public async void StartObjectFocusing()
{
if (RobotsList.Dropdown.dropdownItems.Count == 0 || EndEffectorList.Dropdown.dropdownItems.Count == 0)
{
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
try {
await WebsocketManager.Instance.StartObjectFocusing(CurrentObject.Data.Id,
(string)RobotsList.GetValue(),
(string)EndEffectorList.GetValue());
currentFocusPoint = 0;
UpdateCurrentPointLabel();
GetComponent <SimpleSideMenu>().handleToggleStateOnPressed = false;
GetComponent <SimpleSideMenu>().overlayCloseOnPressed = false;
FocusObjectDoneButton.interactable = true;
if (CurrentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count > 1)
{
NextButton.interactable = true;
PreviousButton.interactable = true;
}
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to start object focusing", ex.Message);
CurrentPointLabel.text = "";
currentFocusPoint = -1;
if (ex.Message == "Focusing already started.") //TODO HACK! find better solution
{
FocusObjectDone();
}
}
}
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;
}
}
public async void UpdateObjectPosition()
{
if (RobotsList.Dropdown.dropdownItems.Count == 0 || EndEffectorList.Dropdown.dropdownItems.Count == 0)
{
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
PivotEnum pivot = (PivotEnum)Enum.Parse(typeof(PivotEnum), (string)PivotList.GetValue());
IRobot robot = SceneManager.Instance.GetRobotByName((string)RobotsList.GetValue());
await WebsocketManager.Instance.UpdateActionObjectPoseUsingRobot(CurrentObject.Data.Id,
robot.GetId(), (string)EndEffectorList.GetValue(), pivot);
}
public async void AddOrientation()
{
Debug.Assert(CurrentActionPoint != null);
string name = NameInput.text;
try {
if (ManualMode)
{
Orientation orientation = OrientationManualEdit.GetOrientation();
await WebsocketManager.Instance.AddActionPointOrientation(CurrentActionPoint.Data.Id, orientation, name);
}
else //using robot
{
string robotId = SceneManager.Instance.RobotNameToId((string)RobotsList.GetValue());
await WebsocketManager.Instance.AddActionPointOrientationUsingRobot(CurrentActionPoint.Data.Id, robotId, (string)EndEffectorList.GetValue(), name);
}
Close(); //close add menu
Notifications.Instance.ShowToastMessage("Orientation added successfully");
} catch (ItemNotFoundException ex) {
Notifications.Instance.ShowNotification("Failed to add new orientation", ex.Message);
} catch (RequestFailedException ex) {
Notifications.Instance.ShowNotification("Failed to add new orientation", ex.Message);
}
}
public async void MoveHereRobot()
{
try {
if (isOrientationDetail)
{
string robotId = SceneManager.Instance.RobotNameToId((string)RobotsList.GetValue());
await WebsocketManager.Instance.MoveToActionPointOrientation(robotId, (string)EndEffectorList.GetValue(), (decimal)SpeedSlider.value, orientation.Id);
}
else
{
await WebsocketManager.Instance.MoveToActionPointJoints(joints.RobotId, (decimal)SpeedSlider.value, joints.Id);
}
} catch (ItemNotFoundException ex) {
Notifications.Instance.ShowNotification("Failed to move robot", ex.Message);
} catch (RequestFailedException ex) {
Notifications.Instance.ShowNotification("Failed to move robot", ex.Message);
}
}
/// <summary>
/// Shows confirmation dialog for updating orientation/joints using robot
/// </summary>
public void ShowUpdateUsingRobotDialog()
{
string title = isOrientationDetail ? "Update orientation" : "Update joints";
string description = "Do you want to update ";
if (isOrientationDetail)
{
description += "orientation using robot: " + (string)RobotsList.GetValue() + " and end effector: " + (string)EndEffectorList.GetValue() + "?";
}
else
{
description += "joints using robot: " + RobotName.text + "?";
}
ConfirmationDialog.Open(title,
description,
() => UpdateUsingRobot(),
() => ConfirmationDialog.Close());
}
public async void UpdateUsingRobot()
{
if (isOrientationDetail)
{
try {
string robotId = SceneManager.Instance.RobotNameToId((string)RobotsList.GetValue());
await WebsocketManager.Instance.UpdateActionPointOrientationUsingRobot(robotId, (string)EndEffectorList.GetValue(), orientation.Id);
Notifications.Instance.ShowToastMessage("Orientation updated successfully");
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("Failed update orientation", ex.Message);
} catch (RequestFailedException ex) {
Notifications.Instance.ShowNotification("Failed to update orientation", ex.Message);
}
}
else //joints
{
try {
await WebsocketManager.Instance.UpdateActionPointJointsUsingRobot(joints.Id);
Notifications.Instance.ShowToastMessage("Joints updated successfully");
} catch (RequestFailedException ex) {
Notifications.Instance.ShowNotification("Failed to update joints", ex.Message);
}
}
ConfirmationDialog.Close();
UpdateMenu();
}
