/**
* Actualiza la información de la ventana "Positions(0/0)".
* @return void
*/
public void UpdatePositionLog()
{
int nSync = 0;
string auxLog = "";
string auxSyncLog = "";
// Get positions name and sync state
for (int i = 0; i < targetControl.Count(); i++)
{
TargetModel model = targetControl.GetTarget(i).GetComponent <TargetModel>();
auxLog += model.GetName() + "\n";
if (!model.GetSync())
{
auxSyncLog += "No sync" + "\n";
}
else
{
auxSyncLog += "\n";
nSync++;
}
}
// Write positions name
positionLog.text = auxLog;
// Write positions sync state
positionSyncLog.text = auxSyncLog;
// Fix containers to fit names
AdjustContent(positionLog.gameObject, contentPositionLog);
// Count data
UpdateCountData(nSync, targetControl.Count());
}
/**
* Guarda las posiciones actuales y sus datos en el fichero "backup.txt". (normal|relative) name x y z p r (relativeTo).
* @return void
*/
public void Save()
{
string[] lines = new string[targetControl.Count()];
// Get positions data
for (int i = 0; i < targetControl.Count(); i++)
{
string aux = "";
TargetModel target = targetControl.GetTarget(i).GetComponent <TargetModel>();
// Relative position?
if (target.GetRelativeTo() == null)
{
aux += NORMAL + " ";
aux += target.GetName() + " ";
aux += target.GetPositionInScorbot().x + " ";
aux += target.GetPositionInScorbot().y + " ";
aux += target.GetPositionInScorbot().z + " ";
aux += target.GetPitch() + " ";
aux += target.GetRoll();
}
else
{
aux += RELATIVE + " ";
aux += target.GetName() + " ";
aux += target.GetRelativePosInScorbot().x + " ";
aux += target.GetRelativePosInScorbot().y + " ";
aux += target.GetRelativePosInScorbot().z + " ";
aux += target.GetRelativeP() + " ";
aux += target.GetRelativeR() + " ";
aux += target.GetRelativeTo().GetComponent <TargetModel>().GetName();
}
lines[i] = aux;
}
// Overwrite everything
System.IO.File.WriteAllLines(BACKUP_FILE, lines);
gameController.backupFileOutput.text = "File saved.";
}
public void RemoveTarget()
{
if (target)
{
targetControl.Remove(target);
}
UpdateTargets(targetControl.GetNames());
if (targetControl.Count() >= 1)
{
SetTarget(targetControl.GetTarget(0));
}
}
public void RunCommandOffline(string line_command)
{
string[] ListCommandLine = line_command.Split(' ');
switch (ListCommandLine[0].ToLower())
{
case "home":
CommandControl.Home(Robot);
break;
case "move":
break;
case "movel":
CommandControl.Home(Robot);
break;
case "movec":
CommandControl.Home(Robot);
break;
case "teach":
/* */
Transform target = TargetControl.GetTarget(ListCommandLine[1]);
//target.position;
//target.GetComponent<TargetModel>().GetPitch();
//target.GetComponent<TargetModel>().GetRoll();
//CommandControl.Teach(Robot, TargetControl.GetTarget(ListCommandLine[1]),);
break;
case "here":
CommandControl.Home(Robot);
break;
case "defp":
CommandControl.Home(Robot);
break;
case "teachr":
break;
case "speed":
break;
case "speedl":
break;
case "shiftc":
break;
case "jaw":
break;
case "profile":
break;
case "moves":
break;
case "help":
break;
default:
break;
}
Terminal.GetComponent <Terminal>().Input_View(true);
}
/**
* Elimina la posición (objeto) seleccionada en la lista de posiciones.
* @return void
*/
public void RemoveTarget()
{
stateMessageControl.NewBlock();
if (!target)
{
stateMessageControl.WriteMessage("Done. Nothing to delete", true);
return;
}
string name = target.GetComponent <TargetModel>().GetName();
// Delete target
targetControl.Remove(target);
// Update targets
UpdateTargets(targetControl.GetNames());
if (targetControl.Count() >= 1)
{
SetTarget(targetControl.GetTarget(0));
}
stateMessageControl.WriteMessage("Done. Deleted \"" + name + "\"", true);
stateMessageControl.UpdatePositionLog();
}
public void RunCommandOffline(string line_command)
{
Term.Input = false;
Term.Input_text = false;
bool help = false;
int value;
bool isNumeric;
if (Count_Command_Data >= 1 && Count_Command_Data < 6)
{
this.Teach(line_command);
}
else
{
Term.History.Push(line_command);
Term.Log(TerminalLogType.Command, "{0}", line_command);
string[] ListCommandLine = line_command.Split(' ');
if (ListCommandLine.Count() > 1)
{
if (ListCommandLine[1].ToLower().Equals("-h"))
{
Help(ListCommandLine[0].ToLower());
Term.Input_View(true);
help = true;
}
else
{
Target = TargetControl.GetTarget(ListCommandLine[1]);
}
}
if (!help)
{
switch (ListCommandLine[0].ToLower())
{
case "home":
CommandControl.Home(Robot);
Term.Input_View(true);
break;
case "move":
if (Target == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
CommandControl.Move(Robot, Target);
}
Term.Input_View(true);
break;
case "movel":
if (Target == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
CommandControl.MoveL(Robot, Target);
}
Term.Input_View(true);
break;
case "movec":
Target2 = TargetControl.GetTarget(ListCommandLine[2]);
if (Target == null || Target2 == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
CommandControl.MoveC(Robot, Target, Target2);
}
Term.Input_View(true);
break;
case "teach":
if (Target == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
XYZ = Target.GetComponent <TargetModel>().GetPositionInScorbot();
float truncated = (float)(Math.Truncate((double)XYZ.x * 100.0) / 100.0);
Term.Log(TerminalLogType.Log, "{0}", " X -- [" + truncated + "] ");
Count_Command_Data++;
Term.Input_Text(true);
}
break;
case "here":
if (Target == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
CommandControl.Here(Robot, Target);
}
Term.Input_View(true);
break;
case "teachr":
Target2 = TargetControl.GetTarget(ListCommandLine[2]);
if (Target == null || Target2 == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
float truncated = (float)(Math.Truncate((double)Target.position.x * 100.0) / 100.0);
Term.Log(TerminalLogType.Log, "{0}", " X -- [" + truncated + "]");
Count_Command_Data++;
Term.Input_Text(true);
}
break;
case "speed":
//0-100
isNumeric = int.TryParse(ListCommandLine[1], out value);
if (isNumeric && value >= 0 && value <= 100)
{
CommandControl.Speed(Robot, value);
}
else
{
Term.Log(TerminalLogType.Warning, "{0}", "Valor incorrecto [0-100]");
}
Term.Input_View(true);
break;
case "speedl":
//0-300
isNumeric = int.TryParse(ListCommandLine[1], out value);
if (isNumeric && value >= 0 && value <= 300)
{
CommandControl.SpeedL(Robot, value);
}
else
{
Term.Log(TerminalLogType.Warning, "{0}", "Valor incorrecto [0-300]");
}
Term.Input_View(true);
break;
case "shiftc":
if (ListCommandLine.Count() == 5)
{
Term.Log(TerminalLogType.Warning, "{0}", "Comando mal escrito");
}
else if (Target == null)
{
Term.Log(TerminalLogType.Warning, "{0}", "Punto no creado");
}
else
{
isNumeric = int.TryParse(ListCommandLine[3], out value);
float valueFloat;
bool isFloat = float.TryParse(ListCommandLine[4], out valueFloat);
if (isNumeric && isFloat && (value >= 0) && (value <= 4))
{
CommandControl.Shiftc(Robot, Target, value, valueFloat);
}
else
{
if (isNumeric)
{
Term.Log(TerminalLogType.Warning, "{0}", "Valor no permitido");
}
else
{
Term.Log(TerminalLogType.Warning, "{0}", "Eje no permitido");
}
}
}
Term.Input_View(true);
break;
case "help":
Help();
Term.Input_View(true);
break;
case "clear":
Term.Buffer.Clear();
Term.Input_View(true);
break;
default:
Term.Log(TerminalLogType.Warning, "{0}", "Comando mal escrito");
Term.Input_View(true);
break;
}
}
}
help = false;
}