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Merge pull request #176 from Kapim/devel
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Devel
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@Kapim
Kapim authored Oct 22, 2020
2 parents ece3d3b + e498c85 commit a4f9900
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Showing 32 changed files with 4,106 additions and 827 deletions.
682 changes: 506 additions & 176 deletions arcor2_AREditor/Assets/2D_EDITOR/Prefabs/Menus/ActionObjectMenuSceneEditor.prefab
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8 changes: 4 additions & 4 deletions arcor2_AREditor/Assets/2D_EDITOR/Prefabs/Menus/ActionPointMenu.prefab
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Expand Up @@ -409,10 +409,10 @@ RectTransform:
m_Father: {fileID: 847291161079909801}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
m_AnchorMin: {x: 0, y: 1}
m_AnchorMax: {x: 0, y: 1}
m_AnchoredPosition: {x: 357.5, y: 0}
m_SizeDelta: {x: 715, y: 0}
m_AnchorMin: {x: 0, y: 0}
m_AnchorMax: {x: 0, y: 0}
m_AnchoredPosition: {x: 0, y: 0}
m_SizeDelta: {x: 0, y: 0}
m_Pivot: {x: 0.5, y: 0.5}
--- !u!114 &1395264303805572330
MonoBehaviour:
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2 changes: 1 addition & 1 deletion arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionMenu.cs
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Expand Up @@ -206,7 +206,7 @@ public async void SaveParameters() {
Debug.Assert(ProjectManager.Instance.AllowEdit);
try {
await WebsocketManager.Instance.UpdateAction(CurrentAction.Data.Id, parameters, CurrentAction.GetFlows());
Base.Notifications.Instance.ShowNotification("Parameters saved", "");
Base.Notifications.Instance.ShowToastMessage("Parameters saved");
SaveParametersBtn.SetInteractivity(false, "Parameters unchanged");
parametersChanged = false;
if (string.IsNullOrEmpty(GameManager.Instance.ExecutingAction))
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290 changes: 46 additions & 244 deletions arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionObjectMenu.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,52 +6,39 @@
using Base;
using System.Collections.Generic;
using static IO.Swagger.Model.UpdateObjectPoseUsingRobotRequestArgs;
using Newtonsoft.Json;
using System.Linq;

[RequireComponent(typeof(SimpleSideMenu))]
public class ActionObjectMenu : MonoBehaviour, IMenu {
public abstract class ActionObjectMenu : MonoBehaviour, IMenu {
public Base.ActionObject CurrentObject;
[SerializeField]
private TMPro.TMP_Text objectName;
public DropdownParameter RobotsList, EndEffectorList, PivotList;
public Button NextButton, PreviousButton, FocusObjectDoneButton, StartObjectFocusingButton, SavePositionButton;
public TMPro.TMP_Text CurrentPointLabel;
public GameObject RobotsListsBlock, UpdatePositionBlockMesh, UpdatePositionBlockVO;
protected TMPro.TMP_Text objectName;
public GameObject Parameters;
public Slider VisibilitySlider;
public InputDialog InputDialog;
public ButtonWithTooltip SaveParametersBtn;

public SwitchComponent ShowModelSwitch;

public ConfirmationDialog ConfirmationDialog;

private int currentFocusPoint = -1;

private GameObject model;
protected SimpleSideMenu menu;

private SimpleSideMenu menu;
protected bool parametersChanged = false;
public VerticalLayoutGroup DynamicContentLayout;
public GameObject CanvasRoot;

protected List<IParameter> objectParameters = new List<IParameter>();

private void Start() {
menu = GetComponent<SimpleSideMenu>();
Debug.Assert(objectName != null);
Debug.Assert(RobotsList != null);
Debug.Assert(EndEffectorList != null);
Debug.Assert(NextButton != null);
Debug.Assert(PreviousButton != null);
Debug.Assert(FocusObjectDoneButton != null);
Debug.Assert(StartObjectFocusingButton != null);
Debug.Assert(SavePositionButton != null);
Debug.Assert(CurrentPointLabel != null);
Debug.Assert(RobotsListsBlock != null);
Debug.Assert(UpdatePositionBlockMesh != null);
Debug.Assert(UpdatePositionBlockVO != null);
Debug.Assert(VisibilitySlider != null);
Debug.Assert(InputDialog != null);
Debug.Assert(ConfirmationDialog != null);

List<string> pivots = new List<string>();
foreach (string item in Enum.GetNames(typeof(PivotEnum))) {
pivots.Add(item);
}
PivotList.PutData(pivots, "Middle", OnPivotChanged);

}


Expand Down Expand Up @@ -94,253 +81,68 @@ public async void RenameObject(string newName) {
}


public async void UpdateMenu() {
public virtual void UpdateMenu() {
objectName.text = CurrentObject.Data.Name;
// Parameters:

VisibilitySlider.value = CurrentObject.GetVisibility() * 100;
if (!SceneManager.Instance.SceneStarted) {
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
RobotsListsBlock.SetActive(false);
return;
}
if (currentFocusPoint >= 0)
return;
if (SceneManager.Instance.RobotInScene()) {
await RobotsList.gameObject.GetComponent<DropdownRobots>().Init(OnRobotChanged, true);
string robotId = null;
try {
robotId = SceneManager.Instance.RobotNameToId(RobotsList.GetValue().ToString());
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
robotId = null;
}
if (string.IsNullOrEmpty(robotId)) {
Notifications.Instance.ShowNotification("Robot not found", "Robot with name " + RobotsList.GetValue().ToString() + "does not exists");

} else {
OnRobotChanged(robotId);
}

if (CurrentObject.ActionObjectMetadata.ObjectModel?.Type == IO.Swagger.Model.ObjectModel.TypeEnum.Mesh) {
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(true);
RobotsListsBlock.SetActive(true);
} else if (CurrentObject.ActionObjectMetadata.ObjectModel != null) {
UpdatePositionBlockVO.SetActive(true);
UpdatePositionBlockMesh.SetActive(false);
RobotsListsBlock.SetActive(true);
ShowModelSwitch.Interactable = SceneManager.Instance.RobotsEEVisible;
if (ShowModelSwitch.Interactable && ShowModelSwitch.Switch.isOn) {
ShowModelOnEE();
}
} else {
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
RobotsListsBlock.SetActive(false);
Parameters.GetComponent<VerticalLayoutGroup>().enabled = true;
foreach (Transform o in Parameters.transform) {
if (o.name != "Layout" && o.gameObject.tag != "Persistent") {
Destroy(o.gameObject);
}

} else {
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
RobotsListsBlock.SetActive(false);
}


FocusObjectDoneButton.interactable = false;
NextButton.interactable = false;
PreviousButton.interactable = false;



}

private async void OnRobotChanged(string robot_id) {
EndEffectorList.Dropdown.dropdownItems.Clear();
await EndEffectorList.gameObject.GetComponent<DropdownEndEffectors>().Init(robot_id, OnEEChanged);
UpdateModelOnEE();
}

private void OnEEChanged(string eeId) {
UpdateModelOnEE();
}

private void OnPivotChanged(string pivot) {
UpdateModelOnEE();
}


public async void UpdateObjectPosition() {
if (RobotsList.Dropdown.dropdownItems.Count == 0 || EndEffectorList.Dropdown.dropdownItems.Count == 0) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
PivotEnum pivot = (PivotEnum) Enum.Parse(typeof(PivotEnum), (string) PivotList.GetValue());
IRobot robot = SceneManager.Instance.GetRobotByName((string) RobotsList.GetValue());
await WebsocketManager.Instance.UpdateActionObjectPoseUsingRobot(CurrentObject.Data.Id,
robot.GetId(), (string) EndEffectorList.GetValue(), pivot);
VisibilitySlider.value = CurrentObject.GetVisibility() * 100;

}


private void EnableFocusControls() {
SavePositionButton.GetComponent<Button>().interactable = true;
StartObjectFocusingButton.GetComponent<Button>().interactable = true;
NextButton.GetComponent<Button>().interactable = true;
PreviousButton.GetComponent<Button>().interactable = true;
FocusObjectDoneButton.GetComponent<Button>().interactable = true;
}

private void DisableFocusControls() {
SavePositionButton.GetComponent<Button>().interactable = false;
StartObjectFocusingButton.GetComponent<Button>().interactable = false;
NextButton.GetComponent<Button>().interactable = false;
PreviousButton.GetComponent<Button>().interactable = false;
FocusObjectDoneButton.GetComponent<Button>().interactable = false;
}

public async void StartObjectFocusing() {
if (RobotsList.Dropdown.dropdownItems.Count == 0 || EndEffectorList.Dropdown.dropdownItems.Count == 0) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to update object position", "No robot or end effector available");
return;
}
try {
await WebsocketManager.Instance.StartObjectFocusing(CurrentObject.Data.Id,
(string) RobotsList.GetValue(),
(string) EndEffectorList.GetValue());
currentFocusPoint = 0;
UpdateCurrentPointLabel();
GetComponent<SimpleSideMenu>().handleToggleStateOnPressed = false;
GetComponent<SimpleSideMenu>().overlayCloseOnPressed = false;
FocusObjectDoneButton.interactable = true;
if (CurrentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count > 1) {
NextButton.interactable = true;
PreviousButton.interactable = true;
}
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to start object focusing", ex.Message);
CurrentPointLabel.text = "";
currentFocusPoint = -1;
if (ex.Message == "Focusing already started.") { //TODO HACK! find better solution
FocusObjectDone();
}
}
}

public async void SavePosition() {
if (currentFocusPoint < 0)
return;
try {
await WebsocketManager.Instance.SavePosition(CurrentObject.Data.Id, currentFocusPoint);
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to save current position", ex.Message);
}


}

public async void FocusObjectDone() {
try {
await WebsocketManager.Instance.FocusObjectDone(CurrentObject.Data.Id);
CurrentPointLabel.text = "";
GetComponent<SimpleSideMenu>().handleToggleStateOnPressed = true;
GetComponent<SimpleSideMenu>().overlayCloseOnPressed = true;
currentFocusPoint = -1;
FocusObjectDoneButton.interactable = false;
NextButton.interactable = false;
PreviousButton.interactable = false;
} catch (Base.RequestFailedException ex) {
Base.NotificationsModernUI.Instance.ShowNotification("Failed to focus object", ex.Message);
}
}
protected abstract void UpdateSaveBtn();


public void NextPoint() {
currentFocusPoint = Math.Min(currentFocusPoint + 1, CurrentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count - 1);
PreviousButton.interactable = true;
if (currentFocusPoint == CurrentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count - 1) {
NextButton.GetComponent<Button>().interactable = false;
} else {
NextButton.GetComponent<Button>().interactable = true;
}
UpdateCurrentPointLabel();
}
public void OnChangeParameterHandler(string parameterId, object newValue, bool isValueValid = true) {
if (!isValueValid) {
SaveParametersBtn.SetInteractivity(false, "Some parameter has invalid value");
} else if (CurrentObject.TryGetParameter(parameterId, out IO.Swagger.Model.Parameter parameter)) {
try {
if (JsonConvert.SerializeObject(newValue) != parameter.Value) {
parametersChanged = true;
SaveParametersBtn.SetInteractivity(true);
}
} catch (JsonReaderException) {
SaveParametersBtn.SetInteractivity(false, "Some parameter has invalid value");
}

public void PreviousPoint() {
currentFocusPoint = Math.Max(currentFocusPoint - 1, 0);
NextButton.interactable = true;
if (currentFocusPoint == 0) {
PreviousButton.GetComponent<Button>().interactable = false;
} else {
PreviousButton.GetComponent<Button>().interactable = true;
}
UpdateCurrentPointLabel();
}

private void UpdateCurrentPointLabel() {
CurrentPointLabel.text = "Point " + (currentFocusPoint + 1) + " out of " + CurrentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count.ToString();
}


public void OnVisibilityChange(float value) {
if (CurrentObject != null)
CurrentObject.SetVisibility(value / 100f);
}

public void ShowModelOnEE() {
if (model != null)
HideModelOnEE();
model = CurrentObject.GetModelCopy();
if (model == null)
return;
UpdateModelOnEE();
}


private void UpdateModelOnEE() {
if (model == null)
return;
string robotName = (string) RobotsList.GetValue(), eeId = (string) EndEffectorList.GetValue();
if (string.IsNullOrEmpty(robotName) || string.IsNullOrEmpty(eeId)) {
throw new RequestFailedException("Robot or end effector not selected!");
}

try {
string robotId = SceneManager.Instance.RobotNameToId(robotName);
RobotEE ee = SceneManager.Instance.GetRobot(robotId).GetEE(eeId);
model.transform.parent = ee.gameObject.transform;


switch ((PivotEnum) Enum.Parse(typeof(PivotEnum), (string) PivotList.GetValue())) {
case PivotEnum.Top:
model.transform.localPosition = new Vector3(0, model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Bottom:
model.transform.localPosition = new Vector3(0, -model.transform.localScale.y / 2, 0);
break;
case PivotEnum.Middle:
model.transform.localPosition = new Vector3(0, 0, 0);
break;
}
model.transform.localRotation = new Quaternion(0, 0, 0, 1);
} catch (ItemNotFoundException ex) {
Debug.LogError(ex);
Notifications.Instance.ShowNotification("End-effector position unknown", "Robot did not send position of selected end effector");
ShowModelSwitch.Switch.isOn = false;
}

public void ShowNextAO() {
ActionObject nextAO = SceneManager.Instance.GetNextActionObject(CurrentObject.Data.Id);
ShowActionObject(nextAO);
}

public void HideModelOnEE() {
if (model != null) {
Destroy(model);
}
model = null;
public void ShowPreviousAO() {
ActionObject previousAO = SceneManager.Instance.GetNextActionObject(CurrentObject.Data.Id);
ShowActionObject(previousAO);
}

public void OnMenuStateChanged() {
switch (menu.CurrentState) {
case SimpleSideMenu.State.Closed:
HideModelOnEE();
break;
}
private static void ShowActionObject(ActionObject actionObject) {
actionObject.ShowMenu();
SceneManager.Instance.SetSelectedObject(actionObject.gameObject);
actionObject.SendMessage("Select", true);
}

}
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