/*
* public bool sendTwoPartCommand(byte module, byte action, int number)
* {
* byte[] header_bytes = new byte[3] { (byte)'A', module, action };
* NetMQMessage req_msg = new NetMQMessage();
* req_msg.Append(header_bytes);
* req_msg.Append((byte)number);
* NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
*
* reqSrv = new ReliableExternalClient(
* GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
* if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
* {
* UnityEngine.Debug.Log("Client: server not respoding");
* return false;
* }
*
* return true;
* }
*/
/// <summary>
/// Command to send the matrix to the server
/// </summary>
/// <param name="matrix"></param>
/// <returns></returns>
public bool sendCommand(RegistrationMatrix matrix)
{
byte[] header_bytes = new byte[68];
NetMQMessage req_msg = new NetMQMessage();
header_bytes[0] = (byte)'A';
header_bytes[1] = matrix.MatrixHeader.module;
header_bytes[2] = matrix.MatrixHeader.action;
header_bytes[3] = matrix.rowMajor;
for (int i = 0; i < 16; i++)
{
byte[] aux = BitConverter.GetBytes(matrix.elems[i]);
header_bytes[i * 4 + 4] = aux[0];
header_bytes[i * 4 + 5] = aux[1];
header_bytes[i * 4 + 6] = aux[2];
header_bytes[i * 4 + 7] = aux[3];
}
req_msg.Append(header_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
//Once the drone finishes the path, a button appears which, once it is clicked, will call this function
public void finish()
{
clientUnity.client.SendCommand((byte)Modules.PLAN_EXECUTOR_MODULE, (byte)PlanExecutorCommandType.PLAN_EXEC_EXIT);
isRecState = false;
registrationMatrix = null;
FlyButtonStateMachine.state = FlyButtonStateMachine.buttonState.DEACTIVATED;
SceneManager.LoadScene("General");
}
void Awake()
{
GeneralSceneManager.sceneState = GeneralSceneManager.SceneState.Recording;
topInfoPanel.transform.GetChild(0).GetChild(0).GetComponent <Image>().color = new Color(1, 1, 1, 0.4f);
topInfoPanel.transform.GetChild(1).GetChild(0).GetComponent <Image>().color = new Color(1, 1, 1, 0.4f);
topInfoPanel.transform.GetChild(2).GetChild(0).GetComponent <Image>().color = new Color(1, 1, 1, 0.4f);
topInfoPanel.transform.GetChild(3).GetChild(0).GetComponent <Image>().color = new Color(1, 1, 1, 0.4f);
modelLoadingPanel = GameObject.Find("ModelLoadingPanel");
modelLoadingPanel.transform.GetChild(0).GetComponent <RectTransform>().anchoredPosition = new Vector2(0, Screen.height / 7);
modelLoadingPanel.transform.GetChild(0).GetComponent <RectTransform>().sizeDelta = new Vector2(Screen.width / 1.5f, Screen.height / 3);
modelLoadingPanel.transform.GetChild(1).GetComponent <RectTransform>().anchoredPosition = new Vector2(0, -Screen.height / 7);
modelLoadingPanel.transform.GetChild(1).GetComponent <RectTransform>().sizeDelta = new Vector2(Screen.height / 8, Screen.height / 8);
modelLoadingPanel.transform.GetChild(0).GetComponent <Text>().fontSize = (int)(Screen.width * 0.05f);
StartCoroutine(WaitForModel());
fpvRender.sizeDelta = new Vector2(Screen.width / 4, Screen.height / 3);
warningAccept.sizeDelta = new Vector2(Screen.width / 6, Screen.height / 10);
warningCancel.sizeDelta = new Vector2(Screen.width / 6, Screen.height / 10);
warningTakeOff.sizeDelta = new Vector2(Screen.width / 6, Screen.height / 10);
warningAccept.anchoredPosition = new Vector2(Screen.width / 8, 0);
warningCancel.anchoredPosition = new Vector2(-Screen.width / 8, 0);
WarningPanel.anchoredPosition = new Vector2(0, Screen.height / 4);
WarningPanel.sizeDelta = new Vector2(WarningPanel.sizeDelta.x, 3 * Screen.height / 4);
warningTitle.fontSize = Screen.height / 16;
warningTitle.GetComponent <RectTransform>().anchoredPosition = new Vector2(warningTitle.GetComponent <RectTransform>().anchoredPosition.x, Screen.height / 12);
warningText.fontSize = Screen.height / 28;
warningText.rectTransform.sizeDelta = new Vector2(warningText.rectTransform.sizeDelta.x, Screen.height / 4);
warningText.rectTransform.anchoredPosition = new Vector2(warningText.rectTransform.anchoredPosition.x, -2 * Screen.height / 12);
warningRecStartPanel.anchoredPosition = new Vector2(0, Screen.height / 4);
warningRecStartPanel.sizeDelta = new Vector2(WarningPanel.sizeDelta.x, 3 * Screen.height / 6);
warningRecStartTitle.fontSize = Screen.height / 16;
warningRecStartTitle.GetComponent <RectTransform>().anchoredPosition = new Vector2(warningTitle.GetComponent <RectTransform>().anchoredPosition.x, Screen.height / 12);
warningRecStartText.fontSize = Screen.height / 28;
warningRecStartText.rectTransform.sizeDelta = new Vector2(warningText.rectTransform.sizeDelta.x, Screen.height / 4);
warningRecStartText.rectTransform.anchoredPosition = new Vector2(warningText.rectTransform.anchoredPosition.x, -2 * Screen.height / 12);
playPauseImage = playButton.GetComponent <Image>();
playPauseRect = playButton.GetComponent <RectTransform>();
playPauseRect.sizeDelta = new Vector2(Screen.height / 16, Screen.height / 16);
backRect.sizeDelta = new Vector2(Screen.height / 16, Screen.height / 16);
playPauseRect.anchoredPosition = new Vector2(Screen.width / 20, 0);
backRect.anchoredPosition = new Vector2(-Screen.width / 20, 0);
recordingPanel.GetComponent <RectTransform>().anchoredPosition = new Vector2(Screen.width / 20, 2 * Screen.height / 8);
clientUnity = GameObject.Find("ClientUnity").GetComponent <ClientUnity>();
droneHasFinishedPanel.gameObject.SetActive(false);
droneHasFinishedPanel.sizeDelta = new Vector2(droneHasFinishedPanel.sizeDelta.x, Screen.height / 16);
droneHasFinishedPanel.anchoredPosition = new Vector2(0, 2 * Screen.height / 8);
droneHasFinishedText.GetComponent <Text>().fontSize = Screen.width / 60;
droneHasFinishedButton.sizeDelta = new Vector2(Screen.width / 8, Screen.height / 16);
//Create Path
path = Path.Instance;
string jsonString = File.ReadAllText(Application.persistentDataPath + "/PersistentData/Missions/" + MissionManager.guid + ".json.mission");
Map map = JsonUtility.FromJson <Map>(jsonString);
//UnityEngine.Debug.Log("Guid: " + MissionManager.guid);
//UnityEngine.Debug.Log("PlanIndex: " + MissionManager.planIndex);
//UnityEngine.Debug.Log("PathsCount: " + map.Paths.Count);
Path anotherPath = map.Paths[MissionManager.planIndex];
//We get the matrix that will transform from unity to pozyx to send it
registrationMatrix = new RegistrationMatrix();
for (int i = 0; i < 16; i++)
{
registrationMatrix.elems[i] = map.unityToAnchors[i];
UnityEngine.Debug.Log(registrationMatrix.elems[i]);
}
registrationMatrix.rowMajor = 0;
//path.setPath(anotherPath);
//If the drone isn't in recording state
if (!isRecState)
{
//We enter recording state, which will send the matrix and the plan
clientUnity.client.SendCommand((byte)Modules.ATREYU_MODULE, (byte)AtreyuCommandType.ATREYU_ENTER_RECORDING_STATE);
//clientUnity.client.sendCommand((byte)Modules.POSITIONING_MODULE, (byte)PositioningCommandType.IPS_SYSTEM);
}
else
{
//else we start to look at the drone travel
FlyButtonStateMachine.state = FlyButtonStateMachine.buttonState.ACTIVATED;
isRecState = false;
}
//for (int i = 0; i < path.Count(); i++)
//{
// GameObject auxPoint = Instantiate(point, path.GetPoint(i).PointPosition, Quaternion.Euler(0, 0, 0), parent.transform);
// path.GetPoint(i).PointTransf = auxPoint.transform;
// auxPoint.SetActive(true);
// auxPoint.AddComponent<PathPoint>().createPathPointWithPoint(path.GetPoint(i), 0,0);
// waypoints.Add(auxPoint);
//}
//topCam.gameObject.GetComponent<PostRenderFront>().enabled = true;
//lineMat.SetPass(0);
////WarningPanel.gameObject.SetActive(false);
//for (int i = 0; i < path.Count() - 1; i++)
//{
// CatmullRomSpline.DisplayCatmullRomSpline2(path, i, ref path.middlePointsTop, topCam.orthographicSize / 2.0f, true, topCam);
//}
////modelMaterial.SetFloat("_Discard", 0);
// waypoints.Sort((IComparer<GameObject>)new SortPointsByID());
// indexWaypoints = 0;
// indexMiddlePoints = 0;
// TotalindexMiddlePoints = 0;
// drone.transform.position = waypoints[0].transform.position;
// actualWaypoint = waypoints[0].transform.position;
// nextWaypoint = path.middlePointsTop[0];
// if (waypoints[0].GetComponent<PathPoint>().Poi != null)
// {
// drone.transform.LookAt(waypoints[0].GetComponent<PathPoint>().Poi);
// }
// else
// {
// drone.transform.rotation = Quaternion.Euler(0, 0, 0);
//
// }
//recordingPanel.SetActive(true);
}
