//to display code line UI for Brute Move command
public override GameObject createBruteCoordinatesSelector(BruteMove bruteStatement)
{
//Overriding createBruteCoordinatesSelector for BRUTE
GameObject coordinateDisplay;
List <TextMeshPro> textFields;
Button button;
Interactable interactable;
textFields = new List <TextMeshPro>();
coordinateDisplay = Instantiate(targetBruteSelectorPrefab);
coordinateDisplay.GetComponentsInChildren <TextMeshPro>(textFields);
Vector4 targetInV4 = new Vector4(bruteStatement.target.x, bruteStatement.target.y, bruteStatement.target.z, 0f);
button = coordinateDisplay.GetComponentInChildren <Button>();
interactable = coordinateDisplay.GetComponentInChildren <Interactable>();
foreach (TextMeshPro textField in textFields)
{
if (textField.name.Contains("TargetValue"))
{
textField.text = bruteStatement.target.ToString();
interactable.OnClick.AddListener(() =>
{ /*
* if (coordinateTargetSelector.selectedRosTransform != null)
* {
* Transform rosCoords = coordinateTargetSelector.selectedRosTransform;
* textField.text = rosCoords.localPosition.ToString();
* } */
});
}
}
return(coordinateDisplay);
}
// public Vector3 newPos;
// Start is called before the first frame update
void Start()
{
GearMove_Script = Gears.GetComponent <GearMove>();
LuzMove_Script = Luz.GetComponent <LuzMove>();
BruteMove_Script = Brute.GetComponent <BruteMove>();
PumpMove_Script = Pump.GetComponent <PumpMove>();
SatMove_Script = Sat.GetComponent <SatMove>();
}
public void getMoveScripts()
{
gearMove_script = Gears.GetComponent <GearMove>();
luzMove_script = Luz.GetComponent <LuzMove>();
bruteMove_script = Brute.GetComponent <BruteMove>();
pumpMove_script = Pump.GetComponent <PumpMove>();
satMove_script = Sat.GetComponent <SatMove>();
}
//Brute Move
public override GameObject generateBruteMovmentTypeSelectorFromStatement(BruteMove bruteStatement)
{
GameObject dropdownObject;
dropdownObject = Instantiate(movementTypeDropdownPrefab);
dropdownObject.TryGetComponent(out RectTransform rectTransformDropDown);
dropdownObject.TryGetComponent(out TMP_Dropdown dropdown);
dropdown.value = bruteStatement.movementValueForCanvas;
dropdown.RefreshShownValue();
return(dropdownObject);
}
public abstract GameObject generateBruteMovmentTypeSelectorFromStatement(BruteMove bruteStatement);
//BruteMove command below
private List <Statement> bruteMoveCommand(Vector3 target, BruteMove bruteStatement, List <Statement> statements)
{ //Brute move command is constructed into a statement here
bruteStatement.target = target;
statements.Add(bruteStatement);
return(statements);
}
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement statement in program.statements)
{
//debug
Debug.Log("generateProgramStringFromProgram statement:" + statement);
if (statement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
MoveStatement1 moveStatement = (MoveStatement1)statement;
byte ptpMode_byte;
byte.TryParse("" + moveStatement.movementValueForCanvas, out ptpMode_byte);
float x = moveStatement.target.x;
float y = moveStatement.target.y;
float z = moveStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Move({request.x} {request.y} {request.z});\n";
}
//below is to generate Program string from Program for BruteMove. The string generated on UI will read 'Brute'
else if (statement.GetType().IsSubclassOf(typeof(BruteMove)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
BruteMove bruteStatement = (BruteMove)statement;
byte ptpMode_byte;
byte.TryParse("" + bruteStatement.movementValueForCanvas, out ptpMode_byte);
float x = bruteStatement.target.x;
float y = bruteStatement.target.y;
float z = bruteStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Brute({request.x} {request.y} {request.z});\n";
}
else
{
if (statement is ClawUp)
{
ClawUp clawUp = (ClawUp)statement;
// programString += $"Claw({clawUp.isClawUp});\n";
if (clawUp.isClawUp == true)
{
programString += $"Claw({"up"});\n";
}
else
{
programString += $"Claw({"down"});\n";
}
}
/*
* if (statement is ToggleSuction)
* {
* // ToggleSuction toggleSuction = (ToggleSuction)statement;
* //programString += $"ToggleSuction({toggleSuction.isSuctionEnabled});\n";
* programString += $"Move({0} {0} {0});\n";
* }
*/
}
}
//debug
Debug.Log("generateProgramStringFromProgram with co-ordinates :" + programString);
return(programString);
}
//for Brute Move command public abstract GameObject createBruteCoordinatesSelector(BruteMove bruteStatement);
