public static ProgramItemMsg GetProgramItemById(ushort block_id, ushort ref_id)
{
ProgramItemMsg item = null;
try {
item = currentProgram.GetBlockByID(block_id).GetProgramItemByID(ref_id);
} catch (NullReferenceException e) {
Debug.Log(e);
}
return(item);
}
// Update is called once per frame
void Update()
{
if (SystemStarter.Instance.calibrated)
{
if (interfaceStateMsg != null)
{
//pick from polygon editing
if (interfaceStateMsg.GetSystemState() == InterfaceStateMsg.SystemState.STATE_LEARNING && programItemMsg.GetIType() == "PlaceToPose" &&
interfaceStateMsg.GetEditEnabled() == true)
{
//check that object type is set
if (programMsg == null && !serviceCalled)
{
ROSCommunicationManager.Instance.ros.CallService("/art/db/program/get", "{\"id\": " + interfaceStateMsg.GetProgramID() + "}");
serviceCalled = true;
}
else if (programMsg != null && !objTypeReferenceSet)
{
ProgramBlockMsg programBlockMsg = programMsg.GetBlockByID(interfaceStateMsg.GetBlockID());
ProgramItemMsg refItem = programBlockMsg.GetProgramItemByID(programItemMsg.GetRefID()[0]);
if (refItem.GetObject().Count == 0 && !sayUnknownObjectType)
{
//TextToSpeechManager.Instance.Speak(Texts.PlaceToPoseIE_PickIsNotProgrammed);
sayUnknownObjectType = true;
}
else if (refItem.GetObject().Count > 0)
{
objTypeReferenceSet = true;
}
}
//if object type is set
if (!sayAdjustArea && objTypeReferenceSet)
{
//TextToSpeechManager.Instance.Speak(Texts.PlaceToPoseIE_DragOBjectOutline);
sayAdjustArea = true;
}
//show hand and play it's animation
if (!pointingHand.activeSelf && !animationShowed)
{
//pointingHand.SetActive(true);
originalPoseMsg = programItemMsg.GetPose()[0].GetPose();
//get middle point of bottom line
spawnPoint = new Vector3(programItemMsg.GetPose()[0].GetPose().GetPosition().GetX(),
-programItemMsg.GetPose()[0].GetPose().GetPosition().GetY(),
programItemMsg.GetPose()[0].GetPose().GetPosition().GetZ());
//ARTABLE BUG - place pose not actualizing interface state.. initially set to 0.. if so, set spawn point on the middle of the table (where it appears)
if (spawnPoint.Equals(new Vector3(0f, 0f, 0f)))
{
spawnPoint = spawnPointOnTable;
}
movePoint = spawnPoint + new Vector3(0f, 0.15f, 0f);
//pointingHand.transform.localPosition = spawnPoint;
pointingHand.GetComponent <PointingHandMover>().Run(spawnPoint, movePoint);
}
//if pose points are same, then user didn't moved with it.. so play hand animation
if (originalPoseMsg.ToYAMLString().Equals(programItemMsg.GetPose()[0].GetPose().ToYAMLString()))
{
//pointingHand.transform.localPosition = Vector3.Lerp(pointingHand.transform.localPosition, movePoint, Time.deltaTime * 1.5f);
//if (ObjectInPosition(pointingHand, movePoint, 0.0005f)) {
// pointingHand.transform.localPosition = spawnPoint;
//}
}
else
{
//pointingHand.SetActive(false);
pointingHand.GetComponent <PointingHandMover>().Stop();
animationShowed = true;
}
//check if everything is set for this instruction
if (objTypeReferenceSet && programItemMsg.GetPose()[0].GetPose()._position.GetX() != 0.0f)
{
instructionProgrammed = true;
}
}
//reset all variables
else
{
if (instructionProgrammed)
{
//TextToSpeechManager.Instance.Speak(Texts.PlaceToPoseIE_GoodJob);
instructionProgrammed = false;
pointingHand.GetComponent <PointingHandMover>().Stop();
}
//if just object type reference is set but not place pose
else if (objTypeReferenceSet)
{
//TextToSpeechManager.Instance.Speak(Texts.PlaceToPoseIE_ForgotPlacePose);
pointingHand.GetComponent <PointingHandMover>().Stop();
}
sayAdjustArea = false;
sayUnknownObjectType = false;
objTypeReferenceSet = false;
serviceCalled = false;
animationShowed = false;
programMsg = null;
}
}
}
}
