public override GameObject generateMovmentTypeSelectorFromStatement(MoveStatement1 moveStatement)
{
GameObject dropdownObject;
dropdownObject = Instantiate(movementTypeDropdownPrefab);
dropdownObject.TryGetComponent(out RectTransform rectTransformDropDown);
dropdownObject.TryGetComponent(out TMP_Dropdown dropdown);
dropdown.value = moveStatement.movementValueForCanvas;
dropdown.RefreshShownValue();
return(dropdownObject);
}
public void StartProgram()
{
sphereDrawer.clearTargets();
foreach (Statement currentStatement in this.currentProgram.statements)
{
if (currentStatement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
MoveStatement1 moveStatement = (MoveStatement1)currentStatement;
sphereDrawer.drawNewTargetSphereAtROSCoords(moveStatement.target);
}
}
currentPosition = 0;
PhysicsManager.continuePhysics();
}
//Commenting out CoordinateTargetSelector
//public CoordinateTargetSelector coordinateTargetSelector;
public override GameObject createCoordinatesSelector(MoveStatement1 moveStatement)
{
//Overriding createCoordinatesSelector for MOVE
GameObject coordinateDisplay;
List <TextMeshPro> textFields;
Button button;
Interactable interactable;
textFields = new List <TextMeshPro>();
coordinateDisplay = Instantiate(targetSelectorPrefab);
coordinateDisplay.GetComponentsInChildren <TextMeshPro>(textFields);
Vector4 targetInV4 = new Vector4(moveStatement.target.x, moveStatement.target.y, moveStatement.target.z, 0f);
button = coordinateDisplay.GetComponentInChildren <Button>();
interactable = coordinateDisplay.GetComponentInChildren <Interactable>();
foreach (TextMeshPro textField in textFields)
{
if (textField.name.Contains("TargetValue"))
{
textField.text = moveStatement.target.ToString();
interactable.OnClick.AddListener(() =>
{ /*
* if (coordinateTargetSelector.selectedRosTransform != null)
* {
* Transform rosCoords = coordinateTargetSelector.selectedRosTransform;
* textField.text = rosCoords.localPosition.ToString();
* } */
});
/*
* button.onClick.AddListener(() =>
* {
* if(coordinateTargetSelector.selectedRosTransform != null)
* {
* Transform rosCoords = coordinateTargetSelector.selectedRosTransform;
* textField.text = rosCoords.localPosition.ToString();
* }
* });
*/
}
}
return(coordinateDisplay);
}
public abstract GameObject generateMovmentTypeSelectorFromStatement(MoveStatement1 moveStatement);
//NewMove command below
private List <Statement> newMovementCommand(Vector3 target, MoveStatement1 statement, List <Statement> statements)
{
statement.target = target;
statements.Add(statement);
return(statements);
}
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement statement in program.statements)
{
//debug
Debug.Log("generateProgramStringFromProgram statement:" + statement);
if (statement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
MoveStatement1 moveStatement = (MoveStatement1)statement;
byte ptpMode_byte;
byte.TryParse("" + moveStatement.movementValueForCanvas, out ptpMode_byte);
float x = moveStatement.target.x;
float y = moveStatement.target.y;
float z = moveStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Move({request.x} {request.y} {request.z});\n";
}
//below is to generate Program string from Program for BruteMove. The string generated on UI will read 'Brute'
else if (statement.GetType().IsSubclassOf(typeof(BruteMove)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
BruteMove bruteStatement = (BruteMove)statement;
byte ptpMode_byte;
byte.TryParse("" + bruteStatement.movementValueForCanvas, out ptpMode_byte);
float x = bruteStatement.target.x;
float y = bruteStatement.target.y;
float z = bruteStatement.target.z;
float r = 0f;
request = new RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, true);
programString += $"Brute({request.x} {request.y} {request.z});\n";
}
else
{
if (statement is ClawUp)
{
ClawUp clawUp = (ClawUp)statement;
// programString += $"Claw({clawUp.isClawUp});\n";
if (clawUp.isClawUp == true)
{
programString += $"Claw({"up"});\n";
}
else
{
programString += $"Claw({"down"});\n";
}
}
/*
* if (statement is ToggleSuction)
* {
* // ToggleSuction toggleSuction = (ToggleSuction)statement;
* //programString += $"ToggleSuction({toggleSuction.isSuctionEnabled});\n";
* programString += $"Move({0} {0} {0});\n";
* }
*/
}
}
//debug
Debug.Log("generateProgramStringFromProgram with co-ordinates :" + programString);
return(programString);
}
public abstract GameObject createCoordinatesSelector(MoveStatement1 moveStatement);