public void onCancelTakeOff()
{
{
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.Idle;
}
}
//Pauses scan
public void stopScan()
{
goToSelectPlanButton.SetActive(true);
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_PAUSE_MAPPING);
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
state = TakeOffButtonEnum.StopScan;
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
UnityEngine.Debug.Log("Stopped");
this.transform.GetChild(0).GetComponent <Text>().text = "SCAN";
//scanningThrobber.SetActive(false);
//GameObject.Find("CameraToggleButton").GetComponent<Button>().interactable = true;
}
//Starts mapping. First time needs to be an start, subsequent presses of the button are resumes
public void startScan()
{
if (!startedMapping)
{
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_START_MAPPING);
startedMapping = true;
}
else
{
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_RESUME_MAPPING);
}
//clientUnity.client.sendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_START_MAPPING);
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(stopScan);
state = TakeOffButtonEnum.Scanning;
pressTime = 0;
UnityEngine.Debug.Log("Scanning");
goToSelectPlanButton.SetActive(false);
this.transform.GetChild(0).GetComponent <Text>().text = "PAUSE";
//scanningThrobber.SetActive(true);
//GameObject.Find("CameraToggleButton").GetComponent<Button>().interactable = false;
}
//old buttons to manually take of the dron. Not used anymore
public void onStartTakeOff()
{
state = TakeOffButtonEnum.BeingPressed;
}
// Use this for initialization
void Start()
{
clientUnity = GameObject.Find("ClientUnity").GetComponent <ClientUnity>();
buttonWidth = this.GetComponent <RectTransform>().sizeDelta.x;
fillButton = this.transform.GetChild(1).GetComponent <RectTransform>();
//If the app is the one who started mapping, enter here
clientUnity = GameObject.Find("ClientUnity").GetComponent <ClientUnity>();
if ((clientUnity.client != null) && clientUnity.client.isConnected && !AtreyuModule.jumpToMappingDirectly)
{
clientUnity.client.SendCommand((byte)Modules.ATREYU_MODULE, (byte)AtreyuCommandType.ATREYU_ENTER_MAPPING_STATE);
}
//If not, the app will enter here and will check in which mapping state the drone is
if (AtreyuModule.jumpToMappingDirectly == true)
{
//First, it will request the guid to know which guid should be saved
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_REQUEST_CURRENT_GUID);
//Then gets all pointclouds produced until the moment the app entered
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_GET_ALL_POINTCLOUDS);
AtreyuModule.jumpToMappingDirectly = false;
//depending on the state, the scan button will be at scan or paused or the finished button will be active
switch (MapperModule.state)
{
case MapperModule.MapperState.IDLE:
homeButton.interactable = false;
transform.GetChild(0).GetComponent <Text>().text = "SCAN";
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
UIMapManager.droneFlying = true;
break;
case MapperModule.MapperState.READY:
homeButton.interactable = false;
transform.GetChild(0).GetComponent <Text>().text = "SCAN";
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
UIMapManager.droneFlying = true;
break;
case MapperModule.MapperState.START:
homeButton.interactable = false;
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
//clientUnity.client.sendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_START_MAPPING);
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(stopScan);
startedMapping = true;
state = TakeOffButtonEnum.Scanning;
pressTime = 0;
UnityEngine.Debug.Log("Scanning");
goToSelectPlanButton.SetActive(false);
this.transform.GetChild(0).GetComponent <Text>().text = "PAUSE";
UIMapManager.droneFlying = true;
break;
case MapperModule.MapperState.PAUSED:
homeButton.interactable = false;
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
state = TakeOffButtonEnum.StopScan;
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
UnityEngine.Debug.Log("Stopped");
this.transform.GetChild(0).GetComponent <Text>().text = "SCAN";
UIMapManager.droneFlying = true;
startedMapping = true;
break;
case MapperModule.MapperState.DONE:
break;
default:
break;
}
}
else
{
state = TakeOffButtonEnum.fiveSecondsPassed;
}
}
// Update is called once per frame
void Update()
{
//If this isn't the tablet that paused/started the scann or finished mapping, it will enter here to change state
if (changedState)
{
switch (MapperModule.state)
{
case MapperModule.MapperState.IDLE:
break;
case MapperModule.MapperState.READY:
break;
case MapperModule.MapperState.START:
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(stopScan);
startedMapping = true;
state = TakeOffButtonEnum.Scanning;
pressTime = 0;
UnityEngine.Debug.Log("Scanning");
goToSelectPlanButton.SetActive(false);
this.transform.GetChild(0).GetComponent <Text>().text = "PAUSE";
//scanningThrobber.SetActive(true);
//GameObject.Find("CameraToggleButton").GetComponent<Button>().interactable = false;
break;
case MapperModule.MapperState.PAUSED:
homeButton.interactable = false;
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
state = TakeOffButtonEnum.StopScan;
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
UnityEngine.Debug.Log("Stopped");
this.transform.GetChild(0).GetComponent <Text>().text = "SCAN";
UIMapManager.droneFlying = true;
startedMapping = true;
goToSelectPlanButton.SetActive(true);
break;
case MapperModule.MapperState.DONE:
break;
default:
break;
}
changedState = false;
}
//manages the mapping state
switch (state)
{
case TakeOffButtonEnum.Idle:
break;
//not used anymore
case TakeOffButtonEnum.BeingPressed:
pressTime += Time.deltaTime;
fillButton.sizeDelta = new Vector2((pressTime * buttonWidth) / 5.0f, 0.0f);
if (pressTime >= 5.0f)
{
state = TakeOffButtonEnum.fiveSecondsPassed;
}
break;
case TakeOffButtonEnum.fiveSecondsPassed:
//UnityEngine.Debug.Log("5 sec pressed");
// ##TODO Desactiva todo el panel de warning y llamar a función que carga el camino
//clientUnity.client.sendCommand((byte)Modules.FCS_MULTIPLEXER_MODULE, (byte)FCSMultiplexerCommandType.FCS_TAKEOFF);
// ## DEBUG QUITAR LUEGO
//MissionManager.guid = Guid.NewGuid().ToString();
//Home button stops being interactable because exiting in the middle of mapping stops the user from doing anything to the drone
homeButton.interactable = false;
//If the guid is null, we create a new map. If we want to modify a pointcloud, we load a map. Right now there is no way to modify a pointcloud
if (MissionManager.guid == "")
{
MissionManager.guid = Guid.NewGuid().ToString();
clientUnity.client.sendTwoPartCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_CREATE_MAP, MissionManager.guid + "\0");
}
else
{
clientUnity.client.sendTwoPartCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_LOAD_MAP, MissionManager.guid + "\0");
}
//The button allow now to scan
transform.GetChild(0).GetComponent <Text>().text = "SCAN";
this.GetComponent <EventTrigger>().triggers.RemoveRange(0, this.GetComponent <EventTrigger>().triggers.Count);
pressTime = 0;
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
UIMapManager.droneFlying = true;
break;
case TakeOffButtonEnum.Scanning:
pressTime += Time.deltaTime;
//plcParent.transform.Rotate(0, 24 * Time.deltaTime, 0);
//scanningThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
//fillButton.sizeDelta = new Vector2((pressTime * buttonWidth) / 15.0f, 0.0f);
//This is the amount of time we want to allow the user to scan. Once the time is up, we pause mapping
if (pressTime >= 10000000)
{
goToSelectPlanButton.SetActive(true);
fillButton.sizeDelta = new Vector2(0.0f, 0.0f);
pressTime = 0;
clientUnity.client.SendCommand((byte)Modules.MAPPER_MODULE, (byte)MapperCommandType.MAPPER_PAUSE_MAPPING);
state = TakeOffButtonEnum.StopScan;
this.GetComponent <Button>().onClick.RemoveAllListeners();
this.GetComponent <Button>().onClick.AddListener(startScan);
//SAVE TO DISK CLOUD
}
break;
case TakeOffButtonEnum.StopScan:
//if (!mapReady)
//{
// this.GetComponent<Button>().interactable = false;
//}
//else
//{
// this.GetComponent<Button>().interactable = true;
//}
break;
default:
break;
}
}
