Merge pull request #180 from Kapim/devel

fixed action object menu buttons
robofit · Nov 5, 2020 · 0f44e90 · 0f44e90
2 parents ec4506d + 17ff59f
commit 0f44e90
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Showing 12 changed files with 133 additions and 73 deletions.
diff --git a/arcor2_AREditor/Assets/2D_EDITOR/Prefabs/Menus/ActionObjectMenuSceneEditor.prefab b/arcor2_AREditor/Assets/2D_EDITOR/Prefabs/Menus/ActionObjectMenuSceneEditor.prefab
@@ -612,7 +612,7 @@ MonoBehaviour:
   onStateChanged:
     m_PersistentCalls:
       m_Calls:
-      - m_Target: {fileID: 0}
+      - m_Target: {fileID: 4455020661743965345}
         m_MethodName: OnMenuStateChanged
         m_Mode: 1
         m_Arguments:
@@ -623,18 +623,6 @@ MonoBehaviour:
           m_StringArgument: 
           m_BoolArgument: 0
         m_CallState: 2
-      - m_Target: {fileID: 0}
-        m_MethodName: OnMenuStateChanged
-        m_Mode: 2
-        m_Arguments:
-          m_ObjectArgument: {fileID: 2219791083400178696}
-          m_ObjectArgumentAssemblyTypeName: DanielLochner.Assets.SimpleSideMenu.SimpleSideMenu,
-            Assembly-CSharp
-          m_IntArgument: 0
-          m_FloatArgument: 0
-          m_StringArgument: 
-          m_BoolArgument: 0
-        m_CallState: 2
   onStateSelected:
     m_PersistentCalls:
       m_Calls: []
@@ -1746,7 +1734,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -3329,7 +3317,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -4070,7 +4058,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -4257,7 +4245,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -4714,11 +4702,6 @@ PrefabInstance:
       propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Mode
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
-        type: 3}
-      propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_CallState
-      value: 2
-      objectReference: {fileID: 0}
     - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
         type: 3}
       propertyPath: OffEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Mode
@@ -4729,16 +4712,6 @@ PrefabInstance:
       propertyPath: OffEvents.m_PersistentCalls.m_Calls.Array.data[0].m_CallState
       value: 2
       objectReference: {fileID: 0}
-    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
-        type: 3}
-      propertyPath: OffEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Target
-      value: 
-      objectReference: {fileID: 0}
-    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
-        type: 3}
-      propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Target
-      value: 
-      objectReference: {fileID: 0}
     - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
         type: 3}
       propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -4759,6 +4732,21 @@ PrefabInstance:
       propertyPath: OffEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Arguments.m_ObjectArgumentAssemblyTypeName
       value: UnityEngine.Object, UnityEngine
       objectReference: {fileID: 0}
+    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
+        type: 3}
+      propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_CallState
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
+        type: 3}
+      propertyPath: OnEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Target
+      value: 
+      objectReference: {fileID: 4455020661743965345}
+    - target: {fileID: 2990318297726141335, guid: 842e373db2ba5004082e835ac120c8a1,
+        type: 3}
+      propertyPath: OffEvents.m_PersistentCalls.m_Calls.Array.data[0].m_Target
+      value: 
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 5371841985900859675, guid: 842e373db2ba5004082e835ac120c8a1,
         type: 3}
       propertyPath: m_Name
@@ -4970,7 +4958,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -5100,7 +5088,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
@@ -5286,16 +5274,36 @@ PrefabInstance:
       propertyPath: description
       value: Rename action point
       objectReference: {fileID: 0}
+    - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
+        type: 3}
+      propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.size
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
       value: ShowRenameDialog
       objectReference: {fileID: 0}
+    - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
+        type: 3}
+      propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[1].m_Mode
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
+        type: 3}
+      propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[1].m_CallState
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 4991226775622563084, guid: a37f66d2914458b4c85e50f9fa33cf93,
+        type: 3}
+      propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Mode
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 7710050843114423662, guid: a37f66d2914458b4c85e50f9fa33cf93,
         type: 3}
       propertyPath: m_LocalPosition.x
@@ -5426,7 +5434,7 @@ PrefabInstance:
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_Target
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 4455020661743965345}
     - target: {fileID: 1282326451552802060, guid: c77917a7826c62e419cc9a2867495b1f,
         type: 3}
       propertyPath: m_OnClick.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName

diff --git a/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionObjectMenuProjectEditor.cs b/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionObjectMenuProjectEditor.cs
@@ -117,16 +117,6 @@ public void OverrideParameters() {
     }
 
     protected override void UpdateSaveBtn() {
-        if (SceneManager.Instance.SceneStarted) {
-            SaveParametersBtn.SetInteractivity(false, "Parameters could be overrided only when scene is stopped.");
-            return;
-        }
-        if (!parametersChanged) {
-            SaveParametersBtn.SetInteractivity(false, "No parameter changed");
-            return;
-        }
-        // TODO: add dry run save
-        SaveParametersBtn.SetInteractivity(true);
-
+
     }
 }
diff --git a/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs
@@ -195,7 +195,7 @@ public class GameManager : Singleton<GameManager> {
         /// <summary>
         /// Api version
         /// </summary>
-        public const string ApiVersion = "0.9.1";
+        public const string ApiVersion = "0.9.2";
         /// <summary>
         /// List of projects metadata
         /// </summary>

diff --git a/arcor2_AREditor/Assets/BASE/Scripts/Parameter.cs b/arcor2_AREditor/Assets/BASE/Scripts/Parameter.cs
@@ -8,6 +8,7 @@
 using System.Globalization;
 using Michsky.UI.ModernUIPack;
 using UnityEngine.Events;
+using MiniJSON;
 
 namespace Base {
     public class Parameter : IO.Swagger.Model.Parameter {
@@ -55,6 +56,9 @@ public Parameter(IO.Swagger.Model.ParameterMeta actionParameterMetadata, object
                 case "double":
                     SetValue((double) value);
                     break;
+                case "boolean":
+                    SetValue((bool) value);
+                    break;
             }
         }
 
@@ -75,6 +79,26 @@ public static T GetValue<T>(string value) {
             return JsonConvert.DeserializeObject<T>(value);
         }
 
+        public static string Encode(string value, string type) {
+            switch (type) {
+                /*case "relative_pose":
+                    return GetValue<IO.Swagger.Model.Pose>(value).ToString();*/
+                case "integer_enum":
+                case "integer":
+                    return JsonConvert.SerializeObject(int.Parse(value));
+                case "string_enum":
+                case "pose":
+                case "joints":
+                case "string":
+                    return JsonConvert.SerializeObject(value);                    
+                case "double":
+                    return JsonConvert.SerializeObject(double.Parse(value));
+                case "boolean":
+                    return JsonConvert.SerializeObject(bool.Parse(value));
+            }
+            throw new RequestFailedException("Unknown parameter type (" + type + ")");
+        }
+
         public string GetStringValue() {
             return GetStringValue(Value, Type);
         }
@@ -94,6 +118,8 @@ public static string GetStringValue(string value, string type) {
                     return GetValue<string>(value).ToString();
                 case "double":
                     return GetValue<double>(value).ToString();
+                case "boolean":
+                    return GetValue<bool>(value).ToString();
             }
             throw new RequestFailedException("Unknown parameter type");
         } 
@@ -519,7 +545,7 @@ public static DropdownParameter GetDropdownParameter(string param_id, GameObject
             throw new Base.ItemNotFoundException("Parameter not found: " + param_id);
         }
 
-        private static GameObject InitializeParameter(ParameterMetadata actionParameterMetadata, OnChangeParameterHandlerDelegate handler, VerticalLayoutGroup layoutGroupToBeDisabled, GameObject canvasRoot, string value, bool darkMode = false, string actionProviderId = "") {
+        public static GameObject InitializeParameter(ParameterMetadata actionParameterMetadata, OnChangeParameterHandlerDelegate handler, VerticalLayoutGroup layoutGroupToBeDisabled, GameObject canvasRoot, string value, bool darkMode = false, string actionProviderId = "") {
             GameObject parameter = null;
 
             switch (actionParameterMetadata.Type) {

diff --git a/arcor2_AREditor/Assets/BASE/Scripts/Parameters/ActionObjectParameterOverride.cs b/arcor2_AREditor/Assets/BASE/Scripts/Parameters/ActionObjectParameterOverride.cs
@@ -36,15 +36,12 @@ public void Init(string value, bool overriden, ParameterMetadata parameterMetada
     }
 
     public void Modify() {
-        switch (parameterMetadata.Type) {
-            case "string":
-                Input = Parameter.InitializeStringParameter(parameterMetadata, OnChangeParameterHandler, null, null, Value.text);
-                Input.GetComponent<IParameter>().SetLabel("", "");
-                Value.gameObject.SetActive(false);
-                Input.transform.SetParent(Value.transform.parent);
-                Input.transform.SetAsFirstSibling();
-                break;
-        }
+        Input = Parameter.InitializeParameter(parameterMetadata, OnChangeParameterHandler, null, null, Parameter.Encode(Value.text, parameterMetadata.Type), true);
+        Input.GetComponent<IParameter>().SetLabel("", "");
+        Value.gameObject.SetActive(false);
+        Input.transform.SetParent(Value.transform.parent);
+        Input.transform.SetAsFirstSibling();
+
         SaveBtn.gameObject.SetActive(true);
         ModifyBtn.gameObject.SetActive(false);
         RestoreBtn.gameObject.SetActive(false);

diff --git a/arcor2_AREditor/Assets/BASE/Scripts/Swagger/IO.Swagger.dll b/arcor2_AREditor/Assets/BASE/Scripts/Swagger/IO.Swagger.dll
diff --git a/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs
@@ -2212,6 +2212,39 @@ public async Task DeleteOverride(string id, IO.Swagger.Model.Parameter parameter
             }
         }
 
+
+        public async Task<List<IO.Swagger.Model.Joint>> InverseKinematics(string robotId, string endEffectorId, bool avoidCollisions, IO.Swagger.Model.Pose pose, List<IO.Swagger.Model.Joint> startJoints) {
+            int r_id = Interlocked.Increment(ref requestID);
+            IO.Swagger.Model.InverseKinematicsRequestArgs args = new InverseKinematicsRequestArgs(robotId: robotId,
+                endEffectorId: endEffectorId, pose: pose, avoidCollisions: avoidCollisions, startJoints: startJoints);
+
+            IO.Swagger.Model.InverseKinematicsRequest request = new IO.Swagger.Model.InverseKinematicsRequest(r_id, "InverseKinematics", args: args);
+            SendDataToServer(request.ToJson(), r_id, true);
+            IO.Swagger.Model.InverseKinematicsResponse response = await WaitForResult<IO.Swagger.Model.InverseKinematicsResponse>(r_id);
+            if (response == null || !response.Result) {
+                throw new RequestFailedException(response == null ? new List<string>() { "Failed to delete override of object parameter" } : response.Messages);
+            } else {
+                return response.Data;
+            }
+        }
+
+        public async Task<IO.Swagger.Model.Pose> ForwardKinematics(string robotId, string endEffectorId, List<IO.Swagger.Model.Joint> joints) {
+            int r_id = Interlocked.Increment(ref requestID);
+            IO.Swagger.Model.ForwardKinematicsRequestArgs args = new ForwardKinematicsRequestArgs(robotId: robotId,
+                endEffectorId: endEffectorId, joints: joints);
+
+            IO.Swagger.Model.ForwardKinematicsRequest request = new IO.Swagger.Model.ForwardKinematicsRequest(r_id, "ForwardKinematics", args: args);
+            SendDataToServer(request.ToJson(), r_id, true);
+            IO.Swagger.Model.ForwardKinematicsResponse response = await WaitForResult<IO.Swagger.Model.ForwardKinematicsResponse>(r_id);
+            if (response == null || !response.Result) {
+                throw new RequestFailedException(response == null ? new List<string>() { "Failed to delete override of object parameter" } : response.Messages);
+            } else {
+                return response.Data;
+            }
+        }
+
+
+
 
 
     }