public void UpdateJointsDynamicList(string robot_id, string arm_id)
{
try {
//string robotId = SceneManager.Instance.RobotNameToId(JointsRobotsList.GetValue().ToString());
foreach (RectTransform o in JointsDynamicList.GetComponentsInChildren <RectTransform>())
{
if (o.gameObject.tag != "Persistent")
{
Destroy(o.gameObject);
}
}
System.Collections.Generic.List <ProjectRobotJoints> joints;
if (string.IsNullOrEmpty(arm_id))
{
joints = CurrentActionPoint.GetAllJoints(true, robot_id).Values.ToList();
}
else
{
joints = CurrentActionPoint.GetJointsOfArm(robot_id, arm_id, true).Values.ToList();
}
foreach (IO.Swagger.Model.ProjectRobotJoints joint in joints)
{
CreateJointsButton(JointsDynamicList.transform, joint.Id, joint.Name, () => OpenDetailMenu(joint), joint.IsValid);
}
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("Failed to get robot's ID", "");
return;
}
}
public void UpdateJointsDynamicList(string robotName)
{
if (robotName == null)
{
return;
}
try {
string robotId = SceneManager.Instance.RobotNameToId(robotName);
foreach (RectTransform o in JointsDynamicList.GetComponentsInChildren <RectTransform>())
{
if (o.gameObject.tag != "Persistent")
{
Destroy(o.gameObject);
}
}
System.Collections.Generic.List <ProjectRobotJoints> joints = CurrentActionPoint.GetAllJoints(true, robotId).Values.ToList();
foreach (IO.Swagger.Model.ProjectRobotJoints joint in joints)
{
CreateJointsButton(JointsDynamicList.transform, joint.Id, joint.Name, () => OpenDetailMenu(joint)).State = joint.IsValid;
}
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("Failed to get robot's ID", "");
return;
}
}
public async void UpdateMenu()
{
ActionPointName.text = CurrentActionPoint.Data.Name;
CustomDropdown positionRobotsListDropdown = PositionRobotsList.Dropdown;
positionRobotsListDropdown.dropdownItems.Clear();
await PositionRobotsList.gameObject.GetComponent <DropdownRobots>().Init(OnRobotChanged, true);
if (!SceneManager.Instance.SceneStarted || positionRobotsListDropdown.dropdownItems.Count == 0)
{
PositionRobotsList.gameObject.SetActive(false);
PositionEndEffectorList.gameObject.SetActive(false);
UpdatePositionUsingRobotBtn.interactable = false;
AddOrientationUsingRobotButton.interactable = false;
}
else
{
PositionRobotsList.gameObject.SetActive(true);
PositionEndEffectorList.gameObject.SetActive(true);
UpdatePositionUsingRobotBtn.interactable = true;
AddOrientationUsingRobotButton.interactable = true;
OnRobotChanged((string)PositionRobotsList.GetValue());
}
PositionExpertModeBlock.SetActive(GameManager.Instance.ExpertMode);
PositionManualEdit.SetPosition(CurrentActionPoint.Data.Position);
JointsRobotsList.Dropdown.dropdownItems.Clear();
await JointsRobotsList.gameObject.GetComponent <DropdownRobots>().Init(UpdateJointsDynamicList, false);
if (JointsRobotsList.Dropdown.dropdownItems.Count > 0)
{
JointsRobotsList.gameObject.SetActive(true);
JointsDynamicList.SetActive(true);
UpdateJointsDynamicList((string)JointsRobotsList.GetValue());
}
else
{
JointsRobotsList.gameObject.SetActive(false);
JointsDynamicList.SetActive(false);
}
if (SceneManager.Instance.SceneStarted)
{
AddJointsButton.interactable = true;
}
else
{
AddJointsButton.interactable = false;
}
UpdateOrientationsDynamicList();
UpdateTooltips();
}
public async void UpdateMenu()
{
if (CurrentActionPoint == null)
{
return;
}
CloseAnySubmenu();
PositionExpertModeBlock.SetActive(GameManager.Instance.ExpertMode);
RobotPickBlock.SetActive(!GameManager.Instance.ExpertMode);
PositionManualEdit.SetPosition(CurrentActionPoint.Data.Position);
if (SceneManager.Instance.SceneStarted && SceneManager.Instance.IsRobotSelected())
{
JointsDynamicList.SetActive(true);
if (SceneManager.Instance.SceneStarted && SceneManager.Instance.IsRobotAndEESelected())
{
UpdateJointsDynamicList(SceneManager.Instance.SelectedArmId);
}
else
{
UpdateJointsDynamicList(SceneManager.Instance.SelectedRobot.GetId(), null);
}
}
else
{
JointsDynamicList.SetActive(false);
}
UpdateOrientationsDynamicList();
const string noRobot = "There is no robot in the scene";
const string sceneNotStarted = "To add using robot, go online";
const string eeNotSelected = "End effector is not selected";
UpdatePositionUsingRobotBtn.SetInteractivity(SceneManager.Instance.SceneStarted && SceneManager.Instance.IsRobotAndEESelected());
UpdatePositionUsingRobotBtn2.SetInteractivity(UpdatePositionUsingRobotBtn.IsInteractive());
AddOrientationUsingRobotButton.SetInteractivity(SceneManager.Instance.SceneStarted && SceneManager.Instance.IsRobotAndEESelected());
AddJointsButton.SetInteractivity(SceneManager.Instance.SceneStarted, "Scene not started");
if (!SceneManager.Instance.RobotInScene())
{
UpdatePositionUsingRobotBtn.SetInteractivity(false, noRobot);
UpdatePositionUsingRobotBtn2.SetInteractivity(false, noRobot);
AddOrientationUsingRobotButton.SetInteractivity(false, noRobot);
AddJointsButton.SetInteractivity(false, noRobot);
JointsListLabel.text = "To show joints list, add a robot to the scene";
}
else if (!SceneManager.Instance.SceneStarted)
{
UpdatePositionUsingRobotBtn.SetInteractivity(false, "To update using robot, go online");
UpdatePositionUsingRobotBtn2.SetInteractivity(false, "To update using robot, go online");
AddOrientationUsingRobotButton.SetInteractivity(false, sceneNotStarted);
AddJointsButton.SetInteractivity(false, sceneNotStarted);
JointsListLabel.text = "List of joints:";
}
else if (!SceneManager.Instance.IsRobotAndEESelected())
{
UpdatePositionUsingRobotBtn.SetInteractivity(false, eeNotSelected);
UpdatePositionUsingRobotBtn2.SetInteractivity(false, eeNotSelected);
AddOrientationUsingRobotButton.SetInteractivity(false, eeNotSelected);
AddJointsButton.SetInteractivity(SceneManager.Instance.IsRobotSelected(), "Robot is not selected");
if (SceneManager.Instance.IsRobotSelected())
{
JointsListLabel.text = "List of joints:";
}
else
{
JointsListLabel.text = "To show joints list, select robot";
}
}
else
{
UpdatePositionUsingRobotBtn.SetInteractivity(true);
UpdatePositionUsingRobotBtn2.SetInteractivity(true);
AddOrientationUsingRobotButton.SetInteractivity(true);
AddJointsButton.SetInteractivity(true);
JointsListLabel.text = "List of joints:";
}
}
