public async void CreateActionObject()
{
string newActionObjectName = (string)nameInput.GetValue();
if (Base.Parameter.CheckIfAllValuesValid(actionParameters))
{
List <IO.Swagger.Model.Parameter> parameters = new List <IO.Swagger.Model.Parameter>();
foreach (IParameter actionParameter in actionParameters)
{
if (!parametersMetadata.TryGetValue(actionParameter.GetName(), out Base.ParameterMetadata actionParameterMetadata))
{
Base.Notifications.Instance.ShowNotification("Failed to create new action", "Failed to get metadata for action parameter: " + actionParameter.GetName());
return;
}
IO.Swagger.Model.ActionParameter ap = new IO.Swagger.Model.ActionParameter(name: actionParameter.GetName(), value: JsonConvert.SerializeObject(actionParameter.GetValue()), type: actionParameterMetadata.Type);
parameters.Add(DataHelper.ActionParameterToParameter(ap));
}
try {
IO.Swagger.Model.Pose pose = null;
if (actionObjectMetadata.HasPose)
{
Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, actionObjectMetadata.GetModelBB(), SceneManager.Instance.SceneOrigin.transform.localRotation);
IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
pose = new IO.Swagger.Model.Pose(position: offset, orientation: new IO.Swagger.Model.Orientation(1, 0, 0, 0));
}
await Base.WebsocketManager.Instance.AddObjectToScene(newActionObjectName, actionObjectMetadata.Type, pose, parameters);
Close();
} catch (Base.RequestFailedException e) {
Base.Notifications.Instance.ShowNotification("Failed to add action", e.Message);
}
}
}
public void SetValue(object value)
{
IO.Swagger.Model.Pose pose = (IO.Swagger.Model.Pose)value;
this.pose = pose;
posX.SetValue(pose.Position.X);
posY.SetValue(pose.Position.Y);
posZ.SetValue(pose.Position.Z);
orX.SetValue(pose.Orientation.X);
orY.SetValue(pose.Orientation.Y);
orZ.SetValue(pose.Orientation.Z);
orW.SetValue(pose.Orientation.W);
}
public static void GetPose(IO.Swagger.Model.Pose pose, out Vector3 position, out Quaternion orientation)
{
position = PositionToVector3(pose.Position);
orientation = OrientationToQuaternion(pose.Orientation);
}
