/**
* Crea una posición (objeto) y la válida. El nombre se obtiene del campo la interfaz gráfica.
* @param fromCommand Si es para el comando "defp".
* @return Transform
*/
public void RecordPosition(bool fromCommand)
{
Transform addedTarget = null;
InputField targetNameInput = this.targetNameInput;
if (fromCommand)
{
targetNameInput = this.DefpNameInput;
}
stateMessageControl.NewBlock();
// No positions recorded
if (targetControl.Count() == 0)
{
CreateDefaultTarget(targetNameInput.text);
}
else // Already at least one point
{
GameObject prevSelectedObject = selectionControl.SearchContainTag("Target");
if (prevSelectedObject != null)
{
prevSelectedObject = prevSelectedObject.transform.parent.gameObject;
// Validate target
Vector3 newPos = prevSelectedObject.transform.position;
if (!ValidTarget(targetNameInput.text, prevSelectedObject.transform, newPos))
{
return;
}
// Add target
addedTarget = targetControl.Add(targetNameInput.text, newPos, robot.GetAnglesFromCopy());
addedTarget.GetComponent <TargetModel>().SetValid(true);
selectionControl.SetActiveAxis(addedTarget, false);
selectionControl.SelectedObject(prevSelectedObject);
stateMessageControl.WriteMessage("Done. Recorded position \"" + targetNameInput.text + "\"", true);
UpdateTargets(targetControl.GetNames());
targetNameInput.text = "";
}
else
{
CreateDefaultTarget(targetNameInput.text);
}
}
stateMessageControl.UpdatePositionLog();
}
void Start()
{
GameController.OnlineDel += testExe;//
lineRenderer = GetComponent <LineRenderer>();
// Controllers
manualInputControl = GetComponent <ManualInputControl>();
selectionControl = GetComponent <SelectionControl>();
targetControl = GetComponent <TargetControl>();
commandControl = GetComponent <CommandControl>();
panelControl = GetComponent <PanelControl>();
//selectionControl.SetActiveAxis(target, false);
axisCamera.SetActive(true);
defaultPosition = target.position;
target.GetComponent <ClampName>().textPanel.gameObject.SetActive(false);
target.gameObject.SetActive(false);
// Initial target
//Destroy(target.GetComponent<ClampName>().textPanel.gameObject);
//Destroy(target.gameObject);
//SetTarget(targetControl.GetTarget(0));
//selectionControl.SetActiveAxis(targetControl.GetTarget(0), false);
UpdateTargets(targetControl.GetNames());
commandsDropdown.AddOptions(commandControl.GetNames());
CommandsDropdown_IndexChanged(0);
}
void Start()
{
// Drawing tool
lineRenderer = GetComponent <LineRenderer>();
// Controllers
manualInputControl = GetComponent <ManualInputControl>();
selectionControl = GetComponent <SelectionControl>();
targetControl = GetComponent <TargetControl>();
commandControl = GetComponent <CommandControl>();
panelControl = GetComponent <PanelControl>();
stateMessageControl = GetComponent <StateMessageControl>();
cameraControl = GetComponent <CameraControl>();
backupFileControl = GetComponent <BackUpFileControl>();
effectorFileControl = GetComponent <EffectorFileControl>();
// Initial config
cameraControl.SetIsProcessing(true);//
axisCamera.SetActive(true);
defaultPosition = target.position;
target.GetComponent <ClampName>().textPanel.gameObject.SetActive(false);
target.gameObject.SetActive(false);
SetTarget(null);
UpdateTargets(targetControl.GetNames());
// Get commands names
commandsDropdown.AddOptions(commandControl.GetNames());
CommandsDropdown_IndexChanged(0);
byXYZPRDropdown.AddOptions(new List <string>()
{
"X", "Y", "Z", "P", "R"
});
// Ports list
portsDropdown.AddOptions(new List <string>(controller.List_Ports()));
// Scorbot ER IX version list
scorbotVersionDropdown.AddOptions(new List <string>()
{
"Original"
});
}
public void RecordPosition()
{
Transform newTarget = Instantiate(targetPrefab).transform;
// No points recorded
if (targetControl.Count() == 0)
{
//ValidTarget(newTarget);
if (targetNameInput.text.Equals("") || targetNameInput.text == null)
{
stateOutput.text = "Name required";
Destroy(newTarget.gameObject);
return;
}
Vector3 recordedPos = defaultPosition;
newTarget.position = recordedPos;
// Check if it's an unreachable point
if (!robot.TargetInRange(newTarget.transform))
{
Destroy(newTarget.gameObject);
stateOutput.text = "Unreachable point";
return;
}
stateOutput.text = "OK";
// Add target
Transform addedTarget = targetControl.Add(targetNameInput.text, recordedPos, robot.GetAnglesFromCopy());
selectionControl.SetActiveAxis(addedTarget, true);
selectionControl.SelectedObject(addedTarget.gameObject);
SetTarget(addedTarget);
UpdateTargets(targetControl.GetNames());
targetNameInput.text = "";
//DrawTrayectory();
}
else // Already at least one point
{
GameObject prevSelectedObject = selectionControl.SearchContainTag("Target");
if (prevSelectedObject != null)
{
prevSelectedObject = prevSelectedObject.transform.parent.gameObject;
if (targetNameInput.text.Equals("") || targetNameInput.text == null)
{
stateOutput.text = "Name required";
Destroy(newTarget.gameObject);
return;
}
Vector3 recordedPos = prevSelectedObject.transform.position;
newTarget.position = recordedPos;
// Check if it's an unreachable point
if (!robot.TargetInRange(prevSelectedObject.transform))
{
Destroy(newTarget.gameObject);
stateOutput.text = "Unreachable point";
return;
}
stateOutput.text = "OK";
// Add target
Transform addedTarget = targetControl.Add(targetNameInput.text, recordedPos, robot.GetAnglesFromCopy());
selectionControl.SetActiveAxis(addedTarget, false);
selectionControl.SelectedObject(prevSelectedObject);
UpdateTargets(targetControl.GetNames());
targetNameInput.text = "";
//DrawTrayectory();
}
}
Destroy(newTarget.gameObject);
}
