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Commit 0a75b062 authored by Kai Biermeier's avatar Kai Biermeier
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Merge branch 'conarch' into 'develop' 

Conarch

See merge request skrings/varobotprojectgroup!57
parents a83d56e7 2c2af007
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SPEAREDV2.0/Assets/RobotProgramStructure.cs
+ 177
− 19
View file @ 0a75b062
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.SceneManagement;
public class RobotProgramStructure
{
......@@ -35,6 +36,15 @@ ToggleSuction(False);
Vector3 dobotCoordsAboveCube = new Vector3(78f, 200f, 145f);
Vector3 dobotCoordsCube = new Vector3(133.4f, 174.3f, 0f);
Vector3 dobotCoordsAboveCube2 = new Vector3(132.2f, 171.6f, 86.8f);
Vector3 nxtCoordsBrute = new Vector3(78f, 0f, 200f);
//decide which scene is currently active
Scene currentScene = SceneManager.GetActiveScene ();
string sceneName = currentScene.name;
//putting the below commands to be spawned inside conditions
if(sceneName == "UnitySimulationScene")
{
ToggleSuction toggleSuction = new ToggleSuction();
toggleSuction.isSuctionEnabled = true;
statements.Add(toggleSuction);
......@@ -45,6 +55,14 @@ ToggleSuction(False);
toggleSuction = new ToggleSuction();
toggleSuction.isSuctionEnabled = false;
statements.Add(toggleSuction);
}
else
{
statements = newMovementCommand(dobotCoordsAboveCube, new MoveToJ1(), statements);
statements = newMovementCommand(dobotCoordsCube, new MoveToJ1(), statements);
//Generate a Brute Move command below
statements = bruteMoveCommand(nxtCoordsBrute, new BruteMoveToJ1(), statements);
}
/*
* not possible
* 0 24 0
......@@ -77,6 +95,22 @@ ToggleSuction(False);
return statements;
}
//NewMove command below
private List<Statement> newMovementCommand(Vector3 target, MoveStatement1 statement, List<Statement> statements)
{
statement.target = target;
statements.Add(statement);
return statements;
}
//BruteMove command below
private List<Statement> bruteMoveCommand(Vector3 target, BruteMove bruteStatement, List<Statement> statements)
{ //Brute move command is constructed into a statement here
bruteStatement.target = target;
statements.Add(bruteStatement);
return statements;
}
}
public class Program
{
......@@ -116,6 +150,50 @@ public abstract class MoveStatement : Statement
}
//NewMove command
public abstract class MoveStatement1 : Statement
{
public Vector3 target;
public int movementValueForCanvas = -1;
public RosSharp.RosBridgeClient.SetPTPCmdServiceClient serviceClient;
public RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest SendCommandToRos1()
{
byte ptpMode_byte;
byte.TryParse("" + movementValueForCanvas, out ptpMode_byte);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request =
new RosSharp.RosBridgeClient.MessageTypes.Dobot.
SetPTPCmdRequest(ptpMode_byte, target.x, target.y,
target.z, 0, true);
return request;
}
}
//BruteMove command definition
public abstract class BruteMove : Statement
{
public Vector3 target;
public int movementValueForCanvas = -1;
public RosSharp.RosBridgeClient.SetPTPCmdServiceClient serviceClient;
public RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest SendCommandToRos1()
{
byte ptpMode_byte;
byte.TryParse("" + movementValueForCanvas, out ptpMode_byte);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request =
new RosSharp.RosBridgeClient.MessageTypes.Dobot.
SetPTPCmdRequest(ptpMode_byte, target.x, target.y,
target.z, 0, true);
return request;
}
}
public abstract class MoveToStatement: MoveStatement
{
......@@ -154,6 +232,84 @@ public class MoveArc: MoveArcStatement
}
}
public abstract class MoveToStatement1: MoveStatement1
{
}
public class MoveToL1 : MoveToStatement1
{
public MoveToL1()
{
this.movementValueForCanvas = 0;
}
}
public class MoveToJ1 : MoveToStatement1
{
public MoveToJ1()
{
this.movementValueForCanvas = 1;
}
}
public class JumpTo1 : MoveToStatement1
{
public JumpTo1()
{
this.movementValueForCanvas = 2;
}
}
public abstract class MoveArcStatement1 : MoveToStatement1
{
public Vector3 arcPoint;
}
public class MoveArc1: MoveArcStatement1
{
public MoveArc1()
{
this.movementValueForCanvas = 3;
}
}
//types defined for Brute Move command
public abstract class MoveBrute: BruteMove
{
}
public class BruteMoveToL1 : MoveBrute
{
public BruteMoveToL1()
{
this.movementValueForCanvas = 0;
}
}
public class BruteMoveToJ1 : MoveBrute
{
public BruteMoveToJ1()
{
this.movementValueForCanvas = 1;
}
}
public class BruteJumpTo1 : MoveBrute
{
public BruteJumpTo1()
{
this.movementValueForCanvas = 2;
}
}
public abstract class BruteMoveArcStatement1 : MoveBrute
{
public Vector3 arcPoint;
}
public class BruteMoveArc1: MoveBrute
{
public BruteMoveArc1()
{
this.movementValueForCanvas = 3;
}
}
/// <summary>
/// For Lejos NXT movestatement --> Class Definition - Begin
......@@ -161,8 +317,10 @@ public class MoveArc: MoveArcStatement
public class LejosMoveStatement : Statement
{
public string moveToX = "Move to X";
public int x;
public int z;
public string moveToZ = "Move to Z";
public LejosMoveStatement()
{
......
SPEAREDV2.0/Assets/RosSharp/Scripts/AddCodeCmdNew.cs
+ 5
− 5
View file @ 0a75b062
......@@ -35,8 +35,8 @@ public class AddCodeCmdNew : MonoBehaviour
public void addStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program1 currentProgram = ctcGenerator.currentProgram;
List<Statement1> statements = currentProgram.statements;
Program currentProgram = ctcGenerator.currentProgram;
List<Statement> statements = currentProgram.statements;
MoveToL1 moveToL = new MoveToL1();
moveToL.target = new Vector3(215f, 0f, 145f);
statements.Insert(currentStatement, moveToL);
......@@ -76,13 +76,13 @@ public class AddCodeCmdNew : MonoBehaviour
public void addBruteStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program1 currentProgram = ctcGenerator.currentProgram;
List<Statement1> statements = currentProgram.statements;
Program currentProgram = ctcGenerator.currentProgram;
List<Statement> statements = currentProgram.statements;
BruteMoveToJ1 moveToL = new BruteMoveToJ1();
moveToL.target = new Vector3(215f, 0f, 145f);
statements.Insert(currentStatement, moveToL);
currentProgram.statements = statements;
//debug Niladri
//debug
Debug.Log("Program by adding Brute Move :"+statements);
ctcGenerator.currentProgram = currentProgram;
ctcGenerator.redraw();
......
SPEAREDV2.0/Assets/RosSharp/Scripts/CodetoCanvasGenNew.cs
+ 34
− 20
View file @ 0a75b062
......@@ -14,7 +14,7 @@ public class CodetoCanvasGenNew : MonoBehaviour
{
public Canvas canvas;
public Transform rootCanvasUI;
public Program1 currentProgram;
public Program currentProgram;
public GameObject programCodeUnformatted;
public GameObject programCodeFormatted;
public NewICmdRepresentation commandUIRepresentation;
......@@ -39,8 +39,8 @@ public class CodetoCanvasGenNew : MonoBehaviour
// Start is called before the first frame update
void Start()
{
NewRobotProgramStructure newrobotProgramStructure = new NewRobotProgramStructure();
this.currentProgram = newrobotProgramStructure.sampleProgram1;
RobotProgramStructure newrobotProgramStructure = new RobotProgramStructure();
this.currentProgram = newrobotProgramStructure.sampleProgram;
drawCurrentCode();
}
public void redraw()
......@@ -66,8 +66,8 @@ public class CodetoCanvasGenNew : MonoBehaviour
}
public void convertCodeToProgram(string code)
{
Program1 program = new Program1();
List<Statement1> statements = new List<Statement1>();
Program program = new Program();
List<Statement> statements = new List<Statement>();
foreach (string line in code.Split('\n'))
{
if (line.Contains("Move"))
......@@ -226,9 +226,9 @@ public class CodetoCanvasGenNew : MonoBehaviour
float distanceCounter = 0.5f;
foreach (Statement1 statement in currentProgram.statements)
foreach (Statement statement in currentProgram.statements)
{
//debug Niladri
//debug
Debug.Log("drawCurrentCode() :"+statement);
dropdownObject = commandUIRepresentation.constructCommandUIComponent("Command" + (int)distanceCounter, statement);
dropdownObject.transform.SetParent(rootCanvasUI, false);
......@@ -272,24 +272,24 @@ public class CodetoCanvasGenNew : MonoBehaviour
}
}
public Program1 generateProgramFromTransform()
public Program generateProgramFromTransform()
{
return generateProgramFromTransform(this.rootCanvasUI);
}
private Program1 generateProgramFromTransform(Transform codeRootTransform)
private Program generateProgramFromTransform(Transform codeRootTransform)
{
Program1 program = new Program1();
Program program = new Program();
List<Transform> transforms = new List<Transform>();
codeRootTransform.GetComponentsInChildren<Transform>(transforms);
List<Statement1> statements = new List<Statement1>();
Statement1 statement;
List<Statement> statements = new List<Statement>();
Statement statement;
foreach (Transform commandTransform in transforms)
{
if (commandTransform.name.StartsWith("Command"))
{
statement = commandUIRepresentation.generateStatementFromUI(commandTransform.gameObject);
//Debug Niladri
//Debug
Debug.Log("generateProgramFromTransform :"+statement); //problem is in the statement from commandUIRepresentation.generateStatementFromUI()
statements.Add(statement);
......@@ -302,13 +302,13 @@ public class CodetoCanvasGenNew : MonoBehaviour
{
return generateProgramStringFromProgram(this.currentProgram);
}
private String generateProgramStringFromProgram(Program1 program)
private String generateProgramStringFromProgram(Program program)
{
String programString = "";
foreach (Statement1 statement in program.statements)
foreach (Statement statement in program.statements)
{
//debug Niladri
Debug.Log("generateProgramStringFromProgram statement:"+statement); //at this point, the incoming stattement is wrong!!!!
//debug
Debug.Log("generateProgramStringFromProgram statement:"+statement);
if (statement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request;
......@@ -345,7 +345,7 @@ public class CodetoCanvasGenNew : MonoBehaviour
}
}
}
//debug Niladri
//debug
Debug.Log("generateProgramStringFromProgram :"+programString);
return programString;
}
......@@ -438,17 +438,31 @@ public class CodetoCanvasGenNew : MonoBehaviour
if (stringCaught.Contains("Brute"))
{
//Debug
Debug.Log("In syntax Brute");
intermediateOutput1 = stringCaught.Replace("Brute", "<color=" + colorBrute + ">Brute</color>");
if(!stringCaught.Contains("Move"))
return intermediateOutput1;
}
if (intermediateOutput1.Contains("Move"))
if (stringCaught.Contains("Move"))
{
//Debug
Debug.Log("In syntax Move");
if(!stringCaught.Contains("Brute"))
{
intermediateOutput2 = stringCaught.Replace("Move", "<color=" + colorMove + ">Move</color>");
}
else{
intermediateOutput2 = intermediateOutput1.Replace("Move", "<color=" + colorMove + ">Move</color>");
}
}
//Debug.Log("Check if String caught changed");
//Debug.Log(output);
output = intermediateOutput2;
//Debug
Debug.Log("string for syntax highlighting :"+output);
return output;
}
// /////////////////////////////////////////////////////////////////
......
SPEAREDV2.0/Assets/RosSharp/Scripts/RosBridgeClient/DeleteCodeCmdNew.cs → SPEAREDV2.0/Assets/RosSharp/Scripts/DeleteCodeCmdNew.cs
+ 2
− 2
View file @ 0a75b062
......@@ -35,8 +35,8 @@ public class DeleteCodeCmdNew : MonoBehaviour
public void deleteStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program1 currentProgram = ctcGenerator.currentProgram;
List<Statement1> statements = currentProgram.statements;
Program currentProgram = ctcGenerator.currentProgram;
List<Statement> statements = currentProgram.statements;
if (statements.Count > currentStatement)
statements.RemoveAt(currentStatement);
currentProgram.statements = statements;
......
SPEAREDV2.0/Assets/RosSharp/Scripts/ExecuteNewGenProg.cs
+ 8
− 8
View file @ 0a75b062
......@@ -7,7 +7,7 @@ using UnityEngine.UI;
public class ExecuteNewGenProg : MonoBehaviour
{
public Program1 currentProgram;
public Program currentProgram;
private int currentPosition = 0;
//todo explain this semaphor
private bool semaphor_dobot_is_ready = true;
......@@ -89,7 +89,7 @@ public class ExecuteNewGenProg : MonoBehaviour
public void StartProgram()
{
sphereDrawer.clearTargets();
foreach (Statement1 currentStatement in this.currentProgram.statements)
foreach (Statement currentStatement in this.currentProgram.statements)
{
if (currentStatement.GetType().IsSubclassOf(typeof(MoveStatement1)))
{
......@@ -192,11 +192,11 @@ public class ExecuteNewGenProg : MonoBehaviour
continueProgram(this.currentProgram);
}
//todo wrap executor loop in something that runs infinetly on the side waiting
public void continueProgram(Program1 program)
public void continueProgram(Program program)
{
if (program != null)
{
List<Statement1> statements = program.statements;
List<Statement> statements = program.statements;
//warning below can be ignored, it is exactly what we want
// this unnecessary assignment is done becuae the variable can not be used as
// loop iteratir
......@@ -206,7 +206,7 @@ public class ExecuteNewGenProg : MonoBehaviour
{
Debug.Log(log);
Statement1 currentStatement = statements[currentPosition];
Statement currentStatement = statements[currentPosition];
if (BreakPointsEnabled && breakpoints.Contains(currentPosition))
{
breakpointFinished = false;
......@@ -223,7 +223,7 @@ public class ExecuteNewGenProg : MonoBehaviour
}
//design this blocking untill the statement is actually completed
private void executeStatement(Statement1 currentStatement)
private void executeStatement(Statement currentStatement)
{
semaphor_dobot_is_ready = false;
if (connector == null)
......@@ -248,7 +248,7 @@ public class ExecuteNewGenProg : MonoBehaviour
}
else
{
if (currentStatement is ToggleSuction1)
if (currentStatement is ToggleSuction)
{ /*
ToggleSuction1 toggleSuction = (ToggleSuction1)currentStatement;
......@@ -321,7 +321,7 @@ public class ExecuteNewGenProg : MonoBehaviour
}
}
private void handleBreakpoint(Statement1 statement, bool collision = false)
private void handleBreakpoint(Statement statement, bool collision = false)
{
GeisterZeitJungeEy.showTimeGhosts(25, 1);
PhysicsManager.pausePhysics();
......
SPEAREDV2.0/Assets/RosSharp/Scripts/MoveCodeCmdNew.cs
+ 2
− 2
View file @ 0a75b062
......@@ -36,8 +36,8 @@ public class MoveCodeCmdNew : MonoBehaviour
public void moveStatement(int currentStatement)
{
ctcGenerator.currentProgram = ctcGenerator.generateProgramFromTransform();
Program1 currentProgram = ctcGenerator.currentProgram;
List<Statement1> statements = currentProgram.statements;
Program currentProgram = ctcGenerator.currentProgram;
List<Statement> statements = currentProgram.statements;
int directionFactor = 0;
if (isDirectionUpwards)
{
......
SPEAREDV2.0/Assets/RosSharp/Scripts/NewICmdRepresentation.cs
+ 2
− 2
View file @ 0a75b062
......@@ -2,8 +2,8 @@
public abstract class NewICmdRepresentation : MonoBehaviour
{
public abstract GameObject constructCommandUIComponent(string commandUIName, Statement1 statement);
public abstract Statement1 generateStatementFromUI(GameObject commandContainer);
public abstract GameObject constructCommandUIComponent(string commandUIName, Statement statement);
public abstract Statement generateStatementFromUI(GameObject commandContainer);
public abstract Rect getCommandObjectBoundaries();
public abstract void changeCommandTypeComponent(NewUIMovementTypeSelector uImovementTypeSelector);
......
SPEAREDV2.0/Assets/RosSharp/Scripts/NewLineOperations.cs
+ 2
− 2
View file @ 0a75b062
......@@ -44,9 +44,9 @@ public class NewLineOperations : MonoBehaviour
{
CommandArgs.text = args;
}
public Statement1 serialize2ROSCode()
public Statement serialize2ROSCode()
{
Statement1 statement;
Statement statement;
if (Command.value == 0)
{
statement = new MoveToJ1();
......
SPEAREDV2.0/Assets/RosSharp/Scripts/NewMovementCmdUI.cs
+ 5
− 6
View file @ 0a75b062
......@@ -27,7 +27,7 @@ public class NewMovementCmdUI : NewICmdRepresentation
this.coordinateSelector = uICoordinateSelector;
}
public override GameObject constructCommandUIComponent(string commandUIName, Statement1 statement)
public override GameObject constructCommandUIComponent(string commandUIName, Statement statement)
{ //In this method we have created a flag to identify which type of statement will be handled by generateStatementFromUI()
GameObject commandObject;
GameObject dropdownObject;
......@@ -92,11 +92,11 @@ public class NewMovementCmdUI : NewICmdRepresentation
return commandObject;
}
public override Statement1 generateStatementFromUI(GameObject commandContainer)
public override Statement generateStatementFromUI(GameObject commandContainer)
{
MoveStatement1 moveStatement = new MoveToJ1();
BruteMove bruteStatement = new BruteMoveToJ1();
Statement1 defaultStatement = new MoveToL1();
Statement defaultStatement = new MoveToL1();
bool isMoveStatement = true;
//also the below toggle suction is not needed for NXT robot
/*
......@@ -143,7 +143,7 @@ public class NewMovementCmdUI : NewICmdRepresentation
//Returning bruteStatement
bruteType = false;
//countbruteType--;
//Debug Niladri
//Debug
Debug.Log("Brute found in generateStatementFromUI");
isMoveStatement = false;
return bruteStatement;
......@@ -176,9 +176,8 @@ public class NewMovementCmdUI : NewICmdRepresentation
}
//Returning defaultStatement
//Debug Niladri
//Debug
Debug.Log("Default found in generateStatementFromUI");
//bruteType = false;
return defaultStatement;
}
......
SPEAREDV2.0/Assets/RosSharp/Scripts/NewRobotProgramStructure.cs deleted 100644 → 0
+ 0
− 227
View file @ a83d56e7
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class NewRobotProgramStructure
{
//disable all lines meant for toggle suction function for the new robot
//the types of statements are not mentioned here as all the commands are already defined in RobotProgramStructure file. This file concerns with which commands to be displayed
public Program1 sampleProgram1;
/*
* // Example ROS Cube 132.073, 732.953, 63.937
* ToggleSuction(True);
SetPTPCmdRequest(1,80,2,156,5,59,8,0,True);
SetPTPCmdRequest(1,133,4,174,3,0,0,True);
SetPTPCmdRequest(1,132,2,171,6,86,8,0,True);
ToggleSuction(False);
*/
public NewRobotProgramStructure()
{
this.sampleProgram1 = new Program1();
List<Statement1> statements = new List<Statement1>();
Vector3 dobotCoords1 = new Vector3(215, 4, 145);
Vector3 dobotCoords2 = new Vector3(0, 200, 0);
Vector3 dobotCoords3 = new Vector3(176, 24, 79);
Vector3 dobotCoords4 = new Vector3(78, 200, 241);
Vector3 dobotCoords5 = new Vector3(215, 24, 145);
Vector3 dobotCoords6 = new Vector3(215, 200, 145);
Vector3 dobotCoords7 = new Vector3(176, 200, 145);
Vector3 dobotCoords8 = new Vector3(0, 200, 145);
Vector3 dobotCoords9 = new Vector3(0, 200, 79);
Vector3 dobotCoords10 = new Vector3(0, 200, 241);
Vector3 dobotCoords11 = new Vector3(215, 24, 241);
Vector3 dobotCoords12 = new Vector3(215, 24, 0);
Vector3 dobotCoords13 = new Vector3(78, 200, 145);
Vector3 dobotCoordsAboveCube = new Vector3(78f, 200f, 145f);
Vector3 dobotCoordsCube = new Vector3(133.4f, 174.3f, 0f);
Vector3 dobotCoordsAboveCube2 = new Vector3(132.2f, 171.6f, 86.8f);
Vector3 nxtCoordsBrute = new Vector3(78f, 200f, 0f);
/*ToggleSuction1 toggleSuction = new ToggleSuction1();
toggleSuction.isSuctionEnabled = true;
statements.Add(toggleSuction); */
statements = newMovementCommand(dobotCoordsAboveCube, new MoveToJ1(), statements);
statements = newMovementCommand(dobotCoordsCube, new MoveToJ1(), statements);
//Generate a Brute Move command below
statements = bruteMoveCommand(nxtCoordsBrute, new BruteMoveToJ1(), statements);
//statements = newMovementCommand(dobotCoordsAboveCube2, new MoveToJ1(), statements);
//toggleSuction = new ToggleSuction();
//toggleSuction.isSuctionEnabled = false;
//statements.Add(toggleSuction);
/*
* not possible
* 0 24 0
*
*
*
*/
/*
statements = newMovementCommand(dobotCoords10, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords5, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords3, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords8, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords13, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords1, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords6, new MoveToJ(), statements);
statements = newMovementCommand(dobotCoords12, new MoveToJ(), statements);
*/
//statements = newCommand(dobotCoords2, new MoveToJ(), statements);
//statements = newCommand(dobotCoords9, new MoveToJ(), statements);
//statements = newCommand(dobotCoords4, new MoveToJ(), statements);
//statements = newCommand(dobotCoords7, new MoveToJ(), statements);
//statements = newCommand(dobotCoords11, new MoveToJ(), statements);
this.sampleProgram1.statements = statements;
}
private List<Statement1> newMovementCommand(Vector3 target, MoveStatement1 statement, List<Statement1> statements)
{
statement.target = target;
statements.Add(statement);
return statements;
}
//BruteMove
private List<Statement1> bruteMoveCommand(Vector3 target, BruteMove bruteStatement, List<Statement1> statements)
{ //Brute move command is constructed into a statement here
bruteStatement.target = target;
statements.Add(bruteStatement);
return statements;
}
}
public class Program1
{
public List<Statement1> statements;
}
public abstract class Statement1
{
}
public class ToggleSuction1 : Statement1
{ /*
public bool isSuctionEnabled = false;
*/
}
public abstract class MoveStatement1 : Statement1
{
public Vector3 target;
public int movementValueForCanvas = -1;
public RosSharp.RosBridgeClient.SetPTPCmdServiceClient serviceClient;
public RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest SendCommandToRos1()
{
byte ptpMode_byte;
byte.TryParse("" + movementValueForCanvas, out ptpMode_byte);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request =
new RosSharp.RosBridgeClient.MessageTypes.Dobot.
SetPTPCmdRequest(ptpMode_byte, target.x, target.y,
target.z, 0, true);
return request;
}
}
//BruteMove command definition
public abstract class BruteMove : Statement1
{
public Vector3 target;
public int movementValueForCanvas = -1;
public RosSharp.RosBridgeClient.SetPTPCmdServiceClient serviceClient;
public RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest SendCommandToRos1()
{
byte ptpMode_byte;
byte.TryParse("" + movementValueForCanvas, out ptpMode_byte);
RosSharp.RosBridgeClient.MessageTypes.Dobot.SetPTPCmdRequest request =
new RosSharp.RosBridgeClient.MessageTypes.Dobot.
SetPTPCmdRequest(ptpMode_byte, target.x, target.y,
target.z, 0, true);
return request;
}
}
public abstract class MoveToStatement1: MoveStatement1
{
}
public class MoveToL1 : MoveToStatement1
{
public MoveToL1()
{
this.movementValueForCanvas = 0;
}
}
public class MoveToJ1 : MoveToStatement1
{
public MoveToJ1()
{
this.movementValueForCanvas = 1;
}
}
public class JumpTo1 : MoveToStatement1
{
public JumpTo1()
{
this.movementValueForCanvas = 2;
}
}
public abstract class MoveArcStatement1 : MoveToStatement1
{
public Vector3 arcPoint;
}
public class MoveArc1: MoveArcStatement1
{
public MoveArc1()
{
this.movementValueForCanvas = 3;
}
}
//types defined for Brute Move command
public abstract class MoveBrute: BruteMove
{
}
public class BruteMoveToL1 : MoveBrute
{
public BruteMoveToL1()
{
this.movementValueForCanvas = 0;
}
}
public class BruteMoveToJ1 : MoveBrute
{
public BruteMoveToJ1()
{
this.movementValueForCanvas = 1;
}
}
public class BruteJumpTo1 : MoveBrute
{
public BruteJumpTo1()
{
this.movementValueForCanvas = 2;
}
}
public abstract class BruteMoveArcStatement1 : MoveBrute
{
public Vector3 arcPoint;
}
public class BruteMoveArc1: MoveBrute
{
public BruteMoveArc1()
{
this.movementValueForCanvas = 3;
}
}
SPEAREDV2.0/Assets/RosSharp/Scripts/NewRobotProgramStructure.cs.meta deleted 100644 → 0
+ 0
− 11
View file @ a83d56e7
fileFormatVersion: 2
guid: 5fe7b8474794c418594169f285d56297
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:
SPEAREDV2.0/Assets/RosSharp/Scripts/NewTouchInputCodingPanelControl.cs
+ 4
− 4
View file @ 0a75b062
......@@ -18,7 +18,7 @@ public class NewTouchInputCodingPanelControl : MonoBehaviour
public GameObject RobotCommandLinePrefab;
public ScrollRect ScrollView;
public CodetoCanvasGenNew code2canvasInARSpace;
private Program1 program;
private Program program;
public GameObject onScreenCodePanel;
......@@ -62,7 +62,7 @@ public class NewTouchInputCodingPanelControl : MonoBehaviour
}
}
private Program1 serialize2ROSCode()
private Program serialize2ROSCode()
{
/*
Program p = new Program();
......@@ -87,8 +87,8 @@ public class NewTouchInputCodingPanelControl : MonoBehaviour
return p;
*/
Program1 p = new Program1();
p.statements = new List<Statement1>();
Program p = new Program();
p.statements = new List<Statement>();
foreach (Transform child in this.RobotCommandsWrapper)
{
var lineCtrl = child.GetComponent<NewLineOperations>();
......
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