private void SelectEndEffector(object selectedObject)
{
if (selectedObject == null)
{
return;
}
RobotEE endEffector = (RobotEE)selectedObject;
SceneManager.Instance.SelectRobotAndEE(endEffector);
Notifications.Instance.ShowToastMessage($"Selected EE {endEffector.GetName()} on robot {SceneManager.Instance.SelectedRobot.GetName()}" + (SceneManager.Instance.SelectedRobot.MultiArm() ? $" (arm {SceneManager.Instance.SelectedArmId})" : ""));
}
private RobotEE CreateEndEffector(string armId, string eeId)
{
RobotEE ee = Instantiate(SceneManager.Instance.RobotEEPrefab, EEOrigin.transform).GetComponent <RobotEE>();
ee.InitEE(this, armId, eeId);
ee.gameObject.SetActive(false);
if (!EndEffectors.ContainsKey(armId))
{
EndEffectors.Add(armId, new List <RobotEE>());
}
EndEffectors[armId].Add(ee);
return(ee);
}
public async Task LoadEndEffectors()
{
GameManager.Instance.ShowLoadingScreen("Loading end effectors of robot " + Data.Name);
List <string> endEffectors = await WebsocketManager.Instance.GetEndEffectors(Data.Id);
foreach (string eeId in endEffectors)
{
RobotEE ee = Instantiate(SceneManager.Instance.RobotEEPrefab, EEOrigin.transform).GetComponent <RobotEE>();
ee.InitEE(this, eeId);
ee.gameObject.SetActive(false);
EndEffectors.Add(ee);
}
GameManager.Instance.HideLoadingScreen();
}
private void UpdateModelOnEE()
{
if (model == null)
{
return;
}
string robotName = (string)RobotsList.GetValue(), eeId = (string)EndEffectorList.GetValue();
if (string.IsNullOrEmpty(robotName) || string.IsNullOrEmpty(eeId))
{
throw new RequestFailedException("Robot or end effector not selected!");
}
try {
string robotId = SceneManager.Instance.RobotNameToId(robotName);
RobotEE ee = SceneManager.Instance.GetRobot(robotId).GetEE(eeId);
model.transform.parent = ee.gameObject.transform;
switch ((PivotEnum)Enum.Parse(typeof(PivotEnum), (string)PivotList.GetValue()))
{
case PivotEnum.Top:
model.transform.localPosition = new Vector3(0, model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Bottom:
model.transform.localPosition = new Vector3(0, -model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Middle:
model.transform.localPosition = new Vector3(0, 0, 0);
break;
}
model.transform.localRotation = new Quaternion(0, 0, 0, 1);
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("End-effector position unknown", "Robot did not send position of selected end effector");
ShowModelSwitch.Switch.isOn = false;
}
}
