public void convertCodeToProgram(string code)
{
Program program = new Program();
List <Statement> statements = new List <Statement>();
foreach (string line in code.Split('\n'))
{
if (line.Contains("Move"))
{
string strippedLine = line.Replace("Move", "");
strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
strippedLine = strippedLine.Trim();
string[] commandValues = strippedLine.Split(' ');
statements.Add(statementFromString(commandValues));
}
else
{
if (line.Contains("ToggleSuction"))
{
bool isSuctionEnabled = false;
string strippedLine = line.Replace("ToggleSuction", "");
strippedLine = strippedLine.Trim(new char[] { '(', ')', ';' });
strippedLine = strippedLine.Trim();
bool.TryParse(strippedLine, out isSuctionEnabled);
ToggleSuction toggle = new ToggleSuction();
toggle.isSuctionEnabled = isSuctionEnabled;
statements.Add(toggle);
}
}
}
program.statements = statements;
this.currentProgram = program;
}
//design this blocking untill the statement is actually completed
private void executeStatement(Statement currentStatement)
{
semaphor_dobot_is_ready = false;
if (connector == null)
{
throw new ArgumentException("The Connector instance has to be set");
}
RosSocket rosSocket =
connector.RosSocket;
if (currentStatement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
MoveStatement moveStatement = (MoveStatement)currentStatement;
//sphereDrawer.drawSphereAtROSCoords(moveStatement.target);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest req =
moveStatement.SendCommandToRos();
String x = rosSocket.CallService <RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest,
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdResponse>
("/SetPTPCmds", ResponseHandler, req);
}
else
{
if (currentStatement is ToggleSuction)
{
ToggleSuction toggleSuction = (ToggleSuction)currentStatement;
setEndeffectorSuctionCup.setEndEffectorSuctionCup(toggleSuction.isSuctionEnabled);
}
}
semaphor_dobot_is_ready = false;
}
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement statement in program.statements)
{
if (statement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
MoveStatement moveStatement = (MoveStatement)statement;
byte ptpMode_byte;
byte.TryParse("" + moveStatement.movementValueForCanvas, out ptpMode_byte);
float x = moveStatement.target.x;
float y = moveStatement.target.y;
float z = moveStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Move({request.x} {request.y} {request.z});\n";
}
else
{
if (statement is ToggleSuction)
{
ToggleSuction toggleSuction = (ToggleSuction)statement;
programString += $"ToggleSuction({toggleSuction.isSuctionEnabled});\n";
}
}
}
return(programString);
}
public void addSuctionToggleStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program currentProgram = ctcGenerator.currentProgram;
List <Statement> statements = currentProgram.statements;
ToggleSuction toggleSuctionStatement = new ToggleSuction();
statements.Insert(currentStatement, toggleSuctionStatement);
currentProgram.statements = statements;
ctcGenerator.currentProgram = currentProgram;
ctcGenerator.redraw();
}
public override Statement generateStatementFromUI(GameObject commandContainer)
{
bool isMoveStatement = true;
MoveStatement moveStatement = new MoveToJ();
foreach (Transform child in commandContainer.transform)
{
if (child.name.StartsWith("ToggleSuction"))
{
ToggleSuction toggleSuctionCommand = new ToggleSuction();
if (child.name.Contains("false"))
{
toggleSuctionCommand.isSuctionEnabled = false;
}
if (child.name.Contains("true"))
{
toggleSuctionCommand.isSuctionEnabled = true;
}
return(toggleSuctionCommand);
isMoveStatement = false;
}
}
if (isMoveStatement)
{
List <Toggle> toggles = new List <Toggle>();
commandContainer.GetComponentsInChildren <Toggle>(toggles);
List <Transform> childTransforms = new List <Transform>();
commandContainer.GetComponentsInChildren <Transform>(childTransforms);
foreach (Transform childTransform in childTransforms)
{
if (childTransform.name.Contains(movementTypeSelector.nameIdentifier()))
{
moveStatement = movementTypeSelector.getMoveStatementFromUI(childTransform.gameObject);
}
else if (childTransform.name.Contains(coordinateSelector.nameIdentifier()))
{
moveStatement.target = coordinateSelector.getCoordinateValues(childTransform.gameObject);
}
}
}
return(moveStatement);
}
public override GameObject constructCommandUIComponent(string commandUIName, Statement statement)
{
GameObject commandObject;
GameObject dropdownObject;
GameObject statementButtonAdditons;
MoveStatement moveStatement;
GameObject coordinateDisplay;
commandObject = new GameObject();
commandObject.name = commandUIName;
if (statement.GetType().IsSubclassOf(typeof(MoveStatement)))
{
moveStatement = (MoveStatement)statement;
dropdownObject = movementTypeSelector.generateMovmentTypeSelectorFromStatement(moveStatement);
dropdownObject.transform.SetParent(commandObject.transform, false);
coordinateDisplay = coordinateSelector.createCoordinatesSelector(moveStatement);
coordinateDisplay.transform.SetParent(commandObject.transform, false);
}
else
{
if (statement is ToggleSuction)
{
GameObject toggleSuctionObject = Instantiate(suctionTogglePrefab);
ToggleSuction statementToggle = (ToggleSuction)statement;
ToggleSuctionCup toggleSuctionCupScript = toggleSuctionObject.GetComponentInChildren <ToggleSuctionCup>();
if (toggleSuctionCupScript != null)
{
if (toggleSuctionCupScript.suctionOn == statementToggle.isSuctionEnabled)
{
}
else
{
toggleSuctionCupScript.toggleSuction();
}
}
toggleSuctionObject.transform.SetParent(commandObject.transform, false);
}
}
statementButtonAdditons = Instantiate(statementButtonAdditonsPrefab);
statementButtonAdditons.transform.SetParent(commandObject.transform, false);
//statementButtonAdditons.SetActive(false);
return(commandObject);
}
public Statement serialize2ROSCode()
{
Statement statement;
if (Command.value == 0)
{
statement = new MoveToJ();
var commaseparatedVector = CommandArgs.text.Substring(1).Substring(0, CommandArgs.text.Length - 2);
var vectorValues = commaseparatedVector.Split(',');
(statement as MoveToJ).target = new Vector3(Single.Parse(vectorValues[0], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[1], new CultureInfo("en-US").NumberFormat), Single.Parse(vectorValues[2], new CultureInfo("en-US").NumberFormat));
}
else
{
statement = new ToggleSuction();
(statement as ToggleSuction).isSuctionEnabled = CommandArgs.text.Trim().ToLower().Equals("true");
}
return(statement);
}
/*
* // Example ROS Cube 132.073, 732.953, 63.937
* ToggleSuction(True);
* SetPTPCmdRequest(1,80,2,156,5,59,8,0,True);
* SetPTPCmdRequest(1,133,4,174,3,0,0,True);
* SetPTPCmdRequest(1,132,2,171,6,86,8,0,True);
* ToggleSuction(False);
*/
/*
* // Example ROS Cube 132.073, 732.953, 63.937
* ToggleSuction(True);
* SetPTPCmdRequest(1,80,2,156,5,59,8,0,True);
* SetPTPCmdRequest(1,133,4,174,3,0,0,True);
* SetPTPCmdRequest(1,132,2,171,6,86,8,0,True);
* ToggleSuction(False);
*/
public RobotProgramStructure()
{
this.sampleProgram = new Program();
List <Statement> statements = new List <Statement>();
Vector3 dobotCoords1 = new Vector3(215, 4, 145);
Vector3 dobotCoords2 = new Vector3(0, 200, 0);
Vector3 dobotCoords3 = new Vector3(176, 24, 79);
Vector3 dobotCoords4 = new Vector3(78, 200, 241);
Vector3 dobotCoords5 = new Vector3(215, 24, 145);
Vector3 dobotCoords6 = new Vector3(215, 200, 145);
Vector3 dobotCoords7 = new Vector3(176, 200, 145);
Vector3 dobotCoords8 = new Vector3(0, 200, 145);
Vector3 dobotCoords9 = new Vector3(0, 200, 79);
Vector3 dobotCoords10 = new Vector3(0, 200, 241);
Vector3 dobotCoords11 = new Vector3(215, 24, 241);
Vector3 dobotCoords12 = new Vector3(215, 24, 0);
Vector3 dobotCoords13 = new Vector3(78, 200, 145);
Vector3 dobotCoordsAboveCube = new Vector3(78f, 200f, 145f);
Vector3 dobotCoordsCube = new Vector3(133.4f, 174.3f, 0f);
Vector3 dobotCoordsAboveCube2 = new Vector3(132.2f, 171.6f, 86.8f);
Vector3 nxtCoordsBrute = new Vector3(78f, 0f, 200f);
//decide which scene is currently active
Scene currentScene = SceneManager.GetActiveScene();
string sceneName = currentScene.name;
//putting the below commands to be spawned inside conditions
if (sceneName == "UnitySimulationScene")
{
ToggleSuction toggleSuction = new ToggleSuction();
toggleSuction.isSuctionEnabled = true;
statements.Add(toggleSuction);
statements = newMovementCommand(dobotCoordsAboveCube, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoordsCube, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoordsAboveCube2, new MoveToJ(), statements);
toggleSuction = new ToggleSuction();
toggleSuction.isSuctionEnabled = false;
statements.Add(toggleSuction);
}
/*
* else
* {
* //Generate a ClawUp command below
* ClawUp clawUp = new ClawUp();
* Debug.Log("ClawUp is being tried to create!");
*
* statements = newMovementCommand(new Vector3(0.6f, 0f, 0f), new MoveToJ(), statements);
* clawUp.isClawUp = true;
* statements.Add(clawUp);
* statements = newMovementCommand(new Vector3(1.1f, 0f, 0f), new MoveToJ(), statements);
* //Generate a ClawUp command below
* clawUp = new ClawUp();
* Debug.Log("ClawUp is being tried to create!");
* clawUp.isClawUp = false;
* statements.Add(clawUp);
* statements = newMovementCommand(new Vector3(0.9f, 0f, -0.4f), new MoveToJ(), statements);
*
* }
*/
/*
* not possible
* 0 24 0
*
*
*
*/
/*
* statements = newMovementCommand(dobotCoords10, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords5, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords3, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords8, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords13, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords1, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords6, new MoveToJ(), statements);
* statements = newMovementCommand(dobotCoords12, new MoveToJ(), statements);
*/
//statements = newCommand(dobotCoords2, new MoveToJ(), statements);
//statements = newCommand(dobotCoords9, new MoveToJ(), statements);
//statements = newCommand(dobotCoords4, new MoveToJ(), statements);
//statements = newCommand(dobotCoords7, new MoveToJ(), statements);
//statements = newCommand(dobotCoords11, new MoveToJ(), statements);
this.sampleProgram.statements = statements;
}
