/*****************************************************************
* オブジェクトをカメラから近い順にゆっくり表示するコルーチン
*****************************************************************/
IEnumerator AppearSlowly()
{
finish_coroutine = false;
for (int i = 0; i < 5; i++)
{
yield return(null);
}
Dictionary <int, float> goods_distance_dictionary = new Dictionary <int, float>();
foreach (KeyValuePair <int, GoodsData> goods in goods_data_dictionary)
{
goods_distance_dictionary.Add(goods.Key, CalcDistance(ar_camera, goods.Value.obj));
}
var sorted = goods_distance_dictionary.OrderBy((x) => x.Value);
foreach (KeyValuePair <int, float> goods in sorted)
{
if (goods_data_dictionary[goods.Key].state_bool)
{
ShaderChange goods_shaderchange = goods_data_dictionary[goods.Key].obj.GetComponent <ShaderChange>();
goods_shaderchange.alpha = 0.4f;
goods_shaderchange.ChangeColors();
goods_data_dictionary[goods.Key].text3d.SetActive(true);
for (int i = 0; i < 5; i++)
{
yield return(null);
}
}
}
finish_coroutine = true;
}
// Update is called once per frame
//ずっと繰り返し呼び出されるよ～
void Update()
{
if (!mainSystem.finish_read_config)
{
return;
}
switch (calibration_state)
{
case 0:
mainSystem.UpdateMainCanvasInfoText("Fail to Start");
break;
case 1:
mainSystem.UpdateMainCanvasInfoText("Can NOT Connect [" + mainSystem.GetConfig().ros_ip + "]");
break;
case 2:
mainSystem.UpdateMainCanvasInfoText("Access to Database");
break;
case 3:
mainSystem.UpdateMainCanvasInfoText("Please Look [IRVS Marker]");
break;
case 4:
mainSystem.UpdateMainCanvasInfoText("Ready to AR B-sen");
break;
default:
mainSystem.UpdateMainCanvasInfoText("Error : " + calibration_state.ToString());
break;
}
//phase 0
//毎回すること
//AugmentedImageの更新
if (!Application.isEditor)
{
Session.GetTrackables <AugmentedImage>(m_AugmentedImages, TrackableQueryFilter.Updated);
}
//CameraとB-senのポジション表示
mainSystem.UpdateCalibrationInfoCamera(Camera.main.transform.position, Camera.main.transform.eulerAngles);
if (mainSystem.GetConfig().old_calibration)
{
mainSystem.UpdateCalibrationInfoBsen(bsen_model.transform.position, bsen_model.transform.eulerAngles);
}
else
{
mainSystem.UpdateCalibrationInfoDevice(arcore_device.transform.position, arcore_device.transform.eulerAngles);
}
//どれだけ手動キャリブしてるか表示
if (mainSystem.GetConfig().old_calibration)
{
Vector3 offset_pos = bsen_model.transform.position - not_offset_pos;
Vector3 offset_rot = bsen_model.transform.eulerAngles - not_offset_rot;
mainSystem.UpdateCalibrationInfoOffset(offset_pos, offset_rot);
}
else
{
Vector3 offset_pos = arcore_device.transform.position - not_offset_pos;
Vector3 offset_rot = arcore_device.transform.eulerAngles - not_offset_rot;
mainSystem.UpdateCalibrationInfoOffset(offset_pos, offset_rot);
}
//自動キャリブ終了前
if (!CheckFinishCalibration())
{
switch (calibration_state)
{
//DBにアクセス開始
case 1:
if (DBAdapter.IsConnected() && !DBAdapter.CheckWaitAnything())
{
IEnumerator coroutine = DBAdapter.ReadMarkerPos();
StartCoroutine(coroutine);
calibration_state = 2;
}
break;
//DBのデータをもとにモデルの位置＆回転を変更
case 2:
if (DBAdapter.CheckSuccess())
{
ServiceResponseDB responce = DBAdapter.GetResponce();
DBAdapter.FinishReadData();
//位置を取得＆変換
Vector3 marker_position = new Vector3((float)responce.values.tmsdb[0].x, (float)responce.values.tmsdb[0].y, (float)responce.values.tmsdb[0].z);
marker_position = Ros2UnityPosition(marker_position);
marker_position += mainSystem.GetConfig().vicon_offset_pos;
marker_position += mainSystem.GetConfig().calibration_offset_pos;
Debug.Log("Marker Pos: " + marker_position);
mainSystem.MyConsole_Add("Marker Pos: " + marker_position);
//回転を取得＆変換
Vector3 marker_euler = new Vector3(Rad2Euler((float)responce.values.tmsdb[0].rr), Rad2Euler((float)responce.values.tmsdb[0].rp), Rad2Euler((float)responce.values.tmsdb[0].ry));
marker_euler = Ros2UnityRotation(marker_euler);
if (mainSystem.GetConfig().old_calibration)
{
marker_euler *= -1.0f;
}
marker_euler.x = 0.0f;
marker_euler.z = 0.0f;
marker_euler.y += mainSystem.GetConfig().calibration_offset_yaw;
Debug.Log("Marker Rot: " + marker_euler);
mainSystem.MyConsole_Add("Marker Rot: " + marker_euler);
mainSystem.UpdateDatabaseInfoViconIRVSMarker(marker_position, marker_euler);
//回転をモデルに適用
if (mainSystem.GetConfig().old_calibration)
{
bsen_model.transform.eulerAngles = marker_euler;
}
//位置と回転をモデル上のマーカーに適用
irvs_marker = Instantiate(new GameObject());
irvs_marker.name = "IRVS Marker";
irvs_marker.transform.SetParent(GameObject.Find("rostms/world_link").transform, false);
irvs_marker.transform.localPosition = marker_position;
irvs_marker.transform.localEulerAngles = marker_euler;
//回転軸をマーカーの位置に合わせる
if (mainSystem.GetConfig().old_calibration)
{
GameObject world_link = GameObject.Find("rostms/world_link");
world_link.transform.localPosition = marker_position * -1;
}
calibration_state = 3;
}
break;
//画像認識したらキャリブレーションしてモデルを表示
//UnityEditor上ではここはスキップ
case 3:
if (Application.isEditor)
{
rostms_shader.alpha = 0.6f;
rostms_shader.ChangeColors();
calibration_state = 4;
finish_calibration = true;
return;
}
if (!detected_marker)
{
foreach (var image in m_AugmentedImages)
{
if (image.TrackingState == TrackingState.Tracking)
{
detected_marker = true;
marker_image = image;
autoPositioning();
rostms_shader.alpha = 0.6f;
rostms_shader.ChangeColors();
calibration_state = 4;
finish_calibration = true;
}
}
}
//自動キャリブ終了時の位置と回転を保存
if (mainSystem.GetConfig().old_calibration)
{
not_offset_pos = bsen_model.transform.position;
not_offset_rot = bsen_model.transform.eulerAngles;
}
else
{
not_offset_pos = arcore_device.transform.position;
not_offset_rot = arcore_device.transform.eulerAngles;
}
break;
}
}
else //手動キャリブ
{
manualCalibration();
}
}
// Update is called once per frame
void Update()
{
if (!mainSystem.finish_read_config)
{
return;
}
//CoordinatesAdapterの位置を調整してカメラとの距離を計算
coordinates_adapter.transform.localPosition = new Vector3(-0.23f, 0.0f, -0.3f);
distance_old = distance;
distance = CalcDistance(coordinates_adapter, ar_camera);
//最初の1回Shaderを変更する
if (!change_goods_shader)
{
foreach (GoodsData goods in goods_data_dictionary.Values)
{
ShaderChange shaderchange = goods.obj.GetComponent <ShaderChange>();
shaderchange.ChangeShader(Shader.Find("Custom/Transparent"));
}
change_goods_shader = true;
}
//距離が閾値以下でデータベースのstateが1だったら表示，違ったら非表示
if (calib_system.CheckFinishCalibration() && finish_coroutine)
{
//近づいたとき
if (distance < mainSystem.GetConfig().refrigerator_distance&& distance_old >= mainSystem.GetConfig().refrigerator_distance)
{
refrigerator_shaderchange.ChangeShader(Shader.Find("Custom/Transparent"));
refrigerator_shaderchange.alpha = 0.4f;
refrigerator_shaderchange.ChangeColors();
IEnumerator coroutine = AppearSlowly();
StartCoroutine(coroutine);
}
//遠くにいるとき
else if (distance >= mainSystem.GetConfig().refrigerator_distance)
{
foreach (GoodsData goods in goods_data_dictionary.Values)
{
ShaderChange goods_shaderchange = goods.obj.GetComponent <ShaderChange>();
goods_shaderchange.alpha = 0.0f;
goods_shaderchange.ChangeColors();
goods.text3d.SetActive(false);
}
if (refrigerator_shaderchange.shader_now != Shader.Find("Custom/ARTransparent"))
{
refrigerator_shaderchange.ChangeShader(Shader.Find("Custom/ARTransparent"));
refrigerator_shaderchange.alpha = rostms_shaderchange.alpha;
refrigerator_shaderchange.ChangeColors();
}
}
//ずっと近くにいるとき
else if (distance < mainSystem.GetConfig().refrigerator_distance&& distance_old < mainSystem.GetConfig().refrigerator_distance)
{
foreach (GoodsData goods in goods_data_dictionary.Values)
{
ShaderChange goods_shaderchange = goods.obj.GetComponent <ShaderChange>();
if (goods.state_bool)
{
goods_shaderchange.alpha = 0.4f;
goods.text3d.SetActive(true);
}
else
{
goods_shaderchange.alpha = 0.0f;
goods.text3d.SetActive(false);
}
goods_shaderchange.ChangeColors();
}
}
}
//画像認識による自動キャリブレーションが終わった後に実行
if (calib_system.CheckFinishCalibration())
{
//冷蔵庫に入っている物品のデータを取得
time_1 += Time.deltaTime;
if (!DBAdapter.CheckWaitAnything() && time_1 > 1.0f)
{
time_1 = 0.0f;
IEnumerator coroutine = DBAdapter.GetRefrigeratorItem();
StartCoroutine(coroutine);
}
if (DBAdapter.CheckGetRefrigeratorItem())
{
if (DBAdapter.CheckAbort())
{
DBAdapter.ConfirmAbort();
}
if (DBAdapter.CheckSuccess())
{
id_list = new List <int>();
ServiceResponseDB responce = DBAdapter.GetResponce();
DBAdapter.FinishReadData();
foreach (tmsdb data in responce.values.tmsdb)
{
//Debug.Log(data.name);
//Debug.Log(data.x + ", " + data.y + ", " + data.z);
if (data.sensor == 3018 && goods_data_dictionary.ContainsKey(data.id))
{
GoodsData goods = goods_data_dictionary[data.id];
Vector3 place = new Vector3((float)data.x, (float)data.y, (float)data.z);
place = Ros2UnityPosition(place);
if (data.state == 1)
{
goods.state_bool = true;
Debug.Log(data.name + " pos: " + place.ToString("f2"));
mainSystem.MyConsole_Add(data.name + " pos: " + place.ToString("f2"));
goods.obj.transform.localPosition = place;
id_list.Add(data.id);
}
else
{
goods.state_bool = false;
}
if (goods.name == null)
{
goods.name = data.name;
}
if (goods.expiration == null)
{
goods.expiration = "don't know";
}
goods.state = data.state;
goods.pos = place;
}
}
}
}
//冷蔵庫に入っている物品の消費期限を取得
time_2 += Time.deltaTime;
if (!DBAdapter.CheckWaitAnything() && time_2 > 5.0f)
{
time_2 = 0.0f;
DBAdapter.GiveItemIDList(id_list);
IEnumerator coroutine = DBAdapter.ReadExpiration();
StartCoroutine(coroutine);
}
if (DBAdapter.CheckReadExpiration())
{
if (DBAdapter.CheckAbort())
{
DBAdapter.ConfirmAbort();
}
if (DBAdapter.CheckSuccess())
{
Dictionary <int, string> expiration_dictionary = DBAdapter.ReadExpirationData();
DBAdapter.FinishReadData();
foreach (KeyValuePair <int, string> goods in expiration_dictionary)
{
ExpirationData expiration_data = JsonUtility.FromJson <ExpirationData>(goods.Value);
string expiration = expiration_data.expiration;
Debug.Log("id: " + goods.Key + ", name: " + goods_data_dictionary[goods.Key].name + ", expiration: " + expiration);
mainSystem.MyConsole_Add("id: " + goods.Key + ", name: " + goods_data_dictionary[goods.Key].name + ", expiration: " + expiration);
goods_data_dictionary[goods.Key].text3d.GetComponent <TextMeshPro>().text = expiration;
goods_data_dictionary[goods.Key].expiration = expiration;
}
}
}
//UIを更新する
Dictionary <int, string> goods_info_string_dictionary = new Dictionary <int, string>();
foreach (KeyValuePair <int, GoodsData> goods in goods_data_dictionary)
{
string info = goods.Value.name + ", "
+ goods.Key.ToString() + ", "
+ goods.Value.state.ToString() + ", "
+ goods.Value.pos.ToString("f3") + ", "
+ goods.Value.expiration;
goods_info_string_dictionary.Add(goods.Key, info);
}
mainSystem.UpdateDatabaseInfoRefrigerator(goods_info_string_dictionary);
}
}