/**
* Carga las coordenadas x y z del efector final de un Scorbot. Contexto del Scorbot real.
* La carga se hace mediante fichero o se usa el que hay por defecto en el programa.
* @param file Fichero
* @param scorbot Scorbot
* @return void
*/
private void LoadEffector(string file, IK scorbot)
{
try
{
// Inicial position. HOME
scorbot.GetComponent <ScorbotModel>().GoHome();
List <float[]> values = new List <float[]>();
// Read file
string[] lines = System.IO.File.ReadAllLines(file);
// Effector values. First line
string[] effectorPos = lines[0].Split(' ');
// Expected coordinates x, y, z
if (effectorPos.Length == 3)
{
Vector3 pos = (new Vector3(float.Parse(effectorPos[0]), float.Parse(effectorPos[2]), float.Parse(effectorPos[1])) / 10f);
scorbot.GetComponent <ScorbotModel>().E.position = pos;
// Updating copy end effector
scorbot.UpdateCopyEffector();
stateMessageControl.WriteMessage("Done. Effector values loaded (From file). " + scorbot.name, true);
}
else // Error
{
stateMessageControl.WriteMessage("Error. Effector values not valid (From file). " + scorbot.name, false);
}
}
catch (Exception e) // File not found
{
// Default effector
Vector3 effectorPos = scorbot.GetComponent <ScorbotModel>().E.position * 10f;
// Oneline
string[] lines = new string[] {
effectorPos.x.ToString(NUMBER_FORMAT) + " " +
effectorPos.z.ToString(NUMBER_FORMAT) + " " +
effectorPos.y.ToString(NUMBER_FORMAT)
};
// Overwrite everything
System.IO.File.WriteAllLines(file, lines);
stateMessageControl.WriteMessage("Done. Default effector (Not from file)." + scorbot.name, true);
}
}
/**
* Crea una posición (objeto) y la válida. El nombre se obtiene del campo la interfaz gráfica.
* @param fromCommand Si es para el comando "defp".
* @return Transform
*/
public void RecordPosition(bool fromCommand)
{
Transform addedTarget = null;
InputField targetNameInput = this.targetNameInput;
if (fromCommand)
{
targetNameInput = this.DefpNameInput;
}
stateMessageControl.NewBlock();
// No positions recorded
if (targetControl.Count() == 0)
{
CreateDefaultTarget(targetNameInput.text);
}
else // Already at least one point
{
GameObject prevSelectedObject = selectionControl.SearchContainTag("Target");
if (prevSelectedObject != null)
{
prevSelectedObject = prevSelectedObject.transform.parent.gameObject;
// Validate target
Vector3 newPos = prevSelectedObject.transform.position;
if (!ValidTarget(targetNameInput.text, prevSelectedObject.transform, newPos))
{
return;
}
// Add target
addedTarget = targetControl.Add(targetNameInput.text, newPos, robot.GetAnglesFromCopy());
addedTarget.GetComponent <TargetModel>().SetValid(true);
selectionControl.SetActiveAxis(addedTarget, false);
selectionControl.SelectedObject(prevSelectedObject);
stateMessageControl.WriteMessage("Done. Recorded position \"" + targetNameInput.text + "\"", true);
UpdateTargets(targetControl.GetNames());
targetNameInput.text = "";
}
else
{
CreateDefaultTarget(targetNameInput.text);
}
}
stateMessageControl.UpdatePositionLog();
}
/**
* Mueve el Scorbot a una posición ya definida.
* @param robot Scorbot
* @param target Posición (objeto)
* @return void
*/
public void Move(IK robot, Transform target)
{
// Target with valid data
if (target.GetComponent <TargetModel>().GetValid())
{
// Move Scorbot to target. It uses "speed"
robot.Move(target);
}
else // Target with invalid data
{
stateMessageControl.WriteMessage("Error. MOVE Unreachable position \"" + target.GetComponent <TargetModel>().GetName() + "\"", false);
return;
}
stateMessageControl.WriteMessage("Done. MOVE \"" + target.GetComponent <TargetModel>().GetName() + "\"", true);
// Online mode
if (gameController.GetOnlineMode())
{
bool done = controller.RunCommandUIOnline("move", target.GetComponent <TargetModel>().GetName());
if (done)
{
string aux = "";
if (!target.GetComponent <TargetModel>().GetSync())
{
aux = ". NO SYNC";
}
stateMessageControl.WriteMessage("Done. Online MOVE \"" + target.GetComponent <TargetModel>().GetName() + "\"" + aux, done);
}
else
{
stateMessageControl.WriteMessage("Error. Online MOVE \"" + target.GetComponent <TargetModel>().GetName() + "\"", done);
}
}
}
