/// <summary>
/// Replace a value list with one that has been pre-populated with possible methonds.
/// </summary>
/// <param name="sender">The sender.</param>
/// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
private void OnParameterSourcesChanged(Object sender, GH_ParamServerEventArgs e)
{
int index = e.ParameterIndex;
IGH_Param param = e.Parameter;
//Only add value list to the first input
if (param.Name != "*Method")
{
return;
}
//Only change value lists
var extractedItems = param.Sources.Where(p => p.Name == "Value List");
//Set up value list
Dictionary <string, string> options = new Dictionary <string, string>();
foreach (int entity in typeof(MotionType).GetEnumValues())
{
MotionType m = (MotionType)entity;
options.Add(m.ToString(), entity.ToString());
}
Grasshopper.Kernel.Special.GH_ValueList gH_ValueList = Canvas.Component.CreateValueList("Mothods", options);
//The magic
Canvas.Component.ChangeObjects(extractedItems, gH_ValueList);
}
public async Task <bool> readRRSensor(TestMeViewModel b, int sec)
{
Activity activity = Droid.MainActivity.instance;
_contactSensor.StartReadings();
while (_bandState == null)
{
} //get the band state
if (_bandState != BandContactState.Worn)
{
_bandState = null;
//TODO: notify the user by sending a notification
return(false);
}
_distancerSensor.StartReadings();
while (currentMotionTyp == null)
{
}
if (currentMotionTyp == MotionType.Walking || currentMotionTyp == MotionType.Jogging || currentMotionTyp == MotionType.Running)
{
b.StressResult = "Error: can't measure during sports activity";
Log.Error("motion", "user is " + currentMotionTyp.ToString());
return(false);
}
_rrIntervalsReadings.Clear();
//RequestConsent();
_rrSensor.StartReadings();
await Task.Delay(sec * 1000);
_rrSensor.StopReadings();
_contactSensor.StopReadings();
return(true);
}
public static void Play(this AnimatorComponent self, MotionType motionType, float motionSpeed = 1f)
{
if (!self.HasParameter(motionType.ToString()))
{
return;
}
self.MotionType = motionType;
self.MontionSpeed = motionSpeed;
}
public void Play(MotionType motionType, float motionSpeed = 1f)
{
if (!this.HasParameter(motionType.ToString()))
{
return;
}
this.MotionType = motionType;
this.MontionSpeed = motionSpeed;
}
public static float AnimationTime(this AnimatorComponent self, MotionType motionType)
{
AnimationClip animationClip;
if (!self.animationClips.TryGetValue(motionType.ToString(), out animationClip))
{
throw new Exception($"找不到该动作: {motionType}");
}
return(animationClip.length);
}
public float AnimationTime(MotionType motionType)
{
AnimationClip animationClip;
if (!this.animationClips.TryGetValue(motionType.ToString(), out animationClip))
{
throw new Exception($"找不到该动作: {motionType}");
}
return(animationClip.length);
}
internal void UpdateRobotStatus()
{
if (bot == null)
{
ResetRobotStatus();
return;
}
uiContext.Post(x =>
{
MVector pos = bot.GetCurrentPosition();
string posStr = pos?.ToString(true) ?? "-";
lbl_Status_TCP_Position_Value.Content = posStr;
MOrientation ori = bot.GetCurrentRotation();
string oriStr = ori?.ToString(true) ?? "-";
lbl_Status_TCP_Orientation_Value.Content = oriStr;
Joints axes = bot.GetCurrentAxes();
string axesStr = axes?.ToString(true) ?? "-";
lbl_Status_Axes_Value.Content = axesStr;
ExternalAxes extax = bot.GetCurrentExternalAxes();
bool nullext = true;
if (extax != null)
{
for (int i = 0; i < 6; i++)
{
if (extax[i] != null)
{
nullext = false;
break;
}
}
}
lbl_Status_Ext_Axes_Value.Content = nullext ? "-" : extax.ToString(true);
double speed = bot.GetCurrentSpeed();
double acc = bot.GetCurrentAcceleration();
string speedacc = Math.Round(speed, MMath.STRING_ROUND_DECIMALS_MM) + " mm/s / " + Math.Round(acc, MMath.STRING_ROUND_DECIMALS_MM) + " mm/s^2";
lbl_Status_SpeedAcceleration_Value.Content = speedacc;
double precision = bot.GetCurrentPrecision();
lbl_Status_Precision_Value.Content =
Math.Round(precision, MMath.STRING_ROUND_DECIMALS_MM) + " mm";
MotionType mtype = bot.GetCurrentMotionMode();
lbl_Status_MotionMode_Value.Content = mtype.ToString();
lbl_Status_Tool_Value.Content = bot.GetCurrentTool()?.name ?? "(no tool)";
}, null);
}
protected virtual void SpeakMotion(MotionType value)
{
if (value != MotionType)
{
if (IsAutomove)
{
_notifyService.Notify("You start moving on the car");
}
else
{
_notifyService.Notify(value.ToString());
}
}
}
/// <summary>
/// Replace a value list with one that has been pre-populated with possible methonds.
/// </summary>
/// <param name="sender">The sender.</param>
/// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
private void OnParameterSourcesChanged(Object sender, GH_ParamServerEventArgs e)
{
int index = e.ParameterIndex;
IGH_Param param = e.Parameter;
switch (param.Name)
{
case "*Method":
#region Change Value List
//Only change value lists
var extractedItems = param.Sources.Where(p => p.Name == "Value List");
//Set up value list
Dictionary <string, string> options = new Dictionary <string, string>();
foreach (int entity in typeof(MotionType).GetEnumValues())
{
MotionType m = (MotionType)entity;
options.Add(m.ToString(), entity.ToString());
}
Grasshopper.Kernel.Special.GH_ValueList gH_ValueList = Canvas.Component.CreateValueList("Mothods", options);
//The magic
Canvas.Component.ChangeObjects(extractedItems, gH_ValueList);
break;
#endregion Change Value List
case "Plane":
if (param.Sources.Count == 0)
{
return;
}
foreach (var p in param.Sources)
{
if (p.Name == "Panel")
{
this.c_motionType = MotionType.AbsoluteJoint;
return;
}
}
break;
default:
break;
}
}
public void SendDataToServer(MotionType type)
{
isFinished = false;
_dataList.ForEach(p => p.Type = type.ToString());
var o = JsonConvert.SerializeObject(_dataList);
// Debug.Log(o);
var request = new HTTPRequest(new Uri(SystemLogic.Instance.Config.ServerPath + "uploadData"), HTTPMethods.Post, OnRequestFinished)
{
RawData = Encoding.UTF8.GetBytes(o)
};
if (!request.HasHeader("Content-Type"))
{
request.SetHeader("Content-Type", "application/json");
}
request.Send();
_dataList.Clear();
}
public static void PlayInTime(this AnimatorComponent self, MotionType motionType, float time)
{
AnimationClip animationClip;
if (!self.animationClips.TryGetValue(motionType.ToString(), out animationClip))
{
throw new Exception($"找不到该动作: {motionType}");
}
float motionSpeed = animationClip.length / time;
if (motionSpeed < 0.01f || motionSpeed > 1000f)
{
Log.Error($"motionSpeed数值异常, {motionSpeed}, 此动作跳过");
return;
}
self.MotionType = motionType;
self.MontionSpeed = motionSpeed;
}
