public static void AddNewMotion(PositionerDemo.Motion motion)
{
motionsToExecute.Add(motion);
if (logOn)
{
Debug.Log("NEW MOTION ADDED");
}
}
public static void RemoveMotion(PositionerDemo.Motion motion)
{
motionsToExecute.Remove(motion);
if (logOn)
{
Debug.Log("MOTION REMOVED");
}
}
public static IEnumerator ExecuteMotion()
{
isExecuting = true;
while (isExecuting)
{
// SI ESTA EJECUTANDO ENTONCES ESPERAMOS
if (motionController.IsPerforming)
{
if (logOn)
{
Debug.Log("IS PERFORMING");
}
yield return(null);
}
else
{
// SI NO HAY MAS MOTIONS QUE EXECUTE ENTONCES TERMINAMOS
if (motionsToExecute.Count == 0)
{
if (logOn)
{
Debug.Log("ACTUAL MOTION HAS FINISH");
}
isExecuting = false;
}
else
{
// SI NO ESTA EJECUTANDO, EJECUTAMOS
PositionerDemo.Motion motionToExecute = motionsToExecute[0];
ReproduceMotion(motionToExecute);
RemoveMotion(motionsToExecute[0]);
yield return(null);
}
}
}
if (logOn)
{
Debug.Log("ALL MOTIONS FINISH");
}
if (motionsToExecute.Count > 0)
{
if (logOn)
{
Debug.Log("SE AGREGO UNA MOTION DESPUES DE FINALIZAR");
}
}
}
private static void ReproduceMotion(PositionerDemo.Motion motion)
{
motionController.SetUpMotion(motion);
motionController.TryReproduceMotion();
}
