public Statement serialize2ROSCode()
{
Statement statement;
if (Command.value == 0)
{
statement = new MoveToJ1();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as MoveToJ1).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
else if (Command.value == 2)
{
statement = new ClawUp();
(statement as ClawUp).isClawUp = CommandArgs.text.Trim().ToLower().Equals("up");
}
else
{
statement = new BruteMoveToJ1();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as BruteMoveToJ1).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
return(statement);
}
public void convertCodeToProgram(string code)
{
Program program = new Program();
List <Statement> statements = new List <Statement>();
foreach (string line in code.Split('\n'))
{
if (line.Contains("Move"))
{
string strippedLine = line.Replace("Move", "");
strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
strippedLine = strippedLine.Trim();
string[] commandValues = strippedLine.Split(' ');
statements.Add(statementFromString(commandValues));
}
//for converting code Brute as statement to program
else if (line.Contains("Brute"))
{
string strippedLine = line.Replace("Brute", "");
strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
strippedLine = strippedLine.Trim();
string[] commandValues = strippedLine.Split(' ');
statements.Add(statementFromString(commandValues));
}
//for converting code ClawUp as statement to program
else
{
if (line.Contains("Claw"))
{
bool isClawUp = false;
string strippedLine = line.Replace("Claw", "");
strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
strippedLine = strippedLine.Trim();
bool.TryParse(strippedLine, out isClawUp);
ClawUp toggle = new ClawUp(); //this is from the RobotProgramStructure file
toggle.isClawUp = isClawUp;
statements.Add(toggle);
}
/* we do not need toggle suction for this robot as of now
* if (line.Contains("ToggleSuction"))
* {
* bool isSuctionEnabled = false;
* string strippedLine = line.Replace("ToggleSuction", "");
* strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
* strippedLine = strippedLine.Trim();
* bool.TryParse(strippedLine, out isSuctionEnabled);
* ToggleSuction1 toggle = new ToggleSuction1();
* toggle.isSuctionEnabled = isSuctionEnabled;
* statements.Add(toggle);
* }
*/
}
}
program.statements = statements;
this.currentProgram = program;
}
public void addClawToggleStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program currentProgram = ctcGenerator.currentProgram;
List <Statement> statements = currentProgram.statements;
ClawUp toggleClawStatement = new ClawUp();
statements.Insert(currentStatement, toggleClawStatement);
currentProgram.statements = statements;
ctcGenerator.currentProgram = currentProgram;
ctcGenerator.redraw();
}
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement statement in program.statements)
{
//debug
Debug.Log("generateProgramStringFromProgram statement:" + statement);
if (statement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
MoveStatement1 moveStatement = (MoveStatement1)statement;
byte ptpMode_byte;
byte.TryParse("" + moveStatement.movementValueForCanvas, out ptpMode_byte);
float x = moveStatement.target.x;
float y = moveStatement.target.y;
float z = moveStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Move({request.x} {request.y} {request.z});\n";
}
//below is to generate Program string from Program for BruteMove. The string generated on UI will read 'Brute'
else if (statement.GetType().IsSubclassOf(typeof(BruteMove)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
BruteMove bruteStatement = (BruteMove)statement;
byte ptpMode_byte;
byte.TryParse("" + bruteStatement.movementValueForCanvas, out ptpMode_byte);
float x = bruteStatement.target.x;
float y = bruteStatement.target.y;
float z = bruteStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Brute({request.x} {request.y} {request.z});\n";
}
else
{
if (statement is ClawUp)
{
ClawUp clawUp = (ClawUp)statement;
// programString += $"Claw({clawUp.isClawUp});\n";
if (clawUp.isClawUp == true)
{
programString += $"Claw({"up"});\n";
}
else
{
programString += $"Claw({"down"});\n";
}
}
/*
* if (statement is ToggleSuction)
* {
* // ToggleSuction toggleSuction = (ToggleSuction)statement;
* //programString += $"ToggleSuction({toggleSuction.isSuctionEnabled});\n";
* programString += $"Move({0} {0} {0});\n";
* }
*/
}
}
//debug
Debug.Log("generateProgramStringFromProgram with co-ordinates :" + programString);
return(programString);
}
public override GameObject constructCommandUIComponent(string commandUIName, Statement statement)
{ //In this method we have created a flag to identify which type of statement will be handled by generateStatementFromUI()
GameObject commandObject;
GameObject dropdownObject;
GameObject statementButtonAdditons;
MoveStatement1 moveStatement;
//Brute Move
BruteMove bruteStatement;
GameObject coordinateDisplay;
commandObject = new GameObject();
commandObject.name = commandUIName;
//Statement type in constructCommandUIComponent() is decided here and is rendered in Touch Input
if (statement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
moveStatement = (MoveStatement1)statement;
dropdownObject = movementTypeSelector.generateMovmentTypeSelectorFromStatement(moveStatement);
dropdownObject.transform.SetParent(commandObject.transform, false);
//denote the statementType flag value
moveType = true;
countmoveType++;
coordinateDisplay = coordinateSelector.createCoordinatesSelector(moveStatement);
coordinateDisplay.transform.SetParent(commandObject.transform, false);
}
//constructing command UI component for Brute Move
else if (statement.GetType().IsSubclassOf(typeof(BruteMove)))
{
//BruteMove Prefab
GameObject brutePrefabObject = Instantiate(brutePrefab);
brutePrefabObject.transform.SetParent(commandObject.transform, false);
bruteStatement = (BruteMove)statement;
dropdownObject = movementTypeSelector.generateBruteMovmentTypeSelectorFromStatement(bruteStatement);
dropdownObject.transform.SetParent(commandObject.transform, false);
//denote the statementType flag value
bruteType = true;
countbruteType++;
coordinateDisplay = coordinateSelector.createBruteCoordinatesSelector(bruteStatement);
//BruteMove coordinates
coordinateDisplay.transform.SetParent(commandObject.transform, false);
}
else
{
if (statement is ClawUp)
{
GameObject clawPrefabObject = Instantiate(clawPrefab);
ClawUp statementToggle = (ClawUp)statement;
ToggleClaw toggleClawScript = clawPrefabObject.GetComponentInChildren <ToggleClaw>();
if (toggleClawScript != null)
{
if (toggleClawScript.clawUp == statementToggle.isClawUp)
{
}
else
{
toggleClawScript.toggleClaw();
}
}
clawPrefabObject.transform.SetParent(commandObject.transform, false);
}
/*
* if(statement is ToggleSuction1)
* { /*
* GameObject toggleSuctionObject = Instantiate(suctionTogglePrefab);
* ToggleSuction1 statementToggle = (ToggleSuction1)statement;
* ToggleSuctionCup toggleSuctionCupScript = toggleSuctionObject.GetComponentInChildren<ToggleSuctionCup>();
* if(toggleSuctionCupScript != null)
* {
* if(toggleSuctionCupScript.suctionOn == statementToggle.isSuctionEnabled)
* {
*
* }
* else
* {
* toggleSuctionCupScript.toggleSuction();
* }
* }
* toggleSuctionObject.transform.SetParent(commandObject.transform, false);
* } */
}
statementButtonAdditons = Instantiate(statementButtonAdditonsPrefab);
statementButtonAdditons.transform.SetParent(commandObject.transform, false);
//statementButtonAdditons.SetActive(false);
return(commandObject);
}
public override Statement generateStatementFromUI(GameObject commandContainer)
{
MoveStatement1 moveStatement = new MoveToJ1();
BruteMove bruteStatement = new BruteMoveToJ1();
Statement defaultStatement = new MoveToL1();
bool isMoveStatement = true;
//also the below toggle suction is not needed for NXT robot
/*
* foreach (Transform child in commandContainer.transform)
* {
* if (child.name.StartsWith("ToggleSuction"))
* {
* ToggleSuction1 toggleSuctionCommand = new ToggleSuction1();
* if (child.name.Contains("false"))
* {
* toggleSuctionCommand.isSuctionEnabled = false;
* }
* if (child.name.Contains("true"))
* {
* toggleSuctionCommand.isSuctionEnabled = true;
* }
* return toggleSuctionCommand;
* isMoveStatement = false;
* }
* } */
//Deciding on statement type
/* foreach (Transform child in commandContainer.transform)
* {
* if (child.name.StartsWith("ClawUp"))
* {
* ClawUp clawupCommand = new ClawUp();
* if (child.name.Contains("false"))
* {
* clawupCommand.isClawUp = false;
* }
* if (child.name.Contains("true"))
* {
* clawupCommand.isClawUp = true;
* }
* return clawupCommand;
* isMoveStatement = false;
* }
* } */
foreach (Transform child in commandContainer.transform)
{
if (child.name.StartsWith("Brute"))
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
bruteStatement = movementTypeSelector.getBruteMoveFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
bruteStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
//Returning bruteStatement
bruteType = false;
//countbruteType--;
//Debug
Debug.Log("Brute found in generateStatementFromUI");
isMoveStatement = false;
return(bruteStatement);
}
if (child.name.StartsWith("Move"))
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
//Returning moveStatement
Debug.Log("Move found in generateStatementFromUI");
return(moveStatement);
}
//ClawUp Command
if (child.name.StartsWith("Toggle"))
{
ClawUp clawupCommand = new ClawUp();
if (child.name.Contains("false"))
{
clawupCommand.isClawUp = false;
}
if (child.name.Contains("true"))
{
clawupCommand.isClawUp = true;
}
//Returning ClawUp
return(clawupCommand);
isMoveStatement = false;
}
}
/* if(isMoveStatement)
* {
* List<Toggle> toggles = new List<Toggle>();
* commandContainer.GetComponentsInChildren<Toggle>(toggles);
*
* List<Transform> childTransforms = new List<Transform>();
* commandContainer.GetComponentsInChildren<Transform>(childTransforms);
* foreach (Transform childTransform in childTransforms)
* {
*
* if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
* {
* moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
* }
* else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
* {
* moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
* }
*
* }
* //Returning moveStatement
* Debug.Log("Move found in generateStatementFromUI");
* return moveStatement;
* } */
//Returning defaultStatement
//Debug
Debug.Log("Default found in generateStatementFromUI");
return(defaultStatement);
}
