public override void Update(VrUpdateArgs args)
{
if (_painter == null)
{
return;
}
var session = args.Session;
var input = session.SemanticInput();
// Cycle colors each time trigger is pressed
if (input.SelectClick)
{
_curColorIndex++;
if (_curColorIndex >= _colors.Length)
{
_curColorIndex = 0;
}
_painter.Color = _colors[_curColorIndex];
UpdatePreview(session);
}
if (input.IsSelectPressed)
{
var transform = session.RightController.PointerTransform;
transform.CleanRigid(); //:TODO: Should not be needed. Review
_painter.Render(transform);
}
if (input.DeleteClick)
{
_painter.Clear();
}
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
if (session.SemanticInput().IsSelectPressed)
{
var transform = session.RightController.Transform;
transform.CleanRigid(); //:TODO: Should not be needed. Review
transform = transform * _attachOffset * Station.ActiveStation.ActiveTask.ActiveTool.Frame.Matrix;
if (_pathBuilder == null)
{
_pathBuilder = new PathBuilder(Station.ActiveStation);
_previewTrace = Station.ActiveStation.TemporaryGraphics.DrawTrace(transform.Translation, 1, 100);
}
else
{
_previewTrace.ContinueTrace(transform.Translation, System.Drawing.Color.LightYellow, false);
}
session.RightController.HapticFeedback(1);
_pathBuilder.AddTransform(transform);
}
else
{
if (_pathBuilder != null)
{
_pathBuilder.Finish();
_pathBuilder = null;
_previewTrace.Delete();
_previewTrace = null;
}
}
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
var input = session.SemanticInput();
Matrix4 pointer = PointerFilter(session.RightController.PointerTransform);
var hitResult = GetClosestHit(pointer.Translation);
//KNARK: Review Deletebutton usage (used to capture on down, execute on up)
/*if(input.SelectClick || input.DeleteClick)
* {
* _pressedAt = pointer;
* }
* else */if (input.IsSelectPressed && !_dragging)
{
_dragging = true;
_hitResult = hitResult;
var eventArgs = new VrEventArgs(pointer, _hitResult);
BeginDrag?.Invoke(eventArgs);
if (eventArgs.CreatedObject != null)
{
_hitResult = eventArgs.CreatedObject();
}
}
else if (_dragging && input.IsSelectPressed)
{
DeltaDrag?.Invoke(new VrEventArgs(pointer, _hitResult));
}
else if (!input.IsSelectPressed && _dragging)
{
_dragging = false;
EndDrag?.Invoke(new VrEventArgs(pointer, _hitResult));
}
//else if (_gripPressed && !session.RightController.InputState.GripPressed
// && CloseEnough(_pressedAt, pointer))
else if (input.DeleteClick)
{
AlternateClick?.Invoke(new VrEventArgs(pointer, hitResult));
}
else if (hitResult != null)
{
HoverObject?.Invoke(new VrEventArgs(pointer, hitResult));
}
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
_newHighlightTarget = null;
_forceUpdateLine = false;
base.Update(args);
var view = (GraphicView)GraphicControl.ActiveGraphicControl.GetView();
if (_newHighlightTarget != _highlightTarget)
{
ClearHover();
_highlightTarget = _newHighlightTarget;
_newHighlightTarget = null;
_highlightTarget?.Highlight(System.Drawing.Color.FromArgb(128, 255, 255, 255));
if (_highlightTarget != null)
{
_frameGfx.Visible = false;
_pointerToSelGfx = view.OpenVRAddAttachedLine(
VrAttachedTo.RightController, session.RightController.PointerOffsetTransform.Translation, System.Drawing.Color.White,
VrAttachedTo.Station, _highlightTarget.Transform.GlobalMatrix.Translation, System.Drawing.Color.Orange);
}
else
{
_frameGfx.Visible = true;
if (_pointerToSelGfx != IntPtr.Zero)
{
view.OpenVRRemoveAttachedLine(_pointerToSelGfx);
}
_pointerToSelGfx = IntPtr.Zero;
}
}
else if (_forceUpdateLine && _highlightTarget != null)
{
view.OpenVRRemoveAttachedLine(_pointerToSelGfx);
_pointerToSelGfx = view.OpenVRAddAttachedLine(
VrAttachedTo.RightController, session.RightController.PointerOffsetTransform.Translation, System.Drawing.Color.White,
VrAttachedTo.Station, _highlightTarget.Transform.GlobalMatrix.Translation, System.Drawing.Color.White);
}
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
Vector3 xorigin = _controller.PointerOffsetTransform.Translation;
Vector3 btrans = _controller.PointerOffsetTransform.Translation;
var rwand = VrEnvironment.Session.RightController as VrViveWandController;
if (rwand.InputState.IsTouchPadTouched)
{
double u = rwand.InputState.TouchPadPosition.u;
double uPrev = rwand.PreviousInputState.TouchPadPosition.u;
if ((u - uPrev) < 0 && Math.Abs(u - uPrev) >= 0.1 && btrans.x > xorigin.x)
{
btrans.x = btrans.x - 10;
_pospointer.Delete();
}
else if ((u - uPrev) >= 0 && Math.Abs(u - uPrev) >= 0.1)
{
btrans.x = btrans.x + 10;
_pospointer.Delete();
}
}
Matrix4 boxpos = _controller.PointerOffsetTransform;
boxpos.Translation = new Vector3(btrans.x, btrans.y, btrans.z);
Vector3 box = new Vector3(.01, .01, .01);
_pospointer = _controller.TemporaryGraphics.DrawBox(boxpos, box, Color.DarkBlue);
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
DeleteBrushTempGfx();
var input = session.SemanticInput();
if (_trackedBrushInstruction != null)
{
if (input.IsSelectPressed)
{
// Drag brush
var relatedMI = FindRelatedMoveInstruction(_trackedBrushInstruction);
if (relatedMI != null)
{
Matrix4 wobjMat = relatedMI.GetWorkObject().ObjectFrame.GlobalMatrix;
Vector3 point = wobjMat.InverseRigid().MultiplyPoint(session.RightController.PointerTransform.Translation);
var pos = PathEditingHelper.GetBrushEventPosition(_trackedBrushInstruction);
string val = ((int)(point[(int)pos.Item1 - 1] * 1000)).ToString();
if (val != pos.Item2.Value)
{
WithUndoAppend("VR Move SetBrush", () => { pos.Item2.Value = val; });
}
_brushSelector.Caption = _trackedBrushInstruction.DisplayName;
}
return;
}
}
var hitObj = GetHitObject(session.RightController.PointerTransform.Translation);
var trackedMoveInstruction = hitObj?.Item1 as RsMoveInstruction;
if (trackedMoveInstruction != null)
{
//:TODO: Supported for PaintC??
if (trackedMoveInstruction.Name != "PaintL" && trackedMoveInstruction.Name != "PaintC" ||
trackedMoveInstruction.GetToTarget() == null)
{
trackedMoveInstruction = null;
}
}
var trackedBrushInstr = hitObj?.Item1 as RsActionInstruction;
if (trackedBrushInstr != null && !string.Equals(trackedBrushInstr.Name, "SetBrush", StringComparison.OrdinalIgnoreCase))
{
trackedBrushInstr = null;
}
if (trackedMoveInstruction != _trackedMoveInstruction)
{
_trackedMoveInstruction = trackedMoveInstruction;
if (_brushSelector == null)
{
_brushSelector = new VrScrollSelector(session.RightController, "", _brushValues, _lastBrushNum);
}
_brushSelector.Caption = (_trackedMoveInstruction != null) ? "Add SetBrush" : "Brush Number";
}
else if (trackedBrushInstr != _trackedBrushInstruction || _brushSelector == null)
{
if (_brushSelector != null)
{
_brushSelector.Dispose();
}
_trackedBrushInstruction = trackedBrushInstr;
if (_trackedBrushInstruction != null)
{
var numarg = _trackedBrushInstruction.InstructionArguments["BrushNumber"];
_brushSelector = new VrScrollSelector(session.RightController, _trackedBrushInstruction.DisplayName, _brushValues, numarg.Value);
}
else
{
_brushSelector = new VrScrollSelector(session.RightController, (_trackedMoveInstruction != null) ? "Add SetBrush" : "Brush Number", _brushValues, _lastBrushNum);
}
}
if (_trackedBrushInstruction != null && input.DeleteClick)
{
var path = (RsPathProcedure)_trackedBrushInstruction.Parent;
WithUndo("VR Delete SetBrush", () => { path.Instructions.Remove(_trackedBrushInstruction); });
_trackedBrushInstruction = null;
return;
}
bool brushNumUpdated = _brushSelector.Update();
if (brushNumUpdated)
{
_lastBrushNum = _brushSelector.SelectedValue;
}
if (_trackedMoveInstruction != null && _trackedBrushInstruction == null)
{
Matrix4 wobjMat = _trackedMoveInstruction.GetWorkObject().ObjectFrame.GlobalMatrix;
CreateBrushPlanePreview(hitObj.Item2, wobjMat);
if (input.SelectClick)
{
Vector3 point = wobjMat.InverseRigid().MultiplyPoint(hitObj.Item2);
var axis = ComputeBrushAxis();
int val = (int)(point[(int)axis - 1] * 1000);
WithUndo("VR Create SetBrush", () =>
{
PathEditingHelper.CreateSetBrush(
_trackedMoveInstruction,
axis,
val,
_brushSelector.SelectedValue);
}
);
DeleteBrushTempGfx();
}
}
else if (_trackedBrushInstruction != null && brushNumUpdated)
{
var numarg = _trackedBrushInstruction.InstructionArguments["BrushNumber"];
WithUndo("VR Edit SetBrush", () => { numarg.Value = _brushSelector.SelectedValue; });
_brushSelector.Caption = _trackedBrushInstruction.DisplayName;
}
}
public override void Update(VrUpdateArgs args)
{
if (Simulator.State == SimulationState.Running)
{
_recSig = true;
RecData.signalList.Clear();
}
else
{
var session = args.Session;
var input = session.SemanticInput();
var rwand = _rcontroller as VrViveWandController;
if (rwand == null)
{
return;
}
var lwand = _lcontroller as VrViveWandController;
Station station = Project.ActiveProject as Station;
if (RecData.JointValuesList.Count() < 1)
{
return;
}
if (rwand.InputState.IsTouchPadTouched)
{
press = false;
double u = rwand.InputState.TouchPadPosition.u;
double uPrev = rwand.PreviousInputState.TouchPadPosition.u;
if ((u - uPrev) < 0 && Math.Abs(u - uPrev) >= 0.02)
{
if (RecData.JointValuesList.Count > 0)
{
station.TemporaryGraphics.Remove(_GraphPointer);
_GraphPointer.Delete();
RecData.PrevPosition();
AddGfxPointer();
}
else
{
Logger.AddMessage(new LogMessage("No positions recorded, run simulation first"));
}
}
else if ((u - uPrev) >= 0 && Math.Abs(u - uPrev) >= 0.02)
{
// Flytt til neste pos
if (RecData.JointValuesList.Count > 0)
{
station.TemporaryGraphics.Remove(_GraphPointer);
_GraphPointer.Delete();
AddGfxPointer();
RecData.NextPosition();
}
else
{
Logger.AddMessage(new LogMessage("No positions recorded, run simulation first"));
}
}
}
else if (input.IsSelectPressed && press)
{
if (_recSig)
{
RecData.Ysignal(); //::TODO:: Bedre logikk for kjøring av signal
_recSig = false;
}
Logger.AddMessage(new LogMessage($"ListLentgth: {RecData.ToolValuesList.Count}"));
if (atTrack)
{
if (TrackgraphList.Count() >= 0)
{
foreach (TemporaryGraphic j in TrackgraphList)
{
station.TemporaryGraphics.Remove(j);
}
station.TemporaryGraphics.RemoveAll();
TrackgraphList.Clear();
}
Logger.AddMessage(new LogMessage($"listB: {RecData.listB.Count()}"));
Logger.AddMessage(new LogMessage($"signalList: {RecData.signalList[0].Count()}"));
int sig = GetCurrentSignal() + 1;
SetCurrentSignal(sig);
AddGfxAtTrack();
AddGfxGraph();
AddGfxPointer(); // Not implemented yet
station.ActiveTask.ActivePathProcedure.Visible = false;
RsPathProcedureCollection a = station.ActiveTask.PathProcedures;
foreach (RsPathProcedure b in a)
{
b.Visible = false;
}
atTrack = false;
}
else if (!atTrack)
{
if (TrackgraphList.Count() >= 0)
{
foreach (TemporaryGraphic j in TrackgraphList)
{
station.TemporaryGraphics.Remove(j);
}
TrackgraphList.Clear();
station.TemporaryGraphics.RemoveAll();
_rcontroller.TemporaryGraphics.RemoveAll();
// _rcontroller.TemporaryGraphics.RemoveAll();
}
//int sig = GetCurrentSignal() + 1;
//SetCurrentSignal(sig);
// AddGfxAtTrack();
atTrack = true;
}
press = false;
}
else if (!input.IsSelectPressed && !press)
{
press = true;
}
}
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
// KNARK - Rift
var wand = session.RightController as VrViveWandController;
if (wand == null)
{
return;
}
RsMoveInstruction mi = null;
if (_currentMoveInstruction != null)
{
// "Sticky" selection - don't remove the UI until 1) user releases the touchpad and 2) moves controller a bit away from path
//:NOTE: Sticky distance can be annoying when editing nearby segments - review. Use shorter dist if another MI is closer/picked?
if (wand.InputState.IsTouchPadTouched || _pickedPos.Distance(wand.PointerTransform.Translation) < _stickyDist && _hasScrolled)
{
mi = _currentMoveInstruction;
}
}
if (mi == null && !wand.InputState.IsGripPressed && !wand.InputState.IsTouchPadPressed && !wand.InputState.IsTriggerPressed)
{
mi = GetPickedMoveInstruction(session);
}
if (mi != _currentMoveInstruction)
{
// Selected MI has changed, delete any old UI and create a new if needed
if (_selector != null)
{
_selector.Dispose(); _selector = null; _hasScrolled = false;
}
_currentMoveInstruction = mi;
if (mi != null)
{
_pickedPos = session.RightController.PointerTransform.Translation;
var task = mi.GetInternalParentOfType <RsTask>();
//:TODO: Some paint stations have too many speeddatas for this type of UI to make sense. How to handle?
string taskName = task.Name;
if (string.IsNullOrEmpty(taskName))
{
taskName = "T_ROB1"; // station/dummy tasks
}
var speeds = task.GetTaskContext().SymbolTable.GetVisibleDataDeclarations("/RAPID/" + taskName, "speeddata")
.Where(s => !s.Name.StartsWith("vrot")) //???
.Take(60) //TEST
.Select(s => s.Name)
.ToList();
speeds.Sort(ABB.Robotics.RobotStudio.UI.UIServices.NaturalOrderSort);
string speed = GetSpeedArg(mi).Value;
int tmp = speeds.FindIndex(s => s.Equals(speed, StringComparison.OrdinalIgnoreCase));
if (tmp == -1)
{
speeds.Insert(0, "Unknown");
speed = speeds[0];
}
else
{
speed = speeds[tmp]; // fix capitalization
}
string title = "->" + mi.GetToTarget().Name; // TEST - what do we want here?
_selector = new VrScrollSelector(session.RightController, title, speeds, speed);
_newSelection = true;
}
}
else if (_currentMoveInstruction != null && _selector != null)
{
if (wand.InputState.IsTouchPadTouched)
{
_hasScrolled = true;
}
// Same selection - update _selector and apply results
bool ok = _selector.Update();
if (ok && _selector.SelectedValue != "Unknown")
{
Action foo = () => { GetSpeedArg(_currentMoveInstruction).Value = _selector.SelectedValue; };
if (_newSelection)
{
_newSelection = false;
WithUndo("VR Edit Speed", foo);
}
else
{
WithUndoAppend("VR Edit Speed", foo);
}
}
}
}
