//public void RecieveMoveArms_WithFingers(NetworkMessage message) //{ // MoveArmWithFingersMessage m = message.ReadMessage<MoveArmWithFingersMessage>(); // // Debug.LogError("Move " + ArmSide(m.rightArm) + " with MoveArmCartesianPositionWithFingers received!"); // KinovaAPI.MoveArmCartesianPositionWithFingers(m.rightArm, m.x, m.y, m.z, m.thetaX, m.thetaY, m.thetaZ, m.fp1, m.fp2, m.fp3); // Debug.Log("receiving:" + m.x + "," + m.y + "," + m.z + "," + m.thetaX + "," + m.thetaY + "," + m.thetaZ + ", fingers: " + m.fp1 + "," + m.fp2 + "," + m.fp3); //} //public void RecieveMoveArmCartesianPosition_MoveRelative(NetworkMessage message) //{ // //MoveArmAngularPositionMessage m = message.ReadMessage<MoveArmAngularPositionMessage>(); // MoveArmCartesianPosition_MoveRelativeMessage m = message.ReadMessage<MoveArmCartesianPosition_MoveRelativeMessage>(); // Debug.LogError("Move " + ArmSide(m.rightArm) + " with MoveArmCartesianPosition_MoveRelativeMessage received!"); // KinovaAPI.MoveArmCartesianPositionRelative(m.rightArm, m.X, m.Y, m.Z, m.ThetaX, m.ThetaY, m.ThetaZ); //} //public void SendMoveArmAngularVelocity(bool rightArm, float av1, float av2, float av3, float av4, float av5, float av6, float av7) //{ // if (!connectedToServer) // { // //Debug.LogWarning ("Not connected to server!"); // return; // } // Debug.Log("Sending move " + ArmSide(rightArm) + " arm..."); // MoveArmAngularVelocityMessage m = new MoveArmAngularVelocityMessage(); // m.rightArm = rightArm; // m.av1 = av1; // m.av2 = av2; // m.av3 = av3; // m.av4 = av4; // m.av5 = av5; // m.av6 = av6; // m.av7 = av7; // myClient.Send(MyMsgTypes.MSG_MOVE_ARM_ANGULAR_VELOCITY, m); //} //public void RecieveMoveArmAngularVelocity(NetworkMessage message) //{ // MoveArmAngularVelocityMessage m = message.ReadMessage<MoveArmAngularVelocityMessage>(); // Debug.LogError("Move " + ArmSide(m.rightArm) + " with MoveArmAngularVelocity received!"); // KinovaAPI.MoveArmAngularVelocity(m.rightArm, m.av1, m.av2, m.av3, m.av4, m.av5, m.av6, m.av7); //} //public void ReceieveMoveArmAngularVelocityLooped(NetworkMessage message) //{ // MoveArmAngularVelocityLoopedMessage m = message.ReadMessage<MoveArmAngularVelocityLoopedMessage>(); // Debug.LogError("Move " + ArmSide(m.rightArm) + " with MoveArmAngularVelocityLooped received!"); // KinovaAPI.MoveArmAngularVelocityLooped(m.rightArm, m.iterations, m.av1, m.av2, m.av3, m.av4, m.av5, m.av6, m.av7); //} //public void SendMoveArmAngularPosition(bool rightArm, int ap1,int ap2, int ap3, int ap4, int ap5, int ap6, int ap7) //{ // if (!connectedToServer) // { // //Debug.LogWarning ("Not connected to server!"); // return; // } // Debug.Log("Sending move " + ArmSide(rightArm) + "with MoveArmAngularPosition recieved!"); // MoveArmAngularPositionMessage m = new MoveArmAngularPositionMessage(); // m.rightArm = rightArm; // m.ap1 = ap1; // m.ap2 = ap2; // m.ap3 = ap3; // m.ap4 = ap4; // m.ap5 = ap5; // m.ap6 = ap6; // m.ap7 = ap7; // myClient.Send(MyMsgTypes.MSG_MOVE_ARM_ANGULAR_POSITION, m); //} // public void RecieveMoveArmAngularPosition(NetworkMessage message) // { // MoveArmAngularPositionMessage m = message.ReadMessage<MoveArmAngularPositionMessage>(); // Debug.LogError("Move " + ArmSide(m.rightArm) + " with MoveArmAngularPostion received!"); // KinovaAPI.MoveArmAngularPosition(m.rightArm, m.ap1, m.ap2, m.ap3, m.ap4, m.ap5, m.ap6, m.ap7); // } // // end shawn test 10.1.17 // public void SendMoveArm (bool rightArm, float x, float y, float z, float thetaX, float thetaY, float thetaZ) // { //if (!connectedToServer) { // //Debug.LogWarning ("Not connected to server!"); // return; //} //Debug.Log ("Sending move " + ArmSide(rightArm) + " arm..."); // MoveArmMessage m = new MoveArmMessage(); // m.rightArm = rightArm; // m.x = x; // m.y = y; // m.z = z; // m.thetaX = thetaX; // m.thetaY = thetaY; // m.thetaZ = thetaZ; // myClient.Send (MyMsgTypes.MSG_MOVE_ARM, m); // } // private void ReceiveMoveArm (NetworkMessage message) // { //MoveArmMessage m = message.ReadMessage<MoveArmMessage>(); //Debug.LogError ("Move " + ArmSide(m.rightArm) + " arm received!"); // KinovaAPI.MoveHand(m.rightArm, m.x, m.y, m.z, m.thetaX, m.thetaY, m.thetaZ); // Debug.LogError(m.rightArm + " " + m.x + " " + m.y + " " + m.z + " " + m.thetaX + " " + m.thetaY + " " + m.thetaZ); // } // public void SendMoveArmNoThetaY (bool rightArm, float x, float y, float z, float thetaX, float thetaZ) // { //if (!connectedToServer) { // //Debug.LogWarning ("Not connected to server!"); // return; //} //Debug.Log ("Sending move " + ArmSide(rightArm) + " arm no theta y..."); //MoveArmNoThetaYMessage m = new MoveArmNoThetaYMessage(); // m.rightArm = rightArm; // m.x = x; // m.y = y; // m.z = z; // m.thetaX = thetaX; // m.thetaZ = thetaZ; // myClient.Send (MyMsgTypes.MSG_MOVE_ARM_NO_THETAY, m); // } // private void ReceiveMoveArmNoThetaY (NetworkMessage message) // { //MoveArmNoThetaYMessage m = message.ReadMessage<MoveArmNoThetaYMessage>(); //Debug.Log ("Move " + ArmSide(m.rightArm) + " arm received!"); // KinovaAPI.MoveHandNoThetaY(m.rightArm, m.x, m.y, m.z, m.thetaX, m.thetaZ); // } // public void SendMoveArmHome (bool rightArm) // { //if (!connectedToServer) { // // Debug.LogWarning ("Not connected to server!"); // return; //} //Debug.Log ("Sending move " + ArmSide (rightArm) + " arm home..."); //MoveArmHomeMessage m = new MoveArmHomeMessage(); // m.rightArm = rightArm; // myClient.Send (MyMsgTypes.MSG_MOVE_ARM_HOME, m); // } // private void ReceiveMoveArmHome (NetworkMessage message) // { //MoveArmHomeMessage m = message.ReadMessage<MoveArmHomeMessage> (); //Debug.Log ("Stop " + ArmSide (m.rightArm) + " arm received!"); // KinovaAPI.MoveArmHome(m.rightArm); // } //public void SendStopArm (bool rightArm, bool suppressLog) //{ // if (!connectedToServer) { // // Debug.LogWarning ("Not connected to server!"); // return; // } // if (!suppressLog) { // Debug.Log ("Sending stop " + ArmSide (rightArm) + " arm..."); // } // StopArmMessage m = new StopArmMessage(); // m.rightArm = rightArm; // m.suppressLog = suppressLog; // myClient.Send (MyMsgTypes.MSG_STOP_ARM, m); //} private void ReceiveStopArm(NetworkMessage message) { StopArmMessage m = message.ReadMessage <StopArmMessage> (); // Debug.Log("<color=blue>Received:</color><color=red> stop arm at </color>" + Time.time); KinovaAPI.StopArm(m.rightArm); hud.stopReceived.text = Time.time.ToString(); }
private void ReceiveStopArm(NetworkMessage message) { StopArmMessage m = message.ReadMessage <StopArmMessage> (); if (!m.suppressLog) { Debug.Log("Stop " + ArmSide(m.rightArm) + " arm received!"); } KinovaAPI.StopArm(m.rightArm); }