private void LoadMotionFileForRobot()
{
string fileName = filePath + inputField.text + ".json";
string jsonString = File.ReadAllText(fileName);
motionFileForRobot = JsonUtility.FromJson <MotionDataFile>(jsonString);
}
private void CustomizeMotionSpeed(float speed, MotionDataFile motionFileData) //속도 편집하기.
{
for (int i = 0; i < motionFileData.Length; i++)
{
motionFileData[i][0] *= MathUtil.Roundoff((1f / (speed * 0.1f)));
}
}
IEnumerator PalyMotionFile(MotionDataFile motionFileData) //저장된 모션 보간하기.
{
StateUpdater.isMotionPlayingSimulator = true;
WaitForSeconds lerfTime = new WaitForSeconds((float)motionFileData[0][0]);
if (motionFileForRobot != null) // 파라메타(motionFileData) 로 검사 안하는 이유 : 파라메타가 시뮬레이터 일수도 로봇일수도 있기때문.
{
StateUpdater.isMotionPlayingRobot = true;
}
for (int i = 0; i < motionFileData.Length; i++)
{
float rotDuration = (float)motionFileData[i][0];
for (int j = 0; j < cdJoints.Length; j++)
{
StartCoroutine(cdJoints[j].SetQuatLerp((float)motionFileData[i][j + 1], rotDuration));
}
yield return(lerfTime);
}
yield return(StartCoroutine(SetZeroPos()));
StateUpdater.isMotionPlayingSimulator = false;
if (StateUpdater.isMotionPlayingRobot == true)
{
StateUpdater.isMotionPlayingRobot = false;
}
}
public void PlayMotionFileForRobot() //로봇에서 저장된 모션 실행하기
{
if (!StateUpdater.isRealTimeMode)
{
if (!StateUpdater.isMotionPlayingSimulator)
{
if (inputField.text != string.Empty)
{
LoadMotionFileForRobot();
StartCoroutine(PalyMotionFile(motionFileForRobot));
motionFileForRobot = null;
}
else
{
popUpManager.MessegePopUp("실행할 모션파일을 선택해 주세요");
}
}
else
{
popUpManager.MessegePopUp("현재 모션이 실행 중 입니다");
}
}
else if (StateUpdater.isRealTimeMode)
{
popUpManager.MessegePopUp("실시간 모드가 진행 중 입니다");
}
}
private void ParseToMotion(string json, string fileName)
{
string outputFilePath = Path.Combine(outputPath, fileName + ".txt");
string output = "float[][] " + fileName + " = {\n";
MotionDataFile motionData = JsonUtility.FromJson <MotionDataFile>(json);
for (int ix = 0; ix < motionData.Length; ++ix)
{
for (int jx = 0; jx < motionData[ix].Length; ++jx)
{
if (jx == 0)
{
output += " new float[9] { ";
}
if (jx == motionData[ix].Length - 1)
{
output += ((float)motionData[ix][jx]).ToString() + "f },\n";
continue;
}
output += ((float)motionData[ix][jx]).ToString() + "f, ";
}
if (ix == motionData.Length - 1)
{
output += " };";
}
}
Debug.Log($"Filepath: {outputFilePath} / output: {output}");
File.WriteAllText(outputFilePath, output);
}
private void CreateOrAddMotionData(DoubleArray motionData) //모션 파일에 들어갈 데이터 생성
{
if (motionFileData == null)
{
motionFileData = new MotionDataFile();
}
motionFileData.Add(motionData);
}
private void CustomizeMotionAllAngle(float range, MotionDataFile motionFileData) //각도 편집하기.
{
for (int i = 0; i < motionFileData.Length; i++)
{
for (int j = 1; j < motionFileData[i].Length; j++)
{
motionFileData[i][j] = MathUtil.Roundoff(((float)motionFileData[i][j] * (range * 0.1f)));
}
}
}
private void CreateZeroPosData()
{
zeroPos = new MotionDataFile();
DoubleArray zero = new DoubleArray();
zero.Add(0.5);
for (int i = 0; i < 8; i++)
{
zero.Add(0.0);
}
zero.SetSize();
zeroPos.Add(zero);
}
public void CreateMotionJsonFile(string fileName, MotionDataFile motionFileData) //모션 파일 생성
{
if (inputField.text != string.Empty)
{
string jsonString = JsonUtility.ToJson(motionFileData, true);
File.WriteAllText(fileName, jsonString);
motionFileData = null;//필요 없을 수 도...
popUpManager.MessegePopUp("모션이 저장되었습니다");
}
else
{
popUpManager.MessegePopUp("모션파일의 이름을 정해주세요");
}
}
IEnumerator Recording() //녹화하기
{
if (motionFileData != null)
{
motionFileData = null;
}
while (StateUpdater.isRecording)
{
yield return(delayRecordTime);
jsonManager.UpdateMotionDataForSimulator(recordTime);
CreateOrAddMotionData(jsonManager.GetMotionDataForSimulator);
}
}
private void LimitCustomizedAngle(MotionDataFile motionFileData) //각도 제한하여 motionFileData에 저장.
{
for (int i = 0; i < motionFileData.Length; i++)
{
for (int j = 1; j < motionFileData[i].Length; j++)
{
switch (j)
{
case 1:
case 4:
case 7: motionFileData[i][j] = MathUtil.Roundoff(Mathf.Clamp((float)motionFileData[i][j], -90.0f, 90.0f)); break;
case 8: motionFileData[i][j] = MathUtil.Roundoff(Mathf.Clamp((float)motionFileData[i][j], -30.0f, 15.0f)); break;
case 5:
case 6: motionFileData[i][j] = MathUtil.Roundoff(Mathf.Clamp((float)motionFileData[i][j], -90.0f, 0.0f)); break;
case 2:
case 3: motionFileData[i][j] = MathUtil.Roundoff(Mathf.Clamp((float)motionFileData[i][j], 0.0f, 90.0f)); break;
}
}
}
}
public void CustomizeMotionData(float speed, float range, MotionDataFile motionFileData)
{
CustomizeMotionSpeed(speed, motionFileData);
CustomizeMotionAllAngle(range, motionFileData);
LimitCustomizedAngle(motionFileData);
}
private void ParseToMotion(string json, string fileName)
{
string outputFilePath = Path.Combine(outputPath, fileName + ".json");
string output = "{" + "\r\n" + "\"DoubleArrays\":[ ";
MotionDataFile motionData = JsonUtility.FromJson <MotionDataFile>(json);
for (int ix = 0; ix < motionData.Length; ++ix)
{
for (int jx = 0; jx < motionData[ix].Length; ++jx)
{
if (jx == 0)
{
output += "\r\n" + "{\r\n" + "\"size\": 0, " + "\r\n" + "\"array\": [" + "\r\n";
}
if (ix != (motionData.Length - 1))
{
if (jx == motionData[ix].Length - 1)
{
output += (-1 * (Mathf.Round((float)motionData[ix][jx] * 10) / 10) * 0.9).ToString() + "]" + "\r\n" + "}," + "\r\n";
continue;
}
}
else if (ix == (motionData.Length - 1))
{
if (jx == motionData[ix].Length - 1)
{
output += (-1 * (Mathf.Round((float)motionData[ix][jx] * 10) / 10) * 0.9).ToString() + "]" + "\r\n" + "}" + "\r\n";
continue;
}
}
switch (jx)
{
case 0:
case 1:
output += (Mathf.Round((float)motionData[ix][jx] * 10) / 10 * 0.9).ToString() + "," + "\r\n";
break;
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
output += (((-1 * (Mathf.Round((float)motionData[ix][jx] * 10) / 10) * 0.9))).ToString() + "," + "\r\n";
break;
}
}
if (ix == motionData.Length - 1)
{
output += "]" + "\r\n" + " }";
}
}
Debug.Log($"Filepath: {outputFilePath} / output: {output}");
File.WriteAllText(outputFilePath, output);
}
