/// <summary>
/// 作業を開始します
/// </summary>
public void WorkStart(double target_x, double target_y, SettingsObj obj)
{
// 作業をクリア
DobotDll.SetQueuedCmdClear();
// コマンド開始
DobotDll.SetQueuedCmdStartExec();
OnWorkEvent?.Invoke(this, "作業開始");
// 現在位置を取得
var pose = GetCurrentPose();
OnWorkEvent(this, $"現在位置を取得:");
OnWorkEvent?.Invoke(this, $"X:{pose.x}, Y:{pose.y}, Z:{pose.z}, R:{pose.rHead}");
// 対象の上部まで移動(Z座標は適当)
var cmdIndex = ptp((byte)2, (float)target_x, (float)target_y, (float)0.0, pose.rHead);
OnWorkEvent?.Invoke(this, "対象の上部まで移動:");
OnWorkEvent?.Invoke(this, $"X:{(float)target_x}, Y:{(float)target_y}, Z:{(float)0.0}, R:{pose.rHead}");
// 対象物のZ座標計算
var object_z = obj.PedestalZ + obj.ObjectHeight;
OnWorkEvent?.Invoke(this, "対象物のZ座標:");
OnWorkEvent?.Invoke(this, $"Z:{object_z}");
// 対象の位置まで下がる
cmdIndex = ptp((byte)2, (float)target_x, (float)target_y, (float)object_z, pose.rHead);
OnWorkEvent?.Invoke(this, "対象物までアームを降ろす:");
OnWorkEvent?.Invoke(this, $"X:{(float)target_x}, Y:{(float)target_y}, Z:{(float)object_z}, R:{pose.rHead}");
// 下がったらサクションカップONしてつかむ
DobotDll.SetEndEffectorSuctionCup(true, true, true, ref cmdIndex);
OnWorkEvent?.Invoke(this, "サクションカップでつかむ");
// いったん上に持ち上げる
cmdIndex = ptp((byte)2, (float)target_x, (float)target_y, (float)0.0, pose.rHead);
OnWorkEvent?.Invoke(this, $"持ち上げる:");
OnWorkEvent?.Invoke(this, $"X:{(float)target_x}, Y:{(float)target_y}, Z:{(float)0.0}, R:{pose.rHead}");
// 持っていく場所に移動
cmdIndex = ptp((byte)2, (float)obj.PlacePoseXCoordinate, (float)obj.PlacePoseYCoordinate, (float)obj.PlacePoseZCoordinate, pose.rHead);
OnWorkEvent?.Invoke(this, $"持っていく場所に移動:");
OnWorkEvent?.Invoke(this, $"X:{(float)obj.PlacePoseXCoordinate}, Y:{(float)obj.PlacePoseYCoordinate}, Z:{(float)obj.PlacePoseZCoordinate}, R:{pose.rHead}");
// 下がったらサクションカップOFFして放す
DobotDll.SetEndEffectorSuctionCup(false, false, false, ref cmdIndex);
OnWorkEvent?.Invoke(this, "サクションカップOFFして放す");
// 上がって終わり
cmdIndex = ptp((byte)2, (float)obj.PlacePoseXCoordinate, (float)obj.PlacePoseYCoordinate, (float)0.0, pose.rHead);
OnWorkEvent?.Invoke(this, "アームを上にあげる");
// コマンド終了
DobotDll.SetQueuedCmdStopExec();
OnWorkEvent?.Invoke(this, "作業終了");
}
/// <summary>
/// Make a copy, used when changing stettings, so that changes can be applied or discarded
/// </summary>
/// <returns></returns>
public SettingsObj copy()
{
SettingsObj settings = new SettingsObj();
settings.saveNum = this.saveNum; // will have to update this for each variable added.
settings.volume = this.volume;
settings.resolutionX = this.resolutionX;
settings.resolutionY = this.resolutionY;
settings.vsync = this.vsync;
settings.fullscreen = this.fullscreen;
return(settings);
}
public void UpdateEnvironment()
{
var settingsObj = new SettingsObj()
{
ConnectionString = builder.ConnectionString,
CentralServerUrl = ptbRemoteSrvURL.Text,
SendInterval = int.Parse(ptbSendInterval.Text),
KeepHistoryDays = SettingsTable.Get <int>(Strings.VScan_KeepHistoryDays, 1),
};
SettingsTable.Set(Strings.Transferring_SettingsObject, settingsObj);
DBConfigValue.Save(Strings.Transferring_SettingsObject, settingsObj);
SettingsTable.Default.Save();
}
/// <summary>
/// 画面遷移
/// </summary>
/// <param name="t"></param>
public void Navigate(Type t, SettingsObj obj)
{
// Typeがnullなら終了
if (t == null)
{
Close();
return;
}
this.Controls.Clear();
var uc = obj != null?
Activator.CreateInstance(t, new Object[] { obj }) as UserControl
: Activator.CreateInstance(t) as UserControl;
this.Controls.Add(uc);
}
protected override void ThreadFunction()
{
bool fireSuccess = true;
try
{
Auth = DBConfigValue.ReadSf <UserAuth>(Strings.Transferring_AuthObject, UserAuth.Default);
if (Auth == null || !Auth.IsValid)
{
throw new ApplicationException("No authentication provided");
}
Settings = DBConfigValue.ReadSf <SettingsObj>(Strings.Transferring_SettingsObject, SettingsObj.Default);
if (m_CleanDbCheckRun.Day != DateTime.Now.Day)
{
CleanDataBase();
m_CleanDbCheckRun = DateTime.Now;
}
using (var client = new DataServiceClient())
{
QuerySiteCodes(client);
SendFiles(client, true);
if (DateTime.Now.Hour.IsBetween(Program.START_EXPORTMESSAGES_HOUR, Program.END_EXPORTMESSAGES_HOUR))
{
SendMessages(client);
}
}
}
catch
{
fireSuccess = false;
throw;
}
finally
{
if (fireSuccess && Success != null)
{
Success(this, EventArgs.Empty);
}
}
}
/// <summary>
///
/// </summary>
/// <param name="num"></param>
public void loadSlot(int num)
{
GameManager.saveGame = SaveObj.LoadGame(num);
if (GameManager.saveGame == null) // complain if save file doesn't exist/error
// give file-doesn't exist notification here
{
Debug.Log("Error: Can't find save file \"" + num + "\"");
return;
}
GameManager.settings.saveNum = num; // set the last-save-used to this num, and save that change
SettingsObj.saveSettings(GameManager.settings);
if (GameManager.saveGame.levelNumber >= 0 && GameManager.saveGame.levelNumber < levelSelector.levelButtons.Length) // load straight to the last visited level if it exists
{
LevelSelector.changeLevelHelper(GameManager.saveGame.levelNumber);
GameManager.changeState(GameManager.gameplay, this);
}
else
{
onClick(levelSelector); // else, go to level selector
}
}
/// <summary>
/// Called by confirmMenu when returning.
/// If gets success value, will delete the slot at number, else will do nothing
/// </summary>
/// <param name="retVal"></param>
/// <param name="retString"></param>
public override void _RespondToConfirm(int retVal, string retString) // if get success va
{
switch (retVal)
{
case 0: // accept delete
if (number == GameManager.settings.saveNum)
{
GameManager.settings.saveNum = 0;
SettingsObj.saveSettings(GameManager.settings);
GameManager.saveGame = null;
}
SaveObj.DeleteGame(number);
//refresh();
onClick(previous);
break;
default: // canceled, do nothing
//refresh();
break;
}
}
/// <summary>
/// Saves the given settings object to the standard location
/// </summary>
/// <param name="settings"></param>
public static void saveSettings(SettingsObj settings)
{
if (settings == null) // can't save the object if there is no object
{
throw new System.ArgumentException("Parameter \"settings\" cannot be null");
}
Stream stream = null;
try { // crashing due to file access issues is a bitch, so don't crash
System.Runtime.Serialization.IFormatter formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
//Debug.Log("Saving to File: \"" + Application.persistentDataPath + "\\Settings.txt\"");
stream = new FileStream(Application.persistentDataPath + "\\Settings.txt", FileMode.Create, FileAccess.Write);
formatter.Serialize(stream, settings);
stream.Close();
} catch (System.Exception e) {
Debug.Log(e.Message); // notify me about any exceptions.
if (stream != null) // make sure the stream is closed if an exception was generated.
{
stream.Close();
}
}
return;
}
public void TestWriteJson()
{
//Arrange
var rw = new OlcSideScrollingConsoleGame.Core.ReadWrite();
string Path = "\\Resources\\Settings";
string FileName = "\\settings";
string FileExtension = ".json";
// highscore
var HSO = new HighScoreObj()
{
//Id = 1,
Handle = "AAA",
//Hours = 0,
//Minutes = 5,
//Seconds = 2,
//Time = "00:05:02:123"
};
var HSOList = new List <HighScoreObj>();
HSOList.Add(HSO);
var testObj = new SettingsObj()
{
//misc = "Unit test",
//AttributeIndex = new int[3] { 1, 2, 4 }
//HighScoreList = HSOList
};
//Act
var success = rw.WriteJson <SettingsObj>(Path, FileName, FileExtension, testObj);
//Assert
Assert.IsTrue(success);
}
public void discardChanges()
{
tempSettings = GameManager.settings.copy();
refresh();
}
/// <summary>
/// 処理実行
/// </summary>
public ImageProcessValue Execute(SettingsObj obj)
{
try
{
// webカメラキャプチャ
var camera = new OpenCvSharp.VideoCapture(0)
{
//// 解像度の指定
FrameWidth = 1920,
FrameHeight = 1080
};
using (camera)
{
// カメラ内部パラメータ格納用
Mat mtx = new Mat();
Mat dist = new Mat();
// ymlファイルを読み来み計算パラメータを取得
using (var fs = new FileStorage(obj.CalibratinFilePath, FileStorage.Mode.Read))
{
mtx = fs["mtx"].ReadMat();
dist = fs["dist"].ReadMat();
}
var src = new Mat();
// 撮影画像の読み取り
camera.Read(src);
if (src.Empty())
{
return(null);
}
Mat calib = new Mat();
// 歪み補正
Cv2.Undistort(src, calib, mtx, dist);
// 画像処理
var tmp = new Mat();
// OpenCVのカラーの並びに変換
Cv2.CvtColor(calib, tmp, OpenCvSharp.ColorConversionCodes.RGB2BGR);
// BGR画像をHSV画像に変換
var hsv = new Mat();
Cv2.CvtColor(tmp, hsv, OpenCvSharp.ColorConversionCodes.BGR2HSV);
// inRange関数で範囲指定２値化 -> マスク画像として使う
var msk = new Mat();
Cv2.InRange(hsv, new Scalar(obj.HueMin, obj.SaturationMin, obj.ValueMin), new Scalar(obj.HueMax, obj.SaturationMax, obj.ValueMax), msk);
// bitwise_andで元画像にマスクをかける -> マスクされた部分の色だけ残る
var msk_src = new Mat();
Cv2.BitwiseAnd(hsv, hsv, msk_src, msk);
var show_msk = new Mat();
// 元の色に戻す
Cv2.CvtColor(msk_src, show_msk, ColorConversionCodes.HSV2BGR);
// グレースケール変換
var gray = new Mat();
Cv2.CvtColor(show_msk, gray, ColorConversionCodes.BGR2GRAY);
// 2値化
var th = new Mat();
Cv2.Threshold(gray, th, 130, 255, ThresholdTypes.Otsu);
// ブロブとラベリング
var label = new Mat();
var stats = new Mat();
var centroids = new Mat();
ConnectedComponents cc = Cv2.ConnectedComponentsEx(th);
if (cc.LabelCount <= 1)
{
return(null);
}
// draw labels
//cc.RenderBlobs(show_msk);
// draw bonding boxes except background
foreach (var blob in cc.Blobs.Skip(1))
{
show_msk.Rectangle(blob.Rect, Scalar.Red);
}
// filter maximum blob
var maxBlob = cc.GetLargestBlob();
var filtered = new Mat();
cc.FilterByBlob(show_msk, filtered, maxBlob);
// 矩形探索
// マスク画像から矩形探索
Point[][] contours;
HierarchyIndex[] hierarchy;
Cv2.FindContours(th, out contours, out hierarchy, RetrievalModes.List, ContourApproximationModes.ApproxNone);
// 見つからなかったら何もしない
if (contours.Length == 0)
{
return(null);
}
// 回転を考慮した外接矩形
foreach (var cont in contours)
{
var rect = Cv2.MinAreaRect(cont);
var box = Cv2.BoxPoints(rect).Select(x => (Point)x);
}
Cv2.DrawContours(show_msk, contours, -1, Scalar.Yellow, 3);
//Cv2.ImShow("show_msk", show_msk);
// 画像、画像上の位置発火
var val = new ImageProcessValue();
val.CameraImage = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(show_msk);
val.Blob = maxBlob;
// メモリリーク対策でDispose呼ぶ
mtx.Dispose();
dist.Dispose();
calib.Dispose();
tmp.Dispose();
hsv.Dispose();
msk.Dispose();
msk_src.Dispose();
show_msk.Dispose();
gray.Dispose();
th.Dispose();
label.Dispose();
stats.Dispose();
centroids.Dispose();
filtered.Dispose();
return(val);
}
}
catch (Exception e)
{
throw e;
}
}
public void Awake()
{
#region finding objects/setting refferences
if ((instance == null) || (instance == this)) // singleton pattern
{
instance = this;
}
else
{
Debug.Log("Duplicate GameManager destroyed");
DestroyImmediate(this.gameObject);
}
IState[] objList = (IState[])Resources.FindObjectsOfTypeAll(typeof(IState)); // find all IState objects
// should be easily tweakable to work when switching between scenes
foreach (IState state in objList)
{
if (istates[(int)state._stateType] == null) // add one of each type to list of istates, delete any duplicates
{
istates[(int)state._stateType] = state; // the type enum is used to put each istate in a unique nd predictable slot
state.gameObject.SetActive(false);
}
else
{
Debug.Log("Destroyed duplicate of IState " + state._stateType);
DestroyImmediate(state.gameObject);
}
}
for (int i = 0; i < istates.Length; i++) // check that one of each type exists
{
if (istates[i] == null)
{
Debug.Log("Error: IState object of type \"" + (IStateType)i + "\" not found");
}
else
{
istates[i].initialize(); // initialize each that exists
}
}
ConfirmMenu[] conList = (ConfirmMenu[])Resources.FindObjectsOfTypeAll(typeof(ConfirmMenu));
if (conList.Length > 0)
{
confirmMenu = conList[0]; // only use one copy of the ConfirmMenu object
confirmMenu.gameObject.SetActive(false);
}
else
{
Debug.Log("Error: No ConfirmMenu object is exists");
}
for (int i = 1; i < conList.Length; i++)
{
DestroyImmediate(conList[i].gameObject); // destroy extras
}
#endregion
//settup spritebook & index
spriteBook = _spriteBook; // move info from non-static variables to static variables
errorSprite = _errorSprite;
for (int s = 0; s < spriteBook.Length; s++) // get the index and name of every sprite, so you can look them up by name
{
if (spriteBook[s] != null)
{
string lowercase = spriteBook[s].name.ToLowerInvariant();
//Debug.Log(string.Format("Trying to add sprite {0} to sprite index", lowercase));
if (!spriteIndex.ContainsKey(lowercase)) // don't add any duplicate names
{
spriteIndex.Add(lowercase, s);
}
else
{
throw new System.Exception("Error: sprite with name" + spriteBook[s].name + " present in spritebook more than once");
}
}
}
// load settings stuff, and apply them.
if (SettingsObj.settingsExists()) //load the settings if the file exists
{
settings = SettingsObj.loadSettings();
}
else // else create new file
{
Debug.Log("Creating new settings file");
settings = new SettingsObj();
SettingsObj.saveSettings(settings);
}
applySettings(settings); // apply the saved settings
// consider changing so that it keeps resolution settings from start-up menu
// load from save if possible, or load default save.
if (settings.saveNum >= 1 && settings.saveNum <= 3) // if saveNum = 1, 2, or 3, savefile should exist, else one won't
{
saveGame = SaveObj.LoadGame(settings.saveNum);
if (saveGame == null)
{
Debug.Log("Indicated save does not exist, load an existing save or create a new one.");
settings.saveNum = 0;
SettingsObj.saveSettings(settings);
}
}
gameplay = (Gameplay)istates[(int)GameManager.IStateType.gameplay]; // get gameplay IState from istate[Enum.gameplay] slot of array
if (istates[(int)GameManager.IStateType.gameMenu] != null) // set current state to gamemenu, or complain if gameMenu istate doesn't exist
{
currentstate = istates[(int)GameManager.IStateType.gameMenu];
currentstate.StartState(null);
istates[(int)GameManager.IStateType.gameMenu].gameObject.SetActive(true);
}
//InputManager.instance.LoadKeybinds(); // load keybindings
eventSystem = (EventSystem)FindObjectOfType(typeof(EventSystem));
}
/// <summary>
/// 引数つきコンストラクタ
/// </summary>
/// <param name="obj"></param>
public DobotExecute(SettingsObj obj) : this()
{
_obj = obj;
}
