public void RedoAutocalibration()
{
//Button to redo autocalibration
editConfig.interactable = false;
editConfig.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 0.4f);
redoAutocalibration.interactable = false;
redoAutocalibration.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 0.4f);
confirmAuto.interactable = false;
confirmAuto.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 0.4f);
AnchorsCalibration.state = AnchorsCalibration.CalibrationState.IDLE;
autocalibratingThrobber.parent.gameObject.SetActive(true);
for (int i = 0; i < anchorConfigData.Length; i++)
{
int hex = HexStringToInt(anchorCubeParent.transform.GetChild(i).GetChild(0).GetComponent <TextMesh>().text);
if (hex == -1)
{
UnityEngine.Debug.Log("Unable to parse value");
return;
}
// ## Check hex value
anchorConfigData[i] = new ServerMessages.IPSFrameAnchorData(
hex,
anchorCubeParent.transform.GetChild(i).GetChild(1).localPosition,
(byte)i
);
}
clientUnity.client.sendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_ANCHOR_TOBE_AUTOCALIBRATED, anchorConfigData);
}
public void AcceptConfig()
{
//Accepts the config of the anchors
confirmManual.interactable = false;
confirmAuto.interactable = false;
editConfig.interactable = false;
redoAutocalibration.interactable = false;
confirmManual.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 0.4f);
for (int i = 0; i < anchorConfigData.Length; i++)
{
int decValue = HexStringToInt(anchorCubeParent.transform.GetChild(i).GetChild(0).GetComponent <TextMesh>().text);
if (decValue == -1)
{
UnityEngine.Debug.Log("Unable to parse value");
return;
}
//UnityEngine.Debug.Log("Anchor ID: " + decValue);
// ## Check hex value
anchorConfigData[i] = new ServerMessages.IPSFrameAnchorData(
decValue,
anchorCubeParent.transform.GetChild(i).GetChild(1).localPosition,
(byte)i
);
}
//Sends the commands to the drone, to autocalibrate of manual
if (AnchorsCalibration.autoCalib && (AnchorsCalibration.state != AnchorsCalibration.CalibrationState.AUTOCALIBRATION_FINNISHED))
{
clientUnity.client.sendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_ANCHOR_TOBE_AUTOCALIBRATED, anchorConfigData);
autocalibratingThrobber.parent.gameObject.SetActive(true);
}
else
{
clientUnity.client.sendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_ANCHOR_MANUAL_CONFIG, anchorConfigData);
}
}
public void onIPSAnchorData(NetMQMessage m)
{
//UnityEngine.Debug.Log("onIPSAnchorData");
//Here we get the anchor data, right now we only accept 8, but Pozyx works with 1?
int numAnchors = BitConverter.ToInt32(m[0].Buffer, 4);
UnityEngine.Debug.Log("NumAnchors: " + numAnchors);
if (numAnchors != 8)
{
AnchorsCalibration.state = AnchorsCalibration.CalibrationState.LAST_REQ_FAILED;
errorMsg = "Not enough anchors received!";
return;
}
CalibrationSettings.ClearAnchorData();
for (int i = 0; i < numAnchors; i++)
{
ServerMessages.IPSFrameAnchorData anchorData =
new ServerMessages.IPSFrameAnchorData(
BitConverter.ToInt32(m[i + 1].Buffer, 0),
new Vector3(
BitConverter.ToInt32(m[i + 1].Buffer, 4),
BitConverter.ToInt32(m[i + 1].Buffer, 8),
BitConverter.ToInt32(m[i + 1].Buffer, 12)
),
m[i + 1].Buffer[16]
);
UnityEngine.Debug.Log("EnqueuingData");
//ips_anchor_frames.Enqueue(anchorData);
CalibrationSettings.AddAnchorData(i, anchorData);
}
//UnityEngine.Debug.Log(m.FrameCount);
//UnityEngine.Debug.Log(m[1].Buffer.Length);
// changing radians to degrees, reverse yaw angle, and position millimeters to meters
//We enter this function twice, once when we ask for the anchors, and again on autocalibration
if (GeneralSceneManager.sceneState == GeneralSceneManager.SceneState.Calibration)
{
UnityEngine.Debug.Log(AnchorsCalibration.state);
if (AnchorsCalibration.state == AnchorsCalibration.CalibrationState.RECEIVED_DISCOVER_ANCHORS)
{
AnchorsCalibration.state = AnchorsCalibration.CalibrationState.DISCOVERED;
}
else if (AnchorsCalibration.state == AnchorsCalibration.CalibrationState.AUTOCALIBRATION_ACCEPTED)
{
AnchorsCalibration.state = AnchorsCalibration.CalibrationState.AUTOCALIBRATION_RECEIVED;
}
}
anchorsReceived = true;
UnityEngine.Debug.Log(AnchorsCalibration.state);
//UnityEngine.Debug.Log("DataEnqueued");
clientUnity.currentlyreceiving = true;
}
// Update is called once per frame
void FixedUpdate()
{
//We get the drone position to reflect it on the screen
ServerMessages.IPSFrameData frameData = DroneModule.DequeueIPSDronFrame();
if (frameData != null)
{
drone.transform.position = frameData.position;
drone.transform.rotation = Quaternion.Euler(frameData.rotation);
//Camera.main.transform.position = new Vector3(drone.transform.position.x, drone.transform.position.y + 10, drone.transform.position.z) ;
}
//We get the anchors to paint them
ServerMessages.IPSFrameAnchorData anchorData = PozyxModule.DequeueIPSAnchorFrame();
if (anchorData != null)
{
anchorParent.transform.Find("Anchor" + anchorID).position = anchorData.position;
anchorID++;
if (anchorID == 9)
{
UnityEngine.Debug.Log("All anchors positioned");
}
}
//Here we should do a takeoff
switch (states)
{
case FlyingStates.IDLE:
break;
case FlyingStates.STARTFLYING:
time += Time.deltaTime;
if (time >= 2.0f)
{
clientUnity.client.SendCommand((byte)Modules.PLAN_EXECUTOR_MODULE, (byte)PlanExecutorCommandType.PLAN_EXEC_TAKEOFF);
states = FlyingStates.FLYING;
}
break;
case FlyingStates.FLYING:
break;
default:
break;
}
//If the drone reached its destination, we activate the button that returns to general
if (flightEnded)
{
flightEnded = false;
droneHasFinishedPanel.gameObject.SetActive(true);
warningRecStartPanel.gameObject.SetActive(false);
recordingPanel.gameObject.SetActive(false);
}
/*
* if (indexWaypoints >= waypoints.Count || TotalindexMiddlePoints >= path.middlePointsTop.Count)
* {
* active = false;
*
* }
* if (active && time < 1)
* {
* drone.transform.position = Vector3.Lerp(actualWaypoint, nextWaypoint, time);
* //camToTravel.transform.position = nextWaypoint * Time.deltaTime * 0.001f;
* if (waypoints[indexWaypoints].GetComponent<PathPoint>().BlockDirection)
* {
* drone.transform.rotation = Quaternion.Euler(waypoints[indexWaypoints].GetComponent<PathPoint>().GimbalRotation.z, waypoints[indexWaypoints].GetComponent<PathPoint>().GimbalRotation.y - 90, waypoints[indexWaypoints].GetComponent<PathPoint>().GimbalRotation.x);
* //blockedDIrection = true;
* }
* else if (!waypoints[indexWaypoints].GetComponent<PathPoint>().BlockDirection)
* {
* drone.transform.LookAt(waypoints[indexWaypoints].GetComponent<PathPoint>().Poi);
* }
*
* time += Time.deltaTime;
* }
* if (active && time >= 1)
* {
* actualWaypoint = nextWaypoint;
* UnityEngine.Debug.Log(waypoints[indexWaypoints].GetComponent<PathPoint>().Segments);
* if (waypoints[indexWaypoints].GetComponent<PathPoint>().Segments <= 3)
* {
* if (waypoints.Count - 1 > indexWaypoints)
* {
* indexWaypoints++;
* TotalindexMiddlePoints++;
* nextWaypoint = waypoints[indexWaypoints].transform.position;
* indexMiddlePoints = 0;
* }
* //blockedDIrection = false;
*
* }
* else
* {
* if (waypoints[indexWaypoints].GetComponent<PathPoint>().Segments == indexMiddlePoints + 1)
* {
* indexWaypoints++;
* TotalindexMiddlePoints++;
* if (TotalindexMiddlePoints < path.middlePointsTop.Count)
* nextWaypoint = path.middlePointsTop[TotalindexMiddlePoints];
* indexMiddlePoints = 0;
* //blockedDIrection = false;
*
* }
* else if (path.middlePointsTop.Count > TotalindexMiddlePoints)
* {
* indexMiddlePoints++;
* TotalindexMiddlePoints++;
* if (TotalindexMiddlePoints < path.middlePointsTop.Count)
* nextWaypoint = path.middlePointsTop[TotalindexMiddlePoints];
* }
* }
*
*
* time = 0;
* }
*/
}
public static void AddAnchorData(int index, ServerMessages.IPSFrameAnchorData data)
{
//Adds the anchordata from the client that contacts with the server. The List needs to be public static to be consulted between an outside function and
//this one. The other function is not a MonoBehaviour, but this one is.
anchorConfigData[index] = data;
}
// Update is called once per frame
void FixedUpdate()
{
switch (state)
{
case CalibrationState.IDLE:
//The spinning wheel(throbber) rotates
if (autocalibratingThrobber.activeInHierarchy)
{
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
}
break;
case CalibrationState.DISCOVERING:
searchingLabel.transform.GetChild(0).Rotate(0, 0, -200 * Time.deltaTime);
break;
case CalibrationState.RECEIVING_DISCOVER_ANCHORS:
List <int> anchorsIDList = PozyxModule.GetAnchorList();
{
//UnityEngine.Debug.Log("ReadingAnchorList");
dicoveredAnchors.text = "";
for (int i = 0; i < anchorsIDList.Count; i++)
{
//Writing the anchor list received inside the TextBoxes that can be clicked, with the HorizontalGroup name
//UnityEngine.Debug.Log("Reading Anchor List Element: " + i);
//anchorParent.transform.Find("Cube" + anchorID).position = anchorData.position;
//anchor1Pos = cam.WorldToScreenPoint(anchorData.position);
//transform.Find("Cube" + anchorID + "ID").GetComponent<RectTransform>().anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
dicoveredAnchors.text += "Anchor: " + i + " ID: " + "0x" + anchorsIDList[i].ToString("x") + "\n";
anchorList.transform.Find("HorizontalGroup" + (i + 1)).GetChild(0).GetChild(0).GetComponent <Text>().text = "0x" + anchorsIDList[i].ToString("x");
anchorList.transform.Find("HorizontalGroup" + (i + 1)).GetChild(0).name = anchorsIDList[i].ToString();
}
//UnityEngine.Debug.Log("FinishedReadingAnchorList");
//Activate the button that lets the user give the correct position to the anchors
configAnchorsButton.GetComponent <Button>().interactable = true;
configAnchorsButton.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1, 1, 1, 1);
//UnityEngine.Debug.Log("All anchors positioned");
searchingLabel.SetActive(false);
state = CalibrationState.RECEIVED_DISCOVER_ANCHORS;
}
break;
case CalibrationState.RECEIVED_DISCOVER_ANCHORS:
//Having done previously that, is this state necessary?
if (PozyxModule.anchorsReceived)
{
PozyxModule.anchorsReceived = false;
state = CalibrationState.DISCOVERED;
}
break;
case CalibrationState.DISCOVERED:
anchorReadCount = 0;
for (int i = 0; i < 8; i++)
{
ServerMessages.IPSFrameAnchorData anchorData = CalibrationSettings.GetAnchorData(i);
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).GetChild(0).GetComponent<Text>().text = anchorData.id.ToString();
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).name = anchorData.id.ToString();
//Writing the corresponding id of an anchor to a cube
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(0).GetComponent <TextMesh>().text = "0x" + anchorData.id.ToString("x");
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(1).localPosition = anchorData.position;
for (int j = 1; j < 9; j++)
{
//UnityEngine.Debug.Log(anchorData.order);
//Writing the received position of the anchors
if (anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).name == anchorData.id.ToString())
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = anchorData.position.x.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = anchorData.position.y.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().text = anchorData.position.z.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Image>().color = new Vector4(0, 255, 0, 150);
anchorReadCount++;
//Writing the received position of the anchor list when autocalibration is pressed
if (autoCalib && (anchorData.order == 1 || anchorData.order == 5))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "0";
}
else if (autoCalib && (anchorData.order == 3 || anchorData.order == 7))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "0";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
}
else if (autoCalib && (anchorData.order == 2 || anchorData.order == 6))
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().placeholder.GetComponent <Text>().text = "AUTO";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
}
else if (autoCalib)
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = "0";
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = "0";
}
}
}
}
//UnityEngine.Debug.Log("Anclas coincidentes: " + anchorReadCount);
//Activates button to confirm configuration
if (anchorReadCount == 8)
{
UnityEngine.Debug.Log("PozyxModuleAnchorsReady");
confirmManual.interactable = true;
confirmManual.transform.GetChild(0).GetComponent <Text>().color = new Vector4(255, 255, 255, 255);
}
state = CalibrationState.IDLE;
//anchorParent.transform.Find("Cube" + anchorID).position = anchorData.position;
//anchor1Pos = cam.WorldToScreenPoint(anchorData.position);
//transform.Find("Cube" + anchorID + "ID").GetComponent<RectTransform>().anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
//dicoveredAnchors.text += "Tag: " + anchorID + " ID: " + anchorData.id + "\n";
//anchorList.transform.Find("Anchor" + anchorID).GetChild(0).GetComponent<Text>().text = "Anchor ID: " + anchorData.id;
//anchorList.transform.Find("Anchor" + anchorID).name = anchorData.id.ToString();
//configAnchorsButton.GetComponent<Button>().interactable = true;
//configAnchorsButton.transform.GetChild(0).GetComponent<Text>().color = new Vector4(1, 1, 1, 1);
//UnityEngine.Debug.Log("All anchor data received and ready to be used");
//searchingLabel.SetActive(false);
//ipsCommandSent = false;
break;
case CalibrationState.MANUAL_ACCEPTED:
//Sending the configuration and wait for positioning
clientUnity.client.SendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_UPDATE_SETTINGS);
state = CalibrationState.TRY_START_POSITIONING;
break;
case CalibrationState.AUTOCALIBRATION_RECEIVED:
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
anchorReadCount = 0;
for (int i = 0; i < 8; i++)
{
ServerMessages.IPSFrameAnchorData anchorData = CalibrationSettings.GetAnchorData(i);
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).GetChild(0).GetComponent<Text>().text = anchorData.id.ToString();
//anchorList.transform.Find("HorizontalGroup" + (anchorData.order + 1)).GetChild(0).name = anchorData.id.ToString();
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(0).GetComponent <TextMesh>().text = "0x" + anchorData.id.ToString("x");
anchorCubeParent.transform.Find("Anchor" + (anchorData.order + 1) + "Cube").GetChild(1).localPosition = anchorData.position;
//Receiving the anchors position from autocalibration
for (int j = 1; j < 9; j++)
{
if (anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).name == anchorData.id.ToString())
{
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().text = anchorData.position.x.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().text = anchorData.position.y.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().text = anchorData.position.z.ToString();
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Button>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(3).GetComponent <InputField>().interactable = false;
anchorList.transform.Find("HorizontalGroup" + j).GetChild(0).GetComponent <Image>().color = new Vector4(0, 255, 0, 150);
anchorReadCount++;
//Painting orange the autocalibrated anchors
if (anchorData.order == 1 || anchorData.order == 2 || anchorData.order == 5 || anchorData.order == 6)
{
ColorBlock cb = anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().colors;
cb.disabledColor = new Vector4(1.0f, 0.6f, 0.0f, 0.4f);
cb.normalColor = new Vector4(1.0f, 0.8f, 0.4f, 1.0f);
cb.highlightedColor = new Vector4(1.0f, 0.9f, 0.7f, 1.0f);
anchorList.transform.Find("HorizontalGroup" + j).GetChild(1).GetComponent <InputField>().colors = cb;
}
if (anchorData.order == 2 || anchorData.order == 3 || anchorData.order == 6 || anchorData.order == 7)
{
ColorBlock cb = anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().colors;
cb.disabledColor = new Vector4(1.0f, 0.6f, 0.0f, 0.4f);
cb.normalColor = new Vector4(1.0f, 0.8f, 0.4f, 1.0f);
cb.highlightedColor = new Vector4(1.0f, 0.9f, 0.7f, 1.0f);
anchorList.transform.Find("HorizontalGroup" + j).GetChild(2).GetComponent <InputField>().colors = cb;
}
}
}
}
if (anchorReadCount == 8)
{
//Habilitating the three buttons
//UnityEngine.Debug.Log("AnchorsAutocalibratedReady");
// ## Se puede sacar fuera del if todo
confirmManual.gameObject.SetActive(false);
editConfig.gameObject.SetActive(true);
redoAutocalibration.gameObject.SetActive(true);
confirmAuto.gameObject.SetActive(true);
editConfig.interactable = true;
editConfig.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
redoAutocalibration.interactable = true;
redoAutocalibration.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
confirmAuto.interactable = true;
confirmAuto.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
//acceptConfig.interactable = true;
//acceptConfig.transform.GetChild(0).GetComponent<Text>().color = new Vector4(255, 255, 255, 255);
}
state = CalibrationState.AUTOCALIBRATION_FINNISHED;
break;
case CalibrationState.AUTOCALIBRATION_ACCEPTED:
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
// Used to check the current state
break;
case CalibrationState.AUTOCALIBRATION_FINNISHED:
// Used to check the current state
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
break;
case CalibrationState.CALIBRATION_PREVIEW:
//Nobody uses this state ??
ServerMessages.IPSFrameData frameData = DroneModule.DequeueIPSDronFrame();
if (frameData != null)
{
//UnityEngine.Debug.Log("Position: " + frameData.position);
//UnityEngine.Debug.Log("Rotation: " + frameData.rotation);
drone.transform.position = frameData.position;
drone.transform.rotation = Quaternion.Euler(frameData.rotation);
}
anchor1Pos = cam.WorldToScreenPoint(anchor1GO.transform.position);
anchor2Pos = cam.WorldToScreenPoint(anchor2GO.transform.position);
anchor3Pos = cam.WorldToScreenPoint(anchor3GO.transform.position);
anchor4Pos = cam.WorldToScreenPoint(anchor4GO.transform.position);
anchor5Pos = cam.WorldToScreenPoint(anchor5GO.transform.position);
anchor6Pos = cam.WorldToScreenPoint(anchor6GO.transform.position);
anchor7Pos = cam.WorldToScreenPoint(anchor7GO.transform.position);
anchor8Pos = cam.WorldToScreenPoint(anchor8GO.transform.position);
// ## TODO: Incluir en el if de arriba buscando cada anchorID según el ID actual y asociar su posición
anchor1ID.anchoredPosition = new Vector2(anchor1Pos.x - 40, anchor1Pos.y - Screen.height * 0.15f);
anchor2ID.anchoredPosition = new Vector2(anchor2Pos.x - 40, anchor2Pos.y - Screen.height * 0.15f);
anchor3ID.anchoredPosition = new Vector2(anchor3Pos.x - 40, anchor3Pos.y - Screen.height * 0.15f);
anchor4ID.anchoredPosition = new Vector2(anchor4Pos.x - 40, anchor4Pos.y - Screen.height * 0.15f);
anchor5ID.anchoredPosition = new Vector2(anchor5Pos.x - 40, anchor5Pos.y - Screen.height * 0.15f);
anchor6ID.anchoredPosition = new Vector2(anchor6Pos.x - 40, anchor6Pos.y - Screen.height * 0.15f);
anchor7ID.anchoredPosition = new Vector2(anchor7Pos.x - 40, anchor7Pos.y - Screen.height * 0.15f);
anchor8ID.anchoredPosition = new Vector2(anchor8Pos.x - 40, anchor8Pos.y - Screen.height * 0.15f);
break;
case CalibrationState.TRY_START_POSITIONING:
//Check for positioning
if (PozyxModule.positiningIsValid)
{
firstPositionTry = true;
state = CalibrationState.POSITIONING_CONFIRMED;
}
else
{
if (firstPositionTry)
{
autocalibratingThrobber.transform.parent.GetComponent <Text>().text = "Waiting for positioning";
autocalibratingThrobber.transform.parent.gameObject.SetActive(true);
firstPositionTry = false;
}
autocalibratingThrobber.transform.Rotate(0, 0, -200 * Time.deltaTime);
}
break;
case CalibrationState.POSITIONING_CONFIRMED:
//Change scene, positioning received
state = CalibrationState.IDLE;
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
//UnityEngine.Debug.Log(GeneralSceneManager.appState);
//You can access the scene from both buttons, as calibrating is always necessary, that is way there is a button to use last calibration and skip the process
if (GeneralSceneManager.appState == GeneralSceneManager.ApplicationState.Mapping)
{
SceneManager.LoadScene("Mapping");
}
else if (GeneralSceneManager.appState == GeneralSceneManager.ApplicationState.Recording)
{
SceneManager.LoadScene("PlanSelection");
}
break;
case CalibrationState.LAST_REQ_FAILED:
UnityEngine.Debug.Log("LastReqFailed");
if (discoverPanel.activeInHierarchy)
{ // Something failed discovering anchors, retry
UnityEngine.Debug.Log("DiscoverFailed");
dicoveredAnchors.text = PozyxModule.errorMsg;
state = CalibrationState.DISCOVERING;
}
else
{ // Something failed with anchors configuration, let the user change the config and try again
UnityEngine.Debug.Log("ConfigFailed");
state = CalibrationState.IDLE;
autocalibratingThrobber.transform.parent.gameObject.SetActive(false);
if (confirmManual.gameObject.activeInHierarchy)
{
confirmManual.interactable = true;
confirmManual.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
}
else if (confirmAuto.gameObject.activeInHierarchy)
{
confirmAuto.interactable = true;
confirmAuto.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
editConfig.interactable = true;
editConfig.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
redoAutocalibration.interactable = true;
redoAutocalibration.transform.GetChild(0).GetComponent <Text>().color = new Vector4(1.0f, 1.0f, 1.0f, 1.0f);
}
}
//discoverButton.SetActive(true);
//configAnchorsButton.SetActive(false);
//startingLabel.SetActive(true);
//searchingLabel.SetActive(false);
break;
}
}
