public void OnConfirm()
{
var toggle = ModeGroup.GetActive();
if (toggle.name == "Mode1")
{
command.mode = 0;
}
else if (toggle.name == "Mode2")
{
command.mode = 1;
}
if (timeField.text.Length != 0)
{
command.time = int.Parse(timeField.text);
}
if (energyField.text.Length != 0)
{
command.energy = int.Parse(energyField.text);
}
if (coordField.text != "Wrong string" && coordField.text.Length != 0)
{
command.command = RobotCommands.TelegaMoving(coordField.text);
ModeGroup.SetActive(0);
coordField.text = "";
this.gameObject.SetActive(false);
}
}
void Update()
{
if (ObserverMode && Timer)
{
StartCoroutine(SendingLimiter(RobotCommands.GetSceneInf(), 1f));
}
}
// called when Gamecraft starts up
public override void OnApplicationStart()
{
// Initialize the Gamecraft modding API first
GamecraftModdingAPI.Main.Init();
// check out the modding API docs here: https://mod.exmods.org/
// Initialize Pixi mod
CommandRoot root = new CommandRoot();
// 2D Image Functionality
root.Inject(new ImageCanvasImporter());
root.Inject(new ImageTextBlockImporter());
root.Inject(new ImageCommandImporter());
// Robot functionality
var robot = new RobotInternetImporter();
root.Inject(robot);
//RobotCommands.CreateRobotCRFCommand();
//RobotCommands.CreateRobotFileCommand();
#if DEBUG
// Development functionality
RobotCommands.CreatePartDumpCommand();
((RobotBlueprintProvider)robot.BlueprintProvider).AddDebugCommands();
root.Inject(new TestImporter());
#endif
// Audio functionality
root.Inject(new MidiImporter());
root.Inject(new AudioFakeImporter());
}
IEnumerator ScanCommand(float duration)
{
float startRotation = transform.eulerAngles.y;
float t = 0.0F;
while (t <= duration)
{
t += Time.deltaTime;
float yRotation = Mathf.Lerp(0.0F, 360.0F, t / duration);
transform.eulerAngles = new Vector3(transform.eulerAngles.x, startRotation + yRotation,
transform.eulerAngles.z);
if (yRotation >= 360.0F)
{
break;
}
else
{
yield return(null);
}
}
isRotationDone = true;
currentCommand = commandScript.GetCommand();
}
public IEnumerator DirectionalMoving()
{
rc.aims.Insert(0, telega.PointA.transform.position);
rc.aims.Insert(0, telega.PointA.transform.position + telega.A - telega.B);
for (int i = 0; i < rc.aims.Count; ++i)
{
rc.aims[i] = new Vector3(rc.aims[i].x, telega.transform.position.y, rc.aims[i].z);
}
for (int j = 1; j < rc.aims.Count - 1; ++j)
{
a = rc.aims[j] - rc.aims[j - 1];
b = rc.aims[j + 1] - rc.aims[j];
angle = new float[3] {
30f, -30f, 90f
};
float alpha = Mathf.Acos(Vector3.Dot(a.normalized, b.normalized)) * Mathf.Rad2Deg;
dist = new float[3] {
Mathf.Abs(Mathf.PI * 20f * alpha / 180f), Mathf.Abs(Mathf.PI * 20f * alpha / 180f), Mathf.Abs(Mathf.PI * 20f * alpha / 180f)
};
if (Vector3.Cross(a, b).y >= 0)
{
isReversed = new float[3] {
-1, -1, 1
};
}
if (Vector3.Cross(a, b).y < 0)
{
isReversed = new float[3] {
1, 1, -1
};
}
//SceneManager.Net.Sender(RobotCommands.TelegaMoving());
var aimsRobot = CoordTransformation.UnityToRobotPosOnly(new Vector4(rc.aims[j].x, rc.aims[j].y, rc.aims[j].z, 1));
SceneManager.Net.Sender(RobotCommands.TelegaMoving(aimsRobot[0].ToString("0.00"), aimsRobot[1].ToString("0.00")));
yield return(new WaitForSeconds(0.5f));
GameObject.Find("telega").GetComponent <telegaScript>().isMoved = true;
float dst = Mathf.Sqrt((rc.aims[j + 1].x - rc.aims[j].x) * (rc.aims[j + 1].x - rc.aims[j].x) +
(rc.aims[j + 1].z - rc.aims[j].z) * (rc.aims[j + 1].z - rc.aims[j].z)) * 1000f;
dist = new float[3] {
dst, dst, dst
};
isReversed[0] = isReversed[1] = isReversed[2] = 1;
angle[0] = angle[1] = angle[2] = 0;
yield return(new WaitForSeconds(0.5f));
GameObject.Find("telega").GetComponent <telegaScript>().isMoved = true;
}
rc.aims.RemoveAt(0);
rc.aims.RemoveAt(0);
}
// Update is called once per frame
IEnumerator Click()
{
this.gameObject.GetComponent <Button>().interactable = false;
SceneManager.Net.Sender(RobotCommands.Sensors());
yield return(new WaitForSeconds(5));
SceneManager.Net.Sender(RobotCommands.GetSceneInf());
this.gameObject.GetComponent <Button>().interactable = true;
}
IEnumerator CommandAfterDelay()
{
Debug.Log("CommandAfterDelay");
yield return(new WaitForSeconds(commandDelay));
if (currentPoint)
{
Debug.Log("getting command");
currentCommand = commandScript.GetCommand();
}
}
void ActivateRobot()
{
//cameraManager.GetComponent<CameraManager>().SwitchCameras();
isRobotRunning = true;
commandScript = gameObject.GetComponent <RobotCommandManager>();
currentCommand = commandScript.commandList[0];
standbyOverlay.SetActive(false);
if (audioSource.clip)
{
audioSource.Play();
}
}
IEnumerator CoordtoServer()
{
yield return(new WaitForSeconds(0.25f));
if (mode == 0)
{
SceneManager.Net.Sender(RobotCommands.FanucMoving());
}
else
{
SceneManager.Net.Sender(RobotCommands.FanucMoving(false));
}
ReadytoSend = true;
}
public static void Main()
{
int[,] sensorData = new int[3, 3];
sensorData[1, 2] = 0;
sensorData[0, 0] = 1;
sensorData[0, 1] = 1;
sensorData[0, 2] = 1;
sensorData[1, 0] = 1;
sensorData[1, 1] = 2;
sensorData[2, 1] = 1;
sensorData[2, 2] = 1;
sensorData[2, 0] = 1;
RobotCommands obj = new RobotCommands();
foreach (var item in obj.computeDirection(sensorData))
{
Console.WriteLine("The nodes are:" + item);
}
}
void Getscene()
{
Sender(RobotCommands.GetSceneInf());
}
public void OnConfirm()
{
var toggle = ModeGroup.GetActive();
if (toggle.name == "Mode1")
{
command.mode = 0;
}
else if (toggle.name == "Mode2")
{
command.mode = 2;
}
var GraspToggle = GraspGroup.GetActive();
if (GraspToggle.name == "Grasp0")
{
command.grasp = 0;
}
else if (GraspToggle.name == "Grasp+")
{
command.grasp = 1;
}
else if (GraspToggle.name == "Grasp-")
{
command.grasp = -1;
}
if (timeField.text.Length != 0)
{
command.time = int.Parse(timeField.text);
}
if (energyField.text.Length != 0)
{
command.energy = int.Parse(energyField.text);
}
if (nameField.text.Length != 0)
{
objName = nameField.text;
if (LockInput(coordField) && (coordField.text.Length != 0))
{
command.command = RobotCommands.FanucMoving(coordField.text, objName);
Debug.Log(RobotCommands.FanucMoving(coordField.text, objName));
ModeGroup.SetActive(0);
coordField.text = "";
nameField.text = "";
GraspGroup.SetActive(2);
//DoCommand();
this.gameObject.SetActive(false);
SceneManager.dropdownSceneObjects.gameObject.SetActive(false);
}
}
if (LockInput(coordField) && coordField.text.Length != 0)
{
command.command = RobotCommands.FanucMoving(coordField.text);
ModeGroup.SetActive(0);
coordField.text = "";
GraspGroup.SetActive(2);
DoCommand();
this.gameObject.SetActive(false);
SceneManager.dropdownSceneObjects.gameObject.SetActive(false);
}
//throw new System.NotImplementedException();
}
public RobotAction(RobotCommands _rCommand, object _data = null)
{
Command = _rCommand;
Data = _data;
}
private void FillWithTestData()
{
// создали по одной сущности в каждый из списков
var user = new User
{
Login = MoqDataGenerator.GetRandomString(10),
Password = MoqDataGenerator.GetRandomString(10),
UserID = 1
};
var robot = new Robot
{
RobotID = MoqDataGenerator.GetRandomNumber(1, 100),
Configurations = new List <Configuration>(),
ProgramRobots = new List <ProgramRobot>(),
ActivationCode = MoqDataGenerator.GetRandomNumber(1, 100)
};
var program = CreateProgram(id: 1);
var configuration = new Configuration
{
ConfigurationID = MoqDataGenerator.GetRandomNumber(10, 100),
Port = MoqDataGenerator.GetRandomNumber(10, 11111)
};
var programRobot = new ProgramRobot
{
ProgramRobotID = MoqDataGenerator.GetRandomNumber(10, 100)
};
var image = new Image
{
ImageMimeType = MoqDataGenerator.GetRandomString(10),
ImageData = MoqDataGenerator.GetSomeBytes(),
ImageID = 1,
Name = MoqDataGenerator.GetRandomString(10)
};
var robotCommand = new RobotCommand
{
RobotCommandID = MoqDataGenerator.GetRandomNumber(10, 100),
Type = 0
};
// добавили связи между сущностями
robot.Configurations.Add(configuration);
robot.ProgramRobots.Add(programRobot);
robot.User = user;
robot.UserID = user.UserID;
configuration.Robot = robot;
configuration.RobotID = robot.RobotID;
program.ProgramRobots.Add(programRobot);
program.Image = image;
program.ImageID = image.ImageID;
programRobot.Robot = robot;
programRobot.Program = program;
programRobot.RobotID = robot.RobotID;
programRobot.ProgramID = program.ProgramID;
programRobot.CurrentVersion = program.ActualVersion - 1;
robotCommand.Argument = program.ProgramID;
robotCommand.Robot = robot;
robotCommand.RobotID = robot.RobotID;
// добавили сущности в списки сущностей
Robots.Add(robot);
Programs.Add(program);
Configurations.Add(configuration);
ProgramRobots.Add(programRobot);
Users.Add(user);
RobotCommands.Add(robotCommand);
Images.Add(image);
// добавили еще 4 программы для теста pagination
for (var i = 0; i < 4; i++)
{
Programs.Add(CreateProgram(i + 2));
}
}
