/// <summary>
/// Used to set connected axis, helpful in order to properly use the thresholding algorithms on the correct axis of motion
/// </summary>
/// <param name="actuators"><object, of type Controller.Actuators/param>
public void SetConnectedAxis(Actuators actuators)
{
ConnectedAxisList = new List <Enums.Axis>();
for (int i = 0; i < Actuators.List.Count; i++)
{
ConnectedAxisList.Add(Actuators.List[i].Axis);
}
}
private void SetupSimulator()
{
Simulator simulator = new Simulator(itemsList);
simulator.Items.ForEach(item => {
if (item.ItemType.Equals(typeof(ISensor)))
{
Sensors.Add(item);
}
else if (item.ItemType.Equals(typeof(IActuator)))
{
Actuators.Add(item);
}
});
}
public virtual void CommandActuator(double[] efforts)
{
/*
* new RosSharp.RosBridgeClient.MessageTypes.Std.Header(
* 1, new RosSharp.RosBridgeClient.MessageTypes.Std.Time((uint)DateTime.Now.TimeOfDay.TotalSeconds, 40), "my frame")*/
Actuators msg = new Actuators(
new RosSharp.RosBridgeClient.MessageTypes.Std.Header(),
new double[0],
efforts,
new double[0]);
string json = JsonConvert.SerializeObject(msg);
RosSocket.Publish(Topics.GetPublishId(nameof(CommandActuator)), msg);
Console.WriteLine($"Publishing to {Topics.GetTopic(nameof(CommandActuator))}: {json}");
}
public override string ToString()
{
StringBuilder sb = new StringBuilder();
if (Sensors != null)
{
sb.Append("Сенсоры: \n");
}
for (int i = 0; i < Sensors.Count(); i++)
{
if (Sensors[i].Count > 0)
{
sb.Append(Sensors[i].TypeOfSensor + " " + Sensors[i].TypeOfSignal + " кол-во:" + Sensors[i].Count + "\n");
}
}
if (OperatorPanels != null)
{
sb.Append("Панели оператора: \n");
}
for (int i = 0; i < OperatorPanels.Count(); i++)
{
sb.Append(OperatorPanels[i].TypeOfOperatorPanel + "\n");
}
if (Actuators != null)
{
sb.Append("Исполнительные механизмы: \n");
}
for (int i = 0; i < Actuators.Count(); i++)
{
sb.Append(Actuators[i].TypeOfActuator + "\n");
}
if (MultimediaSystems != null)
{
sb.Append("Мультимедиа системы: \n");
}
for (int i = 0; i < MultimediaSystems.Count(); i++)
{
sb.Append(MultimediaSystems[i].TypeOfMS + "\n");
}
if (ManagmentControllers != null)
{
sb.Append("Контроллеры управления: \n");
}
for (int i = 0; i < ManagmentControllers.Count(); i++)
{
sb.Append(ManagmentControllers[i].TypeOfController + "\n");
}
if (NetworkDevices != null)
{
sb.Append("Сетевые устройства: \n");
}
for (int i = 0; i < NetworkDevices.Count(); i++)
{
sb.Append(NetworkDevices[i].TypeOfNetDevice + "\n");
}
return(sb.ToString());
}
////////////////////////////////////////////////////////////
void Start()
{
rend = GetComponent <Renderer>();
actuators = transform.parent.gameObject.GetComponent <Actuators>();
}
