public override MoveStatement getMoveStatementFromUI(GameObject movementTypeUI)
{
string[] splittedString = movementTypeUI.name.Split('_');
MoveStatement moveStatement = new MoveToJ();
if (splittedString.Length > 1)
{
int movementValue;
int.TryParse(splittedString[1], out movementValue);
switch (movementValue)
{
case 0:
moveStatement = new MoveToL();
break;
case 1:
moveStatement = new MoveToJ();
break;
case 2:
moveStatement = new JumpTo();
break;
case 3:
moveStatement = new MoveArc();
break;
default:
break;
}
}
return(moveStatement);
}
public override MoveStatement getMoveStatementFromUI(GameObject movementTypeUI)
{
List <TMP_Dropdown> dropdowns;
MoveStatement moveStatement;
dropdowns = new List <TMP_Dropdown>();
moveStatement = new MoveToL();
movementTypeUI.GetComponentsInChildren <TMP_Dropdown>(dropdowns);
foreach (TMP_Dropdown dropdown in dropdowns)
{
switch (dropdown.value)
{
case 0:
moveStatement = new MoveToL();
break;
case 1:
moveStatement = new MoveToJ();
break;
case 2:
moveStatement = new JumpTo();
break;
case 3:
moveStatement = new MoveArc();
break;
default:
break;
}
}
return(moveStatement);
}
private MoveStatement statementFromParsedString(int movementType, float x, float y, float z, float r)
{
Vector4 target = new Vector4(x, y, z, r);
MoveStatement moveStatement = new MoveToJ(); // default
switch (movementType)
{
case 0:
moveStatement = new MoveToL();
break;
case 1:
moveStatement = new MoveToJ();
break;
case 2:
moveStatement = new JumpTo();
break;
case 3:
moveStatement = new MoveArc();
break;
default:
moveStatement = new MoveToJ();
break;
}
moveStatement.target = target;
return(moveStatement);
}
public override Statement generateStatementFromUI(GameObject commandContainer)
{
bool isMoveStatement = true;
MoveStatement moveStatement = new MoveToJ();
foreach (Transform child in commandContainer.transform)
{
if (child.name.StartsWith("ToggleSuction"))
{
ToggleSuction toggleSuctionCommand = new ToggleSuction();
if (child.name.Contains("false"))
{
toggleSuctionCommand.isSuctionEnabled = false;
}
if (child.name.Contains("true"))
{
toggleSuctionCommand.isSuctionEnabled = true;
}
return(toggleSuctionCommand);
isMoveStatement = false;
}
}
if (isMoveStatement)
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
}
return(moveStatement);
}
public Statement serialize2ROSCode()
{
Statement statement;
if (Command.value == 0)
{
statement = new MoveToJ();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as MoveToJ).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
else
{
statement = new ToggleSuction();
(statement as ToggleSuction).isSuctionEnabled = CommandArgs.text.Trim().ToLower().Equals("true");
}
return(statement);
}
