public async void FocusObjectDone()
{
try {
CurrentPointLabel.text = "";
// TODO: znovupovolit zavření menu
//GetComponent<SimpleSideMenu>().handleToggleStateOnPressed = true;
//GetComponent<SimpleSideMenu>().overlayCloseOnPressed = true;
currentFocusPoint = -1;
await WebsocketManager.Instance.ObjectAimingDone();
FocusObjectDoneButton.SetInteractivity(false, "No aiming in progress");
CancelAimingButton.SetInteractivity(false, "No aiming in progress");
NextButton.SetInteractivity(false, "No aiming in progress");
PreviousButton.SetInteractivity(false, "No aiming in progress");
SavePositionButton.SetInteractivity(false, "No aiming in progress");
StartObjectFocusingButton.SetInteractivity(true);
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.Highlight();
}
AimingInProgress = false;
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to focus object", ex.Message);
}
}
public async void StartObjectFocusing()
{
if (!SceneManager.Instance.IsRobotAndEESelected())
{
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
try {
AimingInProgress = true;
string armId = null;
if (SceneManager.Instance.SelectedRobot.MultiArm())
{
armId = SceneManager.Instance.SelectedArmId;
}
await WebsocketManager.Instance.ObjectAimingStart(currentObject.Data.Id,
SceneManager.Instance.SelectedRobot.GetId(),
SceneManager.Instance.SelectedEndEffector.GetName(),
armId);
currentFocusPoint = 0;
UpdateCurrentPointLabel();
//TODO: ZAJISTIT ABY MENU NEŠLO ZAVŘÍT když běží focusing - ideálně nějaký dialog
//GetComponent<SimpleSideMenu>().handleToggleStateOnPressed = false;
//GetComponent<SimpleSideMenu>().overlayCloseOnPressed = false;
await CheckDoneBtn();
SavePositionButton.SetInteractivity(true);
CancelAimingButton.SetInteractivity(true);
StartObjectFocusingButton.SetInteractivity(false, "Already aiming");
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.UnHighlight();
}
if (!automaticPointSelection && currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count > 1)
{
NextButton.SetInteractivity(true);
PreviousButton.SetInteractivity(true);
PreviousPoint();
}
foreach (AimingPointSphere sphere in spheres)
{
sphere.SetAimed(false);
}
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to start object focusing", ex.Message);
CurrentPointLabel.text = "";
currentFocusPoint = -1;
AimingInProgress = false;
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.Highlight();
}
if (ex.Message == "Focusing already started.") //TODO HACK! find better solution
{
FocusObjectDone();
}
}
}
private void DisableFocusControls()
{
SavePositionButton.GetComponent <Button>().interactable = false;
StartObjectFocusingButton.GetComponent <Button>().interactable = false;
NextButton.GetComponent <Button>().interactable = false;
PreviousButton.GetComponent <Button>().interactable = false;
FocusObjectDoneButton.GetComponent <Button>().interactable = false;
}
public async Task UpdateMenu()
{
CalibrateBtn.gameObject.SetActive(false);
if (!SceneManager.Instance.SceneStarted)
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
Hide();
return;
}
CalibrateBtn.Button.onClick.RemoveAllListeners();
if (currentObject.IsRobot())
{
CalibrateBtn.gameObject.SetActive(true);
CalibrateBtn.SetDescription("Calibrate robot");
CalibrateBtn.Button.onClick.AddListener(() => ShowCalibrateRobotDialog());
if (SceneManager.Instance.GetCamerasNames().Count > 0)
{
CalibrateBtn.SetInteractivity(true);
}
else
{
CalibrateBtn.SetInteractivity(false, "Could not calibrate robot without camera");
}
}
else if (currentObject.IsCamera())
{
CalibrateBtn.gameObject.SetActive(true);
CalibrateBtn.SetDescription("Calibrate camera");
CalibrateBtn.Button.onClick.AddListener(() => ShowCalibrateCameraDialog());
}
if (SceneManager.Instance.IsRobotAndEESelected())
{
if (currentObject.ActionObjectMetadata.ObjectModel?.Type == IO.Swagger.Model.ObjectModel.TypeEnum.Mesh &&
currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints?.Count > 0)
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(true);
int idx = 0;
foreach (AimingPointSphere sphere in spheres)
{
if (sphere != null)
{
Destroy(sphere.gameObject);
}
}
spheres.Clear();
foreach (IO.Swagger.Model.Pose point in currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints)
{
AimingPointSphere sphere = Instantiate(Sphere, currentObject.transform).GetComponent <AimingPointSphere>();
sphere.transform.localScale = new Vector3(0.02f, 0.02f, 0.02f);
sphere.transform.localPosition = TransformConvertor.ROSToUnity(DataHelper.PositionToVector3(point.Position));
sphere.transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(point.Orientation));
sphere.Init(idx, $"Aiming point #{idx}");
spheres.Add(sphere);
++idx;
}
try {
List <int> finishedIndexes = await WebsocketManager.Instance.ObjectAimingAddPoint(0, true);
foreach (AimingPointSphere sphere in spheres)
{
sphere.SetAimed(finishedIndexes.Contains(sphere.Index));
}
if (!automaticPointSelection)
{
currentFocusPoint = 0;
}
StartObjectFocusingButton.SetInteractivity(false, "Already started");
SavePositionButton.SetInteractivity(true);
CancelAimingButton.SetInteractivity(true);
await CheckDoneBtn();
AimingInProgress = true;
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.UnHighlight();
}
UpdateCurrentPointLabel();
if (!automaticPointSelection && currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count > 1)
{
NextButton.SetInteractivity(true);
PreviousButton.SetInteractivity(true);
PreviousPoint();
}
} catch (RequestFailedException ex) {
StartObjectFocusingButton.SetInteractivity(true);
FocusObjectDoneButton.SetInteractivity(false, "No aiming in progress");
NextButton.SetInteractivity(false, "No aiming in progress");
PreviousButton.SetInteractivity(false, "No aiming in progress");
SavePositionButton.SetInteractivity(false, "No aiming in progress");
CancelAimingButton.SetInteractivity(false, "No aiming in progress");
AimingInProgress = false;
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.Highlight();
}
}
}
else if (!currentObject.IsRobot() && !currentObject.IsCamera() && currentObject.ActionObjectMetadata.ObjectModel != null)
{
UpdatePositionBlockVO.SetActive(true);
UpdatePositionBlockMesh.SetActive(false);
ShowModelSwitch.Interactable = SceneManager.Instance.RobotsEEVisible;
if (ShowModelSwitch.Interactable && ShowModelSwitch.Switch.isOn)
{
ShowModelOnEE();
}
}
else
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
}
}
else
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
}
}
