private RequestResult CheckActionParameters(Base.ActionMetadata actionMetadata)
{
//TODO - otestovat
RequestResult result = new RequestResult(true);
bool poseError = false, jointsError = false, dynamicValueError = false;
bool anyOrientation = ProjectManager.Instance.AnyOrientationInTheProject();
bool anyJoints = ProjectManager.Instance.AnyJointsInTheProject();
foreach (ParameterMetadata param in actionMetadata.ParametersMetadata.Values)
{
if (!poseError && param.Type == ParameterMetadata.POSE)
{
int poseParemetersCount = 0;
if (anyOrientation)
{
foreach (ParameterMetadata parameter in actionMetadata.ParametersMetadata.Values)
{
if (parameter.Type == ParameterMetadata.POSE)
{
if (++poseParemetersCount > 1)
{
break;
}
}
}
}
if (poseParemetersCount == 1 && !currentActionPoint.AnyOrientation())
{
result.Success = false;
result.Message += "(there is no available orientation in the selected AP and this action requires it)\n";
poseError = true;
}
else if (!anyOrientation)
{
result.Success = false;
result.Message += "(there is no available orientation in the project and this action requires it)\n";
poseError = true;
}
}
if (!jointsError && param.Type == ParameterMetadata.JOINTS && !anyJoints)
{
result.Success = false;
result.Message += "(there are no available robot joints in the project and this action requires them)\n";
jointsError = true;
}
if (!dynamicValueError && !SceneManager.Instance.SceneStarted && param.DynamicValue)
{
result.Success = false;
result.Message += "(actions with dynamic parameters could only be created when online)\n";
dynamicValueError = true;
}
}
return(result);
}