private void Start()
{
menu = GetComponent <SimpleSideMenu>();
Debug.Assert(objectName != null);
Debug.Assert(RobotsList != null);
Debug.Assert(EndEffectorList != null);
Debug.Assert(NextButton != null);
Debug.Assert(PreviousButton != null);
Debug.Assert(FocusObjectDoneButton != null);
Debug.Assert(StartObjectFocusingButton != null);
Debug.Assert(SavePositionButton != null);
Debug.Assert(CurrentPointLabel != null);
Debug.Assert(RobotsListsBlock != null);
Debug.Assert(UpdatePositionBlockMesh != null);
Debug.Assert(UpdatePositionBlockVO != null);
Debug.Assert(VisibilitySlider != null);
Debug.Assert(InputDialog != null);
Debug.Assert(ConfirmationDialog != null);
List <string> pivots = new List <string>();
foreach (string item in Enum.GetNames(typeof(PivotEnum)))
{
pivots.Add(item);
}
PivotList.PutData(pivots, "Middle", OnPivotChanged);
}
public async void UpdateObjectPosition()
{
if (RobotsList.Dropdown.dropdownItems.Count == 0 || EndEffectorList.Dropdown.dropdownItems.Count == 0)
{
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
PivotEnum pivot = (PivotEnum)Enum.Parse(typeof(PivotEnum), (string)PivotList.GetValue());
IRobot robot = SceneManager.Instance.GetRobotByName((string)RobotsList.GetValue());
await WebsocketManager.Instance.UpdateActionObjectPoseUsingRobot(CurrentObject.Data.Id,
robot.GetId(), (string)EndEffectorList.GetValue(), pivot);
}
/// <summary>
/// Creates a new, empty Pivot collection.
/// </summary>
public PivotCollection()
{
m_facetCategories = new PivotList<String, PivotFacetCategory>();
m_facetCategories.OnAddItem = this.OnAddFacetCategory;
m_facetCategories.OnRemoveItem = this.OnRemoveFacetCategory;
m_facetCategories.GetKeyForItem = (facetCategory => facetCategory.Name);
m_items = new PivotList<String, PivotItem>();
m_items.OnAddItem = this.OnAddItem;
m_items.OnRemoveItem = this.OnRemoveItem;
m_items.GetKeyForItem = (item => item.Id);
this.SchemaVersion = "1.0";
this.BasePath = ".";
}
private void Start()
{
Debug.Assert(RobotsList != null);
Debug.Assert(EndEffectorList != null);
Debug.Assert(NextButton != null);
Debug.Assert(PreviousButton != null);
Debug.Assert(FocusObjectDoneButton != null);
Debug.Assert(StartObjectFocusingButton != null);
Debug.Assert(SavePositionButton != null);
Debug.Assert(CurrentPointLabel != null);
Debug.Assert(RobotsListsBlock != null);
Debug.Assert(UpdatePositionBlockMesh != null);
Debug.Assert(UpdatePositionBlockVO != null);
List <string> pivots = new List <string>();
foreach (string item in Enum.GetNames(typeof(PivotEnum)))
{
pivots.Add(item);
}
PivotList.PutData(pivots, "Middle", OnPivotChanged);
}
private void UpdateModelOnEE()
{
if (model == null)
{
return;
}
string robotName = (string)RobotsList.GetValue(), eeId = (string)EndEffectorList.GetValue();
if (string.IsNullOrEmpty(robotName) || string.IsNullOrEmpty(eeId))
{
throw new RequestFailedException("Robot or end effector not selected!");
}
try {
string robotId = SceneManager.Instance.RobotNameToId(robotName);
RobotEE ee = SceneManager.Instance.GetRobot(robotId).GetEE(eeId);
model.transform.parent = ee.gameObject.transform;
switch ((PivotEnum)Enum.Parse(typeof(PivotEnum), (string)PivotList.GetValue()))
{
case PivotEnum.Top:
model.transform.localPosition = new Vector3(0, model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Bottom:
model.transform.localPosition = new Vector3(0, -model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Middle:
model.transform.localPosition = new Vector3(0, 0, 0);
break;
}
model.transform.localRotation = new Quaternion(0, 0, 0, 1);
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("End-effector position unknown", "Robot did not send position of selected end effector");
ShowModelSwitch.Switch.isOn = false;
}
}
