public void AssociateGOToRobot(GameObject GO, Cellulo robot)
{
print("Associating GO " + GO.name + " to robot ID" + robot.getID());
CelluloIndexEntry myEntry = GetEntry(robot);
myEntry.AssociatedGO = GO;
}
// Update is called once per frame
void Update()
{
while (true)
{
if (CelluloInPool.Count == Cellulo.totalRobots())
{
break;
}
CelluloIndexEntry newEntry = new CelluloIndexEntry();
print("Adding new CelluloTrackerEntry : \n robot ID= " + newEntry.Id);
CelluloInPool.Add(newEntry);
}
foreach (CelluloIndexEntry Entry in CelluloInPool)
{
//print("List Entry robot ID :"+ Entry.Id+ "\n has associated GO :"+Entry.AssociatedGO);
}
}
void Start()
{
//mSpeed=5;
if (!CelluloInit)
{
Cellulo.initialize();
CelluloInit = true;
print("Cellulo initialized");
}
if (robot != null)
{
//robot.clearTracking();
start_time = Time.time;
MappingMode = 0;
convertCoord = this.gameObject.GetComponent <LibDotsMapping>();
//isRunning=true;
MasterInfo = GameObject.Find("SimMasterInfo");
TestGO = GameObject.Find("Test GO");
}
}
void connect()
{
if (robot != null)
{
return;
}
robot = CelluloTrakingScript.getUnassociatedCellulo();
CelluloTrakingScript.AssociateGOToRobot(this.gameObject, robot);
this.celluloLessDebug = false;
Debug.Log("Robot connection to pool tried " + "\n" + "New value is :" + robot);
initialCelluloTheta = robot.getTheta();
initialCelluloTheta = 0;
if (!robot.hapticOn)
{
robot.setHapticBackdriveAssist(0.8f, 0.8f, 0.8f);
robot.hapticOn = true;
print("haptic assist is ON");
}
}
public CelluloIndexEntry GetEntry(Cellulo robot)
{
CelluloIndexEntry EntryToReturn = CelluloInPool.Find(x => x.Id.Equals(robot.getID()));
return(EntryToReturn);
}
public CelluloIndexEntry()
{
Robot = new Cellulo();
Id = Robot.getID();
}