//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();
}
//public void SendMoveArmAngularVelocity(bool rightArm, float av1, float av2, float av3, float av4, float av5, float av6, float av7)
//{
// if (!connectedToServer)
// {
// Debug.LogError ("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);
// Debug.LogError("Angular Velocity Sent!");
//}
//public void SendMoveArmAngularVelocityLooped(bool rightArm, int iterations, float av1, float av2, float av3, float av4, float av5, float av6, float av7)
//{
// if (!connectedToServer)
// {
// Debug.LogError("Not connected to server!");
// return;
// }
// Debug.Log("Sending move " + ArmSide(rightArm) + " arm...");
// MoveArmAngularVelocityLoopedMessage m = new MoveArmAngularVelocityLoopedMessage();
// m.rightArm = rightArm;
// m.iterations = iterations;
// 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_LOOPED, m);
// Debug.LogError("Angular Velocity Looped Sent!");
//}
//public void SendMoveArmAngularPosition(bool rightArm, float ap1, float ap2, float ap3, float ap4, float ap5, float ap6, float ap7)
//{
// if (!connectedToServer)
// {
// Debug.LogWarning ("Not connected to server!");
// return;
// }
// Debug.Log("Sending move " + ArmSide(rightArm) + "with MoveArmAngularPosition sent!");
// 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 class MoveArmAngularVelocityLoopedMessage : MessageBase //new
//{
// public bool rightArm;
// public int iterations;
// public float av1;
// public float av2;
// public float av3;
// public float av4;
// public float av5;
// public float av6;
// public float av7;
//}
// end shawn test 10.1.17
// public void SendMoveArm (bool rightArm, float x, float y, float z, float thetaX, float thetaY, float thetaZ)
// {
//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.Log ("Move " + ArmSide(m.rightArm) + " arm received!");
// KinovaAPI.MoveHand(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)
// {
//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);
// }
// public void SendMoveArmHome (bool rightArm)
// {
//Debug.Log ("Sending move " + ArmSide (rightArm) + " arm home...");
//MoveArmHomeMessage m = new MoveArmHomeMessage();
// m.rightArm = rightArm;
// myClient.Send (MyMsgTypes.MSG_MOVE_ARM_HOME, m);
// }
public void SendStopArm(bool rightArm, bool suppressLog)
{
StopArmMessage m = new StopArmMessage();
m.rightArm = rightArm;
m.suppressLog = suppressLog;
// Debug.Log("<color=red>Send stop arm at </color>"+Time.time);
myClient.Send(MyMsgTypes.MSG_STOP_ARM, m);
}
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);
}
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);
}
