/// <summary>
/// Change icon in view according to new ros message.
/// </summary>
/// <param name="rosMessage"></param>
public override void ProcessRosMessage(RosJsonMessage rosMessage)
{
if (!rosMessage.currentIcon.Equals(""))
{
currentIconName = rosMessage.currentIcon;
//print("Current Icon name: " + currentIconName);
if (icons.TryGetValue(currentIconName, out currentIcon))
{
//print("Got value " + currentIcon);
if (view != null)
{
//print(view);
((IconView)view).SetIcon(currentIcon);
if (!rosMessage.currentIconAlpha.Equals(""))
{
((IconView)view).SetIconAlpha(rosMessage.currentIconAlpha);
}
//print("Finito");
}
}
else
{
print("Icon " + currentIconName + " is not among the icons for this widget");
}
}
}
/// <summary>
/// Initializes toastr widget subclass with default values from widget template.
/// </summary>
/// <param name="context">Widget context</param>
/// <param name="viewDesignPrefab">Prefab for toastr views</param>
public new void Init(RosJsonMessage context, GameObject viewDesignPrefab)
{
duration = context.toastrDuration;
color = WidgetUtility.BytesToColor(context.toastrColor);
fontSize = context.toastrFontSize;
base.Init(context, viewDesignPrefab);
}
/// <summary>
/// Publish a RosJsonMessage on ros for mocking
/// </summary>
/// <param name="demoMessage"></param>
public void PublishMessage(RosJsonMessage demoMessage)
{
string jsonString = JsonUtility.ToJson(demoMessage);
RosSharp.RosBridgeClient.MessageTypes.Std.String tmpMessage = new RosSharp.RosBridgeClient.MessageTypes.Std.String(jsonString);
PublishMessage(tmpMessage);
WriteMessageToFile("demoMessage", jsonString);
}
/// <summary>
/// Stores the initial data.
/// </summary>
/// <param name="context">the message which contains the initial data</param>
/// <param name="viewDesignPrefab">the prefab that should be instantiated to show the widget</param>
public new void Init(RosJsonMessage context, GameObject viewDesignPrefab)
{
color = WidgetUtility.BytesToColor(context.graphColor);
numXLabels = context.xDivisionUnits;
numYLabels = context.yDivisionUnits;
showCompleteHistory = context.showCompleteHistory;
base.Init(context, viewDesignPrefab);
}
/// <summary>
/// Initializes text widget subclass with default values from widget template.
/// </summary>
/// <param name="context">Widget context</param>
/// <param name="viewDesignPrefab">Prefab for icon views</param>
public new void Init(RosJsonMessage context, GameObject viewDesignPrefab)
{
color = WidgetUtility.BytesToColor(context.textColor);
fontSize = context.textFontSize;
TextWidgetTemplate incomingMessageTemplate = new TextWidgetTemplate(context.textMessage, WidgetUtility.BytesToColor(context.textColor), context.textFontSize);
currentlyDisplayedMessage = incomingMessageTemplate;
base.Init(context, viewDesignPrefab);
}
/// <summary>
/// Initialization of widget.
/// </summary>
/// <param name="context"></param>
/// <param name="viewDesignPrefab"></param>
public void Init(RosJsonMessage context, GameObject viewDesignPrefab)
{
this.context = context;
id = context.id;
childWidgetId = context.childWidgetId;
position = WidgetUtility.StringToWidgetPosition(context.widgetPosition);
relativeChildPosition = WidgetUtility.StringToRelativeChildPosition(context.relativeChildPosition);
trainingInfo = context.trainingInfo;
this.viewDesignPrefab = viewDesignPrefab;
}
/// <summary>
/// Parse a single widget template and create the RosJsonMessage object.
/// </summary>
/// <param name="asset"></param>
/// <returns></returns>
private static RosJsonMessage ParseWidgetTemplate(TextAsset asset)
{
RosJsonMessage parsedContext = JsonUtility.FromJson <RosJsonMessage>(asset.text);
if (parsedContext == null)
{
Debug.LogWarning("Json " + asset.text + " is faulty");
return(null);
}
return(parsedContext);
}
/// <summary>
/// Initializes icon widget subclass with default values from widget template.
/// </summary>
/// <param name="context">Widget context</param>
/// <param name="viewDesignPrefab">Prefab for icon views</param>
/// <param name="icons">Icons registered for this widget as dictionary with file names as keys</param>
public void Init(RosJsonMessage context, GameObject viewDesignPrefab, Dictionary <string, Texture2D> icons)
{
this.icons = icons;
iconsArray = new Texture2D[icons.Count];
icons.Values.CopyTo(iconsArray, 0);
childWidgetId = context.childWidgetId;
ProcessRosMessage(context);
base.Init(context, viewDesignPrefab);
}
/// <summary>
/// Checks, if widget id of given context is already taken
/// </summary>
/// <param name="newWidgetContext">Widget context of new widget to register</param>
/// <param name="existingWidgets">List of existing widgets</param>
/// <returns></returns>
private bool IsWidgetIdUnique(RosJsonMessage newWidgetContext, List <Widget> existingWidgets)
{
foreach (Widget existingWidget in existingWidgets)
{
if (existingWidget.GetID() == newWidgetContext.id)
{
return(false);
}
}
return(true);
}
/// <summary>
/// Sends mock messages to toggle the senseglove icon.
/// </summary>
private void PublishIconDemoMessage()
{
RosJsonMessage demoMessage;
if (toggle)
{
demoMessage = RosJsonMessage.CreateIconMessage(20, "SenseGlove_0");
}
else
{
demoMessage = RosJsonMessage.CreateIconMessage(20, "SenseGlove_1");
}
PublishMessage(demoMessage);
toggle = !toggle;
}
/// <summary>
/// Forwared a given ros message to the widget with the corresponding id.
/// </summary>
/// <param name="rosMessage">Incoming ros message to be forwarded</param>
private void ForwardMessageToWidget(RosJsonMessage rosMessage)
{
if (rosMessage == null)
{
Debug.LogWarning("RosMessage was null");
return;
}
Widget widget = FindWidgetWithID(rosMessage.id);
if (widget == null)
{
Debug.LogWarning("Message could not be forwarded.");
return;
}
widget.ProcessRosMessage(rosMessage);
}
/// <summary>
/// Publish a graph demo message with a random temperature
/// </summary>
private void PublishGraphDemoMessage()
{
System.DateTime epochStart = new System.DateTime(1970, 1, 1, 0, 0, 0, System.DateTimeKind.Utc);
double cur_time = (System.DateTime.UtcNow - epochStart).TotalSeconds;
byte[] col = new byte[] { 255, 255, 255, 255 };
if (temperature > 30)
{
col = new byte[] { 255, 20, 5, 255 };
}
else if (temperature < 20)
{
col = new byte[] { 5, 10, 255, 255 };
}
RosJsonMessage demoMessage = RosJsonMessage.CreateGraphMessage(1, temperature, cur_time, col);
PublishMessage(demoMessage);
}
/// <summary>
/// Parses all widget template json files in resources folder and deserializes them into RosJsonMessages as contexts for initialization by the factory.
/// </summary>
/// <returns></returns>
public static List <RosJsonMessage> ParseAllWidgetTemplates()
{
List <RosJsonMessage> widgetContexts = new List <RosJsonMessage>();
TextAsset[] widgetTemplates = Resources.LoadAll <TextAsset>("JsonTemplates");
foreach (TextAsset widgetTemplate in widgetTemplates)
{
RosJsonMessage parsedWidgetContext = ParseWidgetTemplate(widgetTemplate);
if (parsedWidgetContext == null)
{
continue;
}
widgetContexts.Add(ParseWidgetTemplate(widgetTemplate));
}
return(widgetContexts);
}
/// <summary>
/// Create a new widget object from a given context.
/// </summary>
/// <param name="widgetContext">Context of new widget to create</param>
/// <param name="existingWidgets">List of already existing widgets, to check for duplicate ids</param>
/// <returns></returns>
public Widget CreateWidgetFromContext(RosJsonMessage widgetContext, List <Widget> existingWidgets)
{
if (IsWidgetIdUnique(widgetContext, existingWidgets) == false)
{
Debug.LogWarning("duplicate ID: " + widgetContext.id + " in widget templates");
return(null);
}
GameObject widgetGameObject = new GameObject();
widgetGameObject.name = widgetContext.title;
widgetGameObject.transform.SetParent(widgetParentGameObject.transform, false);
switch (widgetContext.type)
{
case "Graph":
GraphWidget graphWidget = widgetGameObject.AddComponent <GraphWidget>();
graphWidget.Init(widgetContext, graphDesignPrefab);
return(graphWidget);
case "Toastr":
ToastrWidget toastrWidget = widgetGameObject.AddComponent <ToastrWidget>();
toastrWidget.Init(widgetContext, toastrDesignPrefab);
return(toastrWidget);
case "Icon":
IconWidget iconWidget = widgetGameObject.AddComponent <IconWidget>();
Dictionary <string, Texture2D> iconsForThisWidget = FindIconsWithName(widgetContext.icons);
iconWidget.Init(widgetContext, iconDesignPrefab, iconsForThisWidget);
return(iconWidget);
case "Text":
TextWidget textWidget = widgetGameObject.AddComponent <TextWidget>();
textWidget.Init(widgetContext, textDesignPrefab);
return(textWidget);
default:
Debug.LogWarning("Type not defined: " + widgetContext.type);
Destroy(widgetGameObject);
return(null);
}
}
/// <summary>
/// Gets called when a new RosMessage arrives for the widget. Adds a new datapoint and/or updates
/// the widget properties
/// </summary>
/// <param name="rosMessage">the message which contains the live data point</param>
public override void ProcessRosMessage(RosJsonMessage rosMessage)
{
if (rosMessage.graphColor != null && rosMessage.graphColor.Length == 4)
{
color = WidgetUtility.BytesToColor(rosMessage.graphColor);
}
DateTime dt = DateTime.Now;
if (rosMessage.graphTimestamp != 0)
{
DateTime epochStart = new DateTime(1970, 1, 1, 0, 0, 0, System.DateTimeKind.Utc);
dt = epochStart.AddSeconds(rosMessage.graphTimestamp);
}
if (rosMessage.graphValue != 0)
{
AddDatapoint(new Datapoint(dt, rosMessage.graphValue));
}
showCompleteHistory = rosMessage.showCompleteHistory;
}
/// <summary>
/// Process incoming new ros message.
/// </summary>
/// <param name="rosMessage"></param>
public override void ProcessRosMessage(RosJsonMessage rosMessage)
{
EnqueueNewMessage(rosMessage.toastrMessage, rosMessage.toastrDuration, WidgetUtility.BytesToColor(rosMessage.toastrColor), rosMessage.toastrFontSize);
}
/// <summary> /// Process incoming ros message /// </summary> /// <param name="rosMessage"></param> public abstract void ProcessRosMessage(RosJsonMessage rosMessage);
/// <summary>
/// Sends mock messages for a toastr.
/// </summary>
private void PublishToastrDemoMessage()
{
RosJsonMessage demoMessage = RosJsonMessage.CreateToastrMessage(10, "Hello Roboy", 2, null);
PublishMessage(demoMessage);
}
/// <summary>
/// Process new incoming ros message.
/// </summary>
/// <param name="rosMessage"></param>
public override void ProcessRosMessage(RosJsonMessage rosMessage)
{
TextWidgetTemplate incomingMessageTemplate = new TextWidgetTemplate(rosMessage.textMessage, WidgetUtility.BytesToColor(rosMessage.textColor), rosMessage.textFontSize);
changeDisplayedMessage(incomingMessageTemplate);
}
/// <summary>
/// Enqueues the interface message queue.
/// </summary>
/// <param name="msg">The interface Message.</param>
public void EnqueueInterfaceMessage(RosJsonMessage msg)
{
interfaceMessageQueue.Enqueue(msg);
}
