public async Task InitAsync()
{
#if UNITY_WSA && !UNITY_EDITOR
store.putBlob(new MyPoint[] { new MyPoint(0, 0, 0, false), new MyPoint(1, 1, 1, true) });
MainScript.Log("-1");
var httpClient = RobotClientProvider.GetHttpClientAsync(hostname);
MainScript.Log("0");
//string url = "http://requestb.in/1df3ott1";
//var response = await httpClient.GetAsync(new Uri(url));
//var content = await response.Content.ReadAsStringAsync();
//MainScript.Log("1 " + content);
//return;
yumi = new RemoteYumi(hostname, httpClient);
await yumi.RightArm.DisableLiveFollow();
MainScript.Log("1");
await yumi.Init();
MainScript.Log("2");
await yumi.RunProcedureForBothArms("Home");
MainScript.Log("3");
await yumi.LeftArm.RunProcedure("HandUp");
MainScript.Log("4");
await yumi.RightArm.ActivateLiveFollow();
await yumi.RightArm.OpenGripper();
await Task.Delay(1000);
await yumi.RightArm.CloseGripper();
await Task.Delay(1000);
await yumi.RightArm.DisableLiveFollow();
await Task.Delay(1000);
isInitialized = true;
MainScript.Log("Initialized!");
lastUpdate = DateTime.Now;
#endif
}
async Task SetVariable(string moduleName, string name, string value)
{
#if UNITY_WSA && !UNITY_EDITOR
var parameters = new Dictionary <string, string>
{
{ "value", value },
};
var content = new HttpFormUrlEncodedContent(parameters);
string url = $"http://{_hostname}/rw/rapid/symbol/data/RAPID/{_taskName}/{moduleName}/{name}?action=set";
var response = await _client.PostAsync(new Uri(url), content);
response.EnsureSuccessStatusCode();
string respcontent = await response.Content.ReadAsStringAsync();
MainScript.Log("POST " + url + " " + DictToString(parameters) + " " + respcontent);
#else
return;
#endif
}
public void putBlob(MyPoint[] list)
{
DateTime now = DateTime.Now;
String blobname = "path-" + now.Year + "." + now.Month + "." + now.Day + "-" + now.Hour + ":" + now.Minute;
MainScript.Log("Blob: " + blobname);
string j = "";
foreach (MyPoint p in list)
{
string s = String.Format("{0},{1},{2},{3};", p.x, p.y, p.z, p.g);
j += s;
}
MainScript.Log("Serialized: " + j);
bs.PutTextBlob((pr) => { MainScript.Log(pr.StatusCode.ToString() + " [" + pr.Content + "]"); }, j, "hololense", blobname, "text/json");
}
/// <summary>
/// Set the program pointer to a routine.
/// </summary>
/// <param name="moduleName">The module containing the routine.</param>
/// <param name="routineName">The name of the routine.</param>
public async Task SetPPToRoutine(string moduleName, string routineName)
{
#if UNITY_WSA && !UNITY_EDITOR
string url = $"http://{_hostname}/rw/rapid/tasks/{_taskName}/pcp?action=set-pp-routine";
var parameters = new Dictionary <string, string>
{
{ "module", moduleName },
{ "routine", routineName },
};
var content = new HttpFormUrlEncodedContent(parameters);
MainScript.Log(url + DictToString(parameters));
var response = await _client.PostAsync(new Uri(url), content);
if (!response.IsSuccessStatusCode)
{
MainScript.Log(await response.Content.ReadAsStringAsync());
}
response.EnsureSuccessStatusCode();
#endif
}
async Task <bool> GetBoolVariable(string moduleName, string name)
{
#if UNITY_WSA && !UNITY_EDITOR
MainScript.Log($"GetBoolVariable {moduleName} {name}");
string url = $"http://{_hostname}/rw/rapid/symbol/data/RAPID/{_taskName}/{moduleName}/{name}?json=1";
var response = await _client.GetAsync(new Uri(url));
response.EnsureSuccessStatusCode();
var content = await response.Content.ReadAsStringAsync();
var tr = content.Contains("\"value\":\"TRUE\"");
//MainScript.Log("JSON " + content);
//JObject json = JObject.Parse(content);
//string value = json["_embedded"]["_state"][0]["value"].ToString();
//string value = "false";
MainScript.Log("GET " + url + " getBool() -> " + tr.ToString() + content);
return(tr);
#else
return(false);
#endif
}