public static void DeleteInstruction(RsMoveInstruction instruction)
{
var path = (RsPathProcedure)instruction.Parent;
var target = instruction.GetToTarget();
var robTarget = instruction.GetToRobTarget();
var task = (RsTask)target.Parent;
path.Instructions.Remove(instruction);
task.Targets.Remove(target);
task.DataDeclarations.Remove(robTarget);
}
public static void MoveInstructionToFrame(RsMoveInstruction instruction, Matrix4 frame)
{
if (instruction == null)
{
return;
}
var target = instruction.GetToTarget();
target.Transform.GlobalMatrix = frame;
}
RsTarget GetTarget(RsMoveInstruction instruction)
{
RsTarget target;
if (!_targets.TryGetValue(instruction, out target))
{
target = instruction.GetToTarget();
_targets[instruction] = target;
}
return(target);
}
Axis ComputeBrushAxis()
{
var path = (RsPathProcedure)_trackedMoveInstruction.Parent;
int idx = path.Instructions.IndexOf(_trackedMoveInstruction);
var prevInstr = path.Instructions.Where((mi, i) => i < idx).OfType <RsMoveInstruction>().Where(m => m.GetToTarget() != null).LastOrDefault();
var p1 = prevInstr.GetToTarget().Transform.Matrix.Translation;
var p2 = _trackedMoveInstruction.GetToTarget().Transform.Matrix.Translation;
var dir = p2 - p1;
double x = Math.Abs(dir.x);
double y = Math.Abs(dir.y);
double z = Math.Abs(dir.z);
var plane = Axis.X;
if (y > x)
{
plane = Axis.Y;
}
if (z > x && z > y)
{
plane = Axis.Z;
}
return(plane);
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
// KNARK - Rift
var wand = session.RightController as VrViveWandController;
if (wand == null)
{
return;
}
RsMoveInstruction mi = null;
if (_currentMoveInstruction != null)
{
// "Sticky" selection - don't remove the UI until 1) user releases the touchpad and 2) moves controller a bit away from path
//:NOTE: Sticky distance can be annoying when editing nearby segments - review. Use shorter dist if another MI is closer/picked?
if (wand.InputState.IsTouchPadTouched || _pickedPos.Distance(wand.PointerTransform.Translation) < _stickyDist && _hasScrolled)
{
mi = _currentMoveInstruction;
}
}
if (mi == null && !wand.InputState.IsGripPressed && !wand.InputState.IsTouchPadPressed && !wand.InputState.IsTriggerPressed)
{
mi = GetPickedMoveInstruction(session);
}
if (mi != _currentMoveInstruction)
{
// Selected MI has changed, delete any old UI and create a new if needed
if (_selector != null)
{
_selector.Dispose(); _selector = null; _hasScrolled = false;
}
_currentMoveInstruction = mi;
if (mi != null)
{
_pickedPos = session.RightController.PointerTransform.Translation;
var task = mi.GetInternalParentOfType <RsTask>();
//:TODO: Some paint stations have too many speeddatas for this type of UI to make sense. How to handle?
string taskName = task.Name;
if (string.IsNullOrEmpty(taskName))
{
taskName = "T_ROB1"; // station/dummy tasks
}
var speeds = task.GetTaskContext().SymbolTable.GetVisibleDataDeclarations("/RAPID/" + taskName, "speeddata")
.Where(s => !s.Name.StartsWith("vrot")) //???
.Take(60) //TEST
.Select(s => s.Name)
.ToList();
speeds.Sort(ABB.Robotics.RobotStudio.UI.UIServices.NaturalOrderSort);
string speed = GetSpeedArg(mi).Value;
int tmp = speeds.FindIndex(s => s.Equals(speed, StringComparison.OrdinalIgnoreCase));
if (tmp == -1)
{
speeds.Insert(0, "Unknown");
speed = speeds[0];
}
else
{
speed = speeds[tmp]; // fix capitalization
}
string title = "->" + mi.GetToTarget().Name; // TEST - what do we want here?
_selector = new VrScrollSelector(session.RightController, title, speeds, speed);
_newSelection = true;
}
}
else if (_currentMoveInstruction != null && _selector != null)
{
if (wand.InputState.IsTouchPadTouched)
{
_hasScrolled = true;
}
// Same selection - update _selector and apply results
bool ok = _selector.Update();
if (ok && _selector.SelectedValue != "Unknown")
{
Action foo = () => { GetSpeedArg(_currentMoveInstruction).Value = _selector.SelectedValue; };
if (_newSelection)
{
_newSelection = false;
WithUndo("VR Edit Speed", foo);
}
else
{
WithUndoAppend("VR Edit Speed", foo);
}
}
}
}
