActions = item.GetInventoryActions(currentTime, i, currentPlayer);
if (itemActions != null)
{
for (int j = 0, length = itemActions.Length; j < length; j++)
{
Action action = itemActions[j];
if (GUI.Button(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), action.name))
{
AddAction(action);
}
posGUI.y += fieldHeight;
}
}
}
//Location items actions
for (int i = 0, count = currentLocation.items.Count; i < count; i++)
{
Item item = currentLocation.items[i];
Action[] itemActions = item.GetLocationActions(currentTime, i, currentPlayer);
if (itemActions != null)
{
for (int j = 0, length = itemActions.Length; j < length; j++)
{
Action action = itemActions[j];
if (GUI.Button(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), action.name))
{
AddAction(action);
}
posGUI.y += fieldHeight;
}
}
}
}
Action[] levelActions = currentLevel.GetLevelActions(currentTime, currentPlayer);
for (int j = 0, length = levelActions.Length; j < length; j++)
{
Action action = levelActions[j];
if (GUI.Button(new Rect(posGUI.x, posGUI.y, fieldWidth, fieldHeight), action.name))
{
AddAction(action);
}
posGUI.y += fieldHeight;
}
}
static public ActionBase Create(string ActionObjectString)
{
ActionBase output = null;
try
{
output = Activator.CreateInstance("AutoRobo.Core", "AutoRobo.Core.Actions." + ActionObjectString).Unwrap() as ActionBase;
}
catch
{
//兼容老版本数据
switch (ActionObjectString)
{
case "BrowserClick": output = new ActionClick(); break;
case "Navigate": output = new ActionNavigate(); break;
case "ScriptPart": output = new ActionScriptPart(); break;
case "AlertHandler": output = new ActionAlertHandler(); break;
case "ActionDoubleClick": output = new ActionDoubleClick(); break;
case "ActionFireEvent": output = new ActionFireEvent(); break;
case "ActionKey": output = new ActionKey(); break;
case "Mouse": output = new ActionMouse(); break;
case "RadioButton": output = new ActionRadio(); break;
case "Checkbox": output = new ActionCheckbox(); break;
case "SelectList": output = new ActionSelectList(); break;
case "TypeText": output = new ActionTypeText(); break;
case "DirectionKey": output = new ActionDirectionKey(); break;
case "Sleep": output = new ActionSleep(); break;
case "Wait": output = new ActionWait(); break;
case "ValidateCode": output = new ActionValidateCode(); break;
case "FileUpload": output = new ActionFileDialog(); break;
case "ValidateImage": output = new ActionValidateImage(); break;
case "JavascriptInterpreter": output = new ActionJavascriptInterpreter(); break;
case "SubmitClick": output = new ActionSubmitClick(); break;
case "CloseWindow": output = new ActionCloseWindow(); break;
case "WindowBack": output = new ActionBack(); break;
case "WindowForward": output = new ActionForward(); break;
case "WindowOpen": output = new ActionOpenWindow(); break;
case "WindowRefresh": output = new ActionRefresh(); break;
case "SubElementFinder": output = new ActionSubElements(); break;
case "CallFunction": output = new ActionCall(); break;
case "ActionForeach": output = new ActionForeach(); break;
case "ActionBrowser": output = new ActionBrowser(); break;
case "ActionThread": output = new ActionThread(); break;
//case "AddChildrenToList": output = new AddChildrenToList(); break;
}
}
//if (output == null)
//{
// throw new ApplicationException(string.Format("{0}对应的活动未找到", ActionObjectString));
//}
return(output);
}