Merge pull request #218 from xBambusekD/devel

Devel

arcor2_AREditor/Assets/BASE/Scripts/Dialogs/AddNewActionObjectDialog.cs

@@ -5,6 +5,7 @@
 using UnityEngine.UI;
 using Newtonsoft.Json;
 using Base;
+using IO.Swagger.Model;
 
 public class AddNewActionObjectDialog : Dialog {
     public GameObject DynamicContent, CanvasRoot;
@@ -32,7 +33,7 @@ private void Init() {
     /// <param name="callback">Function to be called if adding action object was successful</param>
     public void InitFromMetadata(Base.ActionObjectMetadata metadata, System.Action callback = null) {
         InitDialog(metadata);
-        actionParameters = Parameter.InitParameters(parametersMetadata.Values.ToList(), DynamicContent, OnChangeParameterHandler, DynamicContentLayout, CanvasRoot, false, false);
+        actionParameters = Base.Parameter.InitParameters(parametersMetadata.Values.ToList(), DynamicContent, OnChangeParameterHandler, DynamicContentLayout, CanvasRoot, false, false);
         nameInput.SetValue(Base.SceneManager.Instance.GetFreeAOName(metadata.Type));
         this.callback = callback;
     }
@@ -79,12 +80,10 @@ public async void CreateActionObject() {
                 parameters.Add(DataHelper.ActionParameterToParameter(ap));
             }
             try {
-                IO.Swagger.Model.Pose pose = null;
-                if (actionObjectMetadata.HasPose) {
-                    Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, actionObjectMetadata.GetModelBB(), SceneManager.Instance.SceneOrigin.transform.localRotation);
-                    IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
-                    pose = new IO.Swagger.Model.Pose(position: offset, orientation: new IO.Swagger.Model.Orientation(1, 0, 0, 0));
-                }
+                Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f));
+                Vector3 point = TransformConvertor.UnityToROS(GameManager.Instance.Scene.transform.InverseTransformPoint(ray.GetPoint(0.5f)));
+                IO.Swagger.Model.Pose pose = new IO.Swagger.Model.Pose(position: DataHelper.Vector3ToPosition(point), orientation: DataHelper.QuaternionToOrientation(Quaternion.identity));
+                SceneManager.Instance.SelectCreatedActionObject = newActionObjectName;
                 await Base.WebsocketManager.Instance.AddObjectToScene(newActionObjectName, actionObjectMetadata.Type, pose, parameters);
                 callback?.Invoke();
                 Close();

arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs

@@ -945,34 +945,7 @@ private async Task UpdateRobotsMeta() {
             ActionsManager.Instance.UpdateRobotsMetadata(await WebsocketManager.Instance.GetRobotMeta());
         }
 
-        /// <summary>
-        /// Sends request to the server to create a new Action Object of user specified type and id. Id has to be generated here in the client.
-        /// </summary>
-        /// <param name="type"></param>
-        /// <param name="name"></param>
-        /// <returns></returns>
-        public async Task<bool> AddObjectToScene(string type, string name) {
-            try {
-                IO.Swagger.Model.Pose pose = null;
-                if (ActionsManager.Instance.ActionObjectMetadata.TryGetValue(type, out ActionObjectMetadata actionObjectMetadata)) {
-                    if (actionObjectMetadata.HasPose) {
-                        Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, actionObjectMetadata.GetModelBB(), SceneManager.Instance.SceneOrigin.transform.localRotation);
-                        IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
-                        pose = new IO.Swagger.Model.Pose(position: offset, orientation: new IO.Swagger.Model.Orientation(1, 0, 0, 0));
-                    }
-                    await WebsocketManager.Instance.AddObjectToScene(name, type, pose, null);
-                } else {
-                    throw new RequestFailedException("Object type " + type + " does not exists");
-                }                
-            } catch (RequestFailedException ex) {
-                Debug.LogError(ex);
-                Notifications.Instance.ShowNotification("Failed to add object to scene", ex.Message);
-                return false;
-            }
-            return true;
-        }
-
-
+
         /// <summary>
         /// When package runs failed with exception, show notification to the user
         /// </summary>

arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs

@@ -87,10 +87,6 @@ public bool ProjectChanged {
             } 
         }
 
-        public string SelectAPNameWhenCreated {
-            get;
-            internal set;
-        }
 
         /// <summary>
         /// Invoked when some of the action point weas updated. Contains action point description

arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs

@@ -135,6 +135,8 @@ public bool RobotsEEVisible {
 
         public RobotEE SelectedEndEffector;
 
+        public string SelectCreatedActionObject;
+
         public bool Valid = false;
         /// <summary>
         /// Public setter for sceneChanged property. Invokes OnSceneChanged event with each change and
@@ -720,7 +722,11 @@ public void SceneObjectBaseUpdated(SceneObject sceneObject) {
         /// <param name="sceneObject">Description of action object</param>
         /// <returns></returns>
         public void SceneObjectAdded(SceneObject sceneObject) {
-            ActionObject actionObject = SpawnActionObject(sceneObject);            
+            ActionObject actionObject = SpawnActionObject(sceneObject);
+            if (!string.IsNullOrEmpty(SelectCreatedActionObject) && sceneObject.Name.Contains(SelectCreatedActionObject)) {
+                SelectorMenu.Instance.SetSelectedObject(actionObject.SelectorItem, true);
+            }
+            SelectCreatedActionObject = "";
             updateScene = true;
         }
 

arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs

@@ -454,9 +454,9 @@ private Task<bool> WaitUntilResourcesReady() {
 
         public async Task<bool> LoadEndEffectors() {
             // TODO: maybe wrong condition
-            if (((GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor) && !SceneManager.Instance.Valid)
-                || ((GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor) && !ProjectManager.Instance.Valid)) {
-                Debug.LogError("SceneManager or ProjectManager instance not valid");
+            Debug.LogError(GameManager.Instance.GetGameState());
+            if (!SceneManager.Instance.Valid) {
+                Debug.LogError("SceneManager instance not valid");
                 return false;
             }
             if (loadingEndEffectors) {
@@ -690,7 +690,6 @@ public void SetGrey(bool grey, bool force = false) {
         public override async void OpenMenu() {
             if (!await this.WriteLock(false))
                 return;
-            TransformGizmo.Instance.ClearTargets();
             outlineOnClick.GizmoUnHighlight();
             if (Base.GameManager.Instance.GetGameState() == Base.GameManager.GameStateEnum.SceneEditor) {
                 actionObjectMenu.CurrentObject = this;
@@ -709,7 +708,6 @@ public override bool HasMenu() {
         public override async void StartManipulation() {
             if (!await this.WriteLock(true))
                 return;
-            TransformGizmo.Instance.ClearTargets();
             manipulationStarted = true;
             HideRobotEE();
             TransformGizmo.Instance.AddTarget(transform);

arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotModel.cs

@@ -125,7 +125,7 @@ private bool IsRobotLoaded() {
     private void OnRobotLoaded() {
         //Debug.Log("URDF: robot is fully loaded");
 
-        SetActiveAllVisuals(true);
+        SetActiveAllVisuals(false);
 
         AddOnClickScriptToColliders(RobotModelGameObject);
 

arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs

@@ -2297,14 +2297,12 @@ public async Task StartScene(bool dryRun) {
             }
         }
 
-        public async Task StopScene(bool dryRun) {
-            int r_id = Interlocked.Increment(ref requestID);
-            IO.Swagger.Model.StopSceneRequest request = new IO.Swagger.Model.StopSceneRequest(r_id, "StopScene", dryRun: dryRun);
-            SendDataToServer(request.ToJson(), r_id, true);
-            IO.Swagger.Model.StopSceneResponse response = await WaitForResult<IO.Swagger.Model.StopSceneResponse>(r_id);
-            if (response == null || !response.Result) {
-                throw new RequestFailedException(response == null ? new List<string>() { "Failed to stop scene" } : response.Messages);
-            }
+        public void StopScene(bool dryRun, UnityAction<string, string> callback) {
+            int id = Interlocked.Increment(ref requestID);
+            if (callback != null)
+                responsesCallback.Add(id, Tuple.Create("", callback));
+            IO.Swagger.Model.StopSceneRequest request = new IO.Swagger.Model.StopSceneRequest(id, "StopScene", dryRun: dryRun);
+            SendDataToServer(request.ToJson(), id, false);
         }
 
         public async Task UpdateObjectParameters(string id, List<IO.Swagger.Model.Parameter> parameters, bool dryRun) {

arcor2_AREditor/Assets/TABLET/Prefabs/Action.prefab

@@ -108,6 +108,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  SelectorItem: {fileID: 0}
   Colliders:
   - {fileID: 7592340303395121290}
   Action: {fileID: -4901143462678197493}
@@ -125,6 +126,8 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  OutlineSize: 1
+  OutlineHoverSize: 1
   OutlineShaderType: 0
   OutlineClickFirstPass: {fileID: 2100000, guid: ad5f46c258da37740a57c75f33330d0d,
     type: 2}
@@ -427,6 +430,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  SelectorItem: {fileID: 0}
   Colliders:
   - {fileID: 5362052914937072908}
   Action: {fileID: -4901143462678197493}
@@ -444,6 +448,8 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  OutlineSize: 1
+  OutlineHoverSize: 1
   OutlineShaderType: 0
   OutlineClickFirstPass: {fileID: 2100000, guid: ad5f46c258da37740a57c75f33330d0d,
     type: 2}
@@ -472,7 +478,6 @@ GameObject:
   - component: {fileID: 6417292780173919764}
   - component: {fileID: 6417292780173919765}
   - component: {fileID: 6417292780173919763}
-  - component: {fileID: 8409126376922550219}
   - component: {fileID: 7467850720681680514}
   m_Layer: 0
   m_Name: Cylinder
@@ -556,19 +561,6 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   Enabled: 1
   Target: {fileID: 6417292780430755493}
---- !u!114 &8409126376922550219
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 6417292780173919761}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 9673c2375ff70d043956c1eebf26e270, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  Target: {fileID: 6417292780430755493}
 --- !u!64 &7467850720681680514
 MeshCollider:
   m_ObjectHideFlags: 0
@@ -630,6 +622,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  SelectorItem: {fileID: 0}
   Colliders:
   - {fileID: 7467850720681680514}
   Input: {fileID: 4512397415820150178}
@@ -654,6 +647,8 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
+  OutlineSize: 1
+  OutlineHoverSize: 1
   OutlineShaderType: 0
   OutlineClickFirstPass: {fileID: 2100000, guid: ad5f46c258da37740a57c75f33330d0d,
     type: 2}

arcor2_AREditor/Assets/TABLET/Prefabs/ActionObjectRobot.prefab

@@ -256,7 +256,9 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Enabled: 1
-  OutlineShaderType: 0
+  OutlineSize: 1
+  OutlineHoverSize: 1
+  OutlineShaderType: 1
   OutlineClickFirstPass: {fileID: 2100000, guid: 5a34724aa4ed6d942bea3c530bc7477e,
     type: 2}
   OutlineClickSecondPass: {fileID: 2100000, guid: 70d480e8ad3b0114995e1ef19f3e76b6,