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m_outlineColor: - serializedVersion: 2 - rgba: 4278190080 m_fontSize: 60 m_fontSizeBase: 28 m_fontWeight: 400 @@ -728,7 +731,9 @@ MonoBehaviour: m_fontSizeMin: 30 m_fontSizeMax: 60 m_fontStyle: 0 - m_textAlignment: 513 + m_HorizontalAlignment: 1 + m_VerticalAlignment: 512 + m_textAlignment: 65535 m_characterSpacing: 0 m_wordSpacing: 0 m_lineSpacing: 0 @@ -738,10 +743,8 @@ MonoBehaviour: m_enableWordWrapping: 1 m_wordWrappingRatios: 0.4 m_overflowMode: 3 - m_firstOverflowCharacterIndex: -1 m_linkedTextComponent: {fileID: 0} - m_isLinkedTextComponent: 0 - m_isTextTruncated: 0 + parentLinkedComponent: {fileID: 0} m_enableKerning: 1 m_enableExtraPadding: 0 checkPaddingRequired: 0 @@ -749,40 +752,18 @@ MonoBehaviour: m_parseCtrlCharacters: 1 m_isOrthographic: 1 m_isCullingEnabled: 0 - m_ignoreRectMaskCulling: 0 - m_ignoreCulling: 1 m_horizontalMapping: 0 m_verticalMapping: 0 m_uvLineOffset: 0 m_geometrySortingOrder: 0 + m_IsTextObjectScaleStatic: 0 m_VertexBufferAutoSizeReduction: 1 - m_firstVisibleCharacter: 0 m_useMaxVisibleDescender: 1 m_pageToDisplay: 1 m_margin: {x: 0, y: 0, z: 0, w: 0} - 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m_outlineColor: - serializedVersion: 2 - rgba: 4278190080 m_fontSize: 30 m_fontSizeBase: 36 m_fontWeight: 400 @@ -1262,7 +1243,9 @@ MonoBehaviour: m_fontSizeMin: 18 m_fontSizeMax: 30 m_fontStyle: 0 - m_textAlignment: 258 + m_HorizontalAlignment: 2 + m_VerticalAlignment: 256 + m_textAlignment: 65535 m_characterSpacing: 0 m_wordSpacing: 0 m_lineSpacing: 0 @@ -1272,10 +1255,8 @@ MonoBehaviour: m_enableWordWrapping: 1 m_wordWrappingRatios: 0.4 m_overflowMode: 0 - m_firstOverflowCharacterIndex: -1 m_linkedTextComponent: {fileID: 0} - m_isLinkedTextComponent: 0 - m_isTextTruncated: 0 + parentLinkedComponent: {fileID: 0} m_enableKerning: 1 m_enableExtraPadding: 0 checkPaddingRequired: 0 @@ -1283,40 +1264,18 @@ MonoBehaviour: m_parseCtrlCharacters: 1 m_isOrthographic: 1 m_isCullingEnabled: 0 - m_ignoreRectMaskCulling: 0 - m_ignoreCulling: 1 m_horizontalMapping: 0 m_verticalMapping: 0 m_uvLineOffset: 0 m_geometrySortingOrder: 0 + m_IsTextObjectScaleStatic: 0 m_VertexBufferAutoSizeReduction: 1 - 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private ButtonWithTooltip RemoveBtn, CollapseBtn, ExpandBtn; + private ButtonWithTooltip RemoveBtn, CollapseBtn, ExpandBtn, AimingBtn; [SerializeField] private InputDialog inputDialog; @@ -166,6 +166,7 @@ public async void UpdateMenu() { } ExpandBtn.gameObject.SetActive(CurrentActionPoint.ActionsCollapsed); CollapseBtn.gameObject.SetActive(!CurrentActionPoint.ActionsCollapsed); + } private static void CreateTooltip(string text, ActionButton btn) { @@ -240,6 +241,7 @@ public void SetHeader(string header) { public void UpdateLockedBtns(bool locked) { LockedBtn.gameObject.SetActive(locked); UnlockedBtn.gameObject.SetActive(!locked); + AimingBtn.SetInteractivity(!locked); } public void SetLocked(bool locked) { diff --git a/arcor2_AREditor/Assets/2D_EDITOR/Scripts/MainMenu.cs b/arcor2_AREditor/Assets/2D_EDITOR/Scripts/MainMenu.cs index 986267e74..7560a16b5 100644 --- a/arcor2_AREditor/Assets/2D_EDITOR/Scripts/MainMenu.cs +++ b/arcor2_AREditor/Assets/2D_EDITOR/Scripts/MainMenu.cs @@ -81,7 +81,7 @@ private void Start() { Base.GameManager.Instance.OnDisconnectedFromServer += OnOpenDisconnectedScreen; Base.SceneManager.Instance.OnSceneSavedStatusChanged += OnSceneOrProjectSavedStatusChanged; Base.ProjectManager.Instance.OnProjectSavedSatusChanged += OnSceneOrProjectSavedStatusChanged; - Base.WebsocketManager.Instance.OnSceneStateEvent += OnSceneStateEvent; + Base.SceneManager.Instance.OnSceneStateEvent += OnSceneStateEvent; HideEverything(); @@ -175,7 +175,8 @@ private void ActionObjectsUpdated(object sender, Base.StringEventArgs eventArgs) orderedList.Sort( delegate (ActionObjectMetadata obj1, ActionObjectMetadata obj2) { - return obj2.Type.CompareTo(obj1.Type); + return obj2.Type.CompareTo(obj1 + .Type); } ); foreach (Base.ActionObjectMetadata actionObjectMetadata in orderedList) { @@ -383,7 +384,6 @@ public async void SaveScene() { SaveSceneBtn.SetInteractivity(false, "There are no unsaved changes"); _ = UpdateBuildAndSaveBtns(); } - Notifications.Instance.ShowNotification("Scene save sucessfull", ""); } public async void SaveProject() { @@ -392,7 +392,7 @@ public async void SaveProject() { saveProjectResponse.Messages.ForEach(Debug.LogError); Base.Notifications.Instance.ShowNotification("Failed to save project", (saveProjectResponse.Messages.Count > 0 ? ": " + saveProjectResponse.Messages[0] : "")); return; - } + } } @@ -410,6 +410,7 @@ public async void BuildPackage(string name) { try { await Base.GameManager.Instance.BuildPackage(name); inputDialog.Close(); + Notifications.Instance.ShowToastMessage("Package was built sucessfully."); } catch (Base.RequestFailedException ex) { } diff --git a/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ServiceButton.cs b/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ServiceButton.cs index c81d5fac7..8ff68ad1a 100644 --- a/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ServiceButton.cs +++ b/arcor2_AREditor/Assets/2D_EDITOR/Scripts/ServiceButton.cs @@ -3,20 +3,20 @@ using UnityEngine; using UnityEngine.UI; using Michsky.UI.ModernUIPack; -/* + public class ServiceButton : MonoBehaviour { public GameObject Yes, No; private bool state; [SerializeField] - private Button button; + private ActionButton button; [SerializeField] private TooltipContent tooltipContent; private void Start() { - tooltipContent.tooltipRect = TooltipRef.Instance.Tooltip; - tooltipContent.descriptionText = TooltipRef.Instance.Text; + //tooltipContent.tooltipRect = TooltipRef.Instance.Tooltip; + //tooltipContent.descriptionText = TooltipRef.Instance.Text; } public bool State { @@ -32,7 +32,7 @@ public bool State { } } } - + /* public void SetInteractable(bool interactable) { button.interactable = interactable; if (!interactable) { @@ -42,6 +42,6 @@ public void SetInteractable(bool interactable) { tooltipContent.enabled = false; } } - + */ } -*/ + diff --git a/arcor2_AREditor/Assets/BASE/Prefabs/Menu/ActionPointAimingMenu.prefab b/arcor2_AREditor/Assets/BASE/Prefabs/Menu/ActionPointAimingMenu.prefab index f8a4af8fb..42ccc7b35 100644 --- a/arcor2_AREditor/Assets/BASE/Prefabs/Menu/ActionPointAimingMenu.prefab +++ b/arcor2_AREditor/Assets/BASE/Prefabs/Menu/ActionPointAimingMenu.prefab @@ -435,7 +435,7 @@ MonoBehaviour: m_HandleRect: {fileID: 9010430017970503180} m_Direction: 2 m_Value: 1 - m_Size: 0.7665601 + m_Size: 0.77602786 m_NumberOfSteps: 0 m_OnValueChanged: m_PersistentCalls: @@ -701,7 +701,7 @@ MonoBehaviour: m_spriteAsset: {fileID: 0} m_tintAllSprites: 0 m_StyleSheet: {fileID: 0} - 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m_Name: - m_EditorClassIdentifier: diff --git a/arcor2_AREditor/Assets/BASE/Scripts/ActionPoint.cs b/arcor2_AREditor/Assets/BASE/Scripts/ActionPoint.cs index 686f53439..c6e1ce817 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/ActionPoint.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/ActionPoint.cs @@ -355,6 +355,10 @@ public virtual (List, Dictionary) UpdateActionPoint(IO.S transform.localPosition = GetScenePosition(); transform.localRotation = GetSceneOrientation(); List currentA = new List(); + + foreach (NamedOrientation orientation in Data.Orientations) { + UpdateOrientation(orientation); + } // Connections between actions (action -> output --- input <- action2) Dictionary connections = new Dictionary(); if (projectActionPoint.Actions != null) { @@ -497,11 +501,18 @@ public IO.Swagger.Model.NamedOrientation GetOrientationByName(string name) { public virtual void UpdateOrientation(NamedOrientation orientation) { NamedOrientation originalOrientation = GetOrientation(orientation.Id); originalOrientation.Orientation = orientation.Orientation; + try { + APOrientation orientationArrow = GetOrientationVisual(orientation.Id); + orientationArrow.SetOrientation(orientation.Orientation); + } catch (KeyNotFoundException) { + AddNewOrientationVisual(orientation); + } BaseUpdateOrientation(originalOrientation, orientation); } public virtual void AddOrientation(NamedOrientation orientation) { Data.Orientations.Add(orientation); + AddNewOrientationVisual(orientation); } @@ -525,7 +536,17 @@ public void RemoveOrientation(string id) { } ++i; } - UpdateOrientationsVisuals(); + RemoveOrientationVisual(id); + } + + private void RemoveOrientationVisual(string id) { + try { + APOrientation o = GetOrientationVisual(id); + Destroy(o.gameObject); + } catch (KeyNotFoundException) { + // älready destroyed.. + } + } public void UpdateJoints(ProjectRobotJoints joints) { @@ -570,22 +591,19 @@ public GameObject GetGameObject() { public abstract void SetSize(float size); - public void UpdateOrientationsVisuals() { + public void UpdateOrientationsVisuals(bool visible) { foreach (Transform transform in orientations.transform) { - Destroy(transform.gameObject); - } - if (!ProjectManager.Instance.APOrientationsVisible) - return; - if (!OrientationsVisible || Data.Orientations == null) - return; - foreach (IO.Swagger.Model.NamedOrientation orientation in Data.Orientations) { - APOrientation apOrientation = Instantiate(ActionsManager.Instance.ActionPointOrientationPrefab, orientations.transform).GetComponent(); - apOrientation.transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(orientation.Orientation)); - apOrientation.ActionPoint = this; - apOrientation.OrientationId = orientation.Id; + transform.gameObject.SetActive(visible); } } + private void AddNewOrientationVisual(NamedOrientation orientation) { + APOrientation apOrientation = Instantiate(ActionsManager.Instance.ActionPointOrientationPrefab, orientations.transform).GetComponent(); + apOrientation.ActionPoint = this; + apOrientation.SetOrientation(orientation.Orientation); + apOrientation.OrientationId = orientation.Id; + } + internal void ShowAimingMenu(string orientationId) { ShowMenu(false); actionPointMenu.OpenActionPointAimingMenu(orientationId); diff --git a/arcor2_AREditor/Assets/BASE/Scripts/DropdownRobots.cs b/arcor2_AREditor/Assets/BASE/Scripts/DropdownRobots.cs index 13e2b3118..baace1f34 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/DropdownRobots.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/DropdownRobots.cs @@ -15,22 +15,25 @@ public class DropdownRobots : MonoBehaviour /// Initialize dropdown with list of robots in scene /// /// Function to call when item is selected. Will pass robot_id - /// Only puts robots with at lease one end effector + /// Only puts robots with at least one end effector public async Task Init(UnityAction callback, bool withEEOnly) { List robotNames = new List(); - if (SceneManager.Instance.SceneStarted) { + + if (!withEEOnly) { + foreach (IRobot robot in Base.SceneManager.Instance.GetRobots()) { + robotNames.Add(robot.GetName()); + } + } else if (withEEOnly && SceneManager.Instance.SceneStarted) { foreach (IRobot robot in Base.SceneManager.Instance.GetRobots()) { - List endEffectors = await robot.GetEndEffectorIds(); - if (withEEOnly) { - if (endEffectors.Count > 0) { - robotNames.Add(robot.GetName()); - } - } else { + if (endEffectors.Count > 0) { robotNames.Add(robot.GetName()); } } + } else { + return; } + Init(robotNames, callback); } diff --git a/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs index c8328a5c6..7bb23891a 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs @@ -147,6 +147,10 @@ public class GameManager : Singleton { /// public GameObject ButtonPrefab; /// + /// Service button prefab - with green or red strip on the left side (joints buttons) + /// + public GameObject ServiceButtonPrefab; + /// /// Tooltip gameobject /// public GameObject Tooltip; @@ -191,7 +195,7 @@ public class GameManager : Singleton { /// /// Api version /// - public const string ApiVersion = "0.8.0rc5"; + public const string ApiVersion = "0.8.0"; /// /// List of projects metadata /// diff --git a/arcor2_AREditor/Assets/BASE/Scripts/InputOutput.cs b/arcor2_AREditor/Assets/BASE/Scripts/InputOutput.cs index 239758dcd..f97f3c808 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/InputOutput.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/InputOutput.cs @@ -74,7 +74,6 @@ public override async void OnClick(Click type) { public async void GetInput() { - Debug.LogError("asdf"); List actionList = ProjectManager.Instance.GetAllActions(); actionList.Add(ProjectManager.Instance.StartAction); actionList.Add(ProjectManager.Instance.EndAction); diff --git a/arcor2_AREditor/Assets/BASE/Scripts/Notifications.cs b/arcor2_AREditor/Assets/BASE/Scripts/Notifications.cs index d434834f9..0bb26d024 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/Notifications.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/Notifications.cs @@ -10,6 +10,10 @@ public virtual void SaveLogs(string customNotificationTitle = "") { SaveLogs(SceneManager.Instance.GetScene(), ProjectManager.Instance.GetProject(), customNotificationTitle); } public abstract void ShowNotification(string title, string text); + + public virtual void ShowToastMessage(string message, int timeout=3) { + ToastMessage.Instance.ShowMessage(message, timeout); + } } } diff --git a/arcor2_AREditor/Assets/BASE/Scripts/PositionManualEdit.cs b/arcor2_AREditor/Assets/BASE/Scripts/PositionManualEdit.cs index cd557cfaf..8d7426996 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/PositionManualEdit.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/PositionManualEdit.cs @@ -25,6 +25,10 @@ public void SetPosition(Position position) { InputX.text = position.X.ToString(numberFormatInfo); InputY.text = position.Y.ToString(numberFormatInfo); InputZ.text = position.Z.ToString(numberFormatInfo); + + buttonTooltip.description = "First, edit the position"; + buttonTooltip.enabled = true; + ConfirmButton.interactable = false; } public Position GetPosition() { diff --git a/arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs index e69582786..75da01913 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs @@ -107,6 +107,11 @@ public bool ProjectChanged { public event AREditorEventArgs.ActionPointEventHandler OnActionPointAddedToScene; + public event AREditorEventArgs.ActionPointOrientationEventHandler OnActionPointOrientationAdded; + public event AREditorEventArgs.ActionPointOrientationEventHandler OnActionPointOrientationUpdated; + public event AREditorEventArgs.ActionPointOrientationEventHandler OnActionPointOrientationBaseUpdated; + public event AREditorEventArgs.StringEventHandler OnActionPointOrientationRemoved; + /// /// Initialization of projet manager /// @@ -121,10 +126,10 @@ private void Start() { WebsocketManager.Instance.OnActionPointUpdated += OnActionPointUpdated; WebsocketManager.Instance.OnActionPointBaseUpdated += OnActionPointBaseUpdated; - WebsocketManager.Instance.OnActionPointOrientationAdded += OnActionPointOrientationAdded; - WebsocketManager.Instance.OnActionPointOrientationUpdated += OnActionPointOrientationUpdated; - WebsocketManager.Instance.OnActionPointOrientationBaseUpdated += OnActionPointOrientationBaseUpdated; - WebsocketManager.Instance.OnActionPointOrientationRemoved += OnActionPointOrientationRemoved; + WebsocketManager.Instance.OnActionPointOrientationAdded += OnActionPointOrientationAddedCallback; + WebsocketManager.Instance.OnActionPointOrientationUpdated += OnActionPointOrientationUpdatedCallback; + WebsocketManager.Instance.OnActionPointOrientationBaseUpdated += OnActionPointOrientationBaseUpdatedCallback; + WebsocketManager.Instance.OnActionPointOrientationRemoved += OnActionPointOrientationRemovedCallback; WebsocketManager.Instance.OnActionPointJointsAdded += OnActionPointJointsAdded; WebsocketManager.Instance.OnActionPointJointsUpdated += OnActionPointJointsUpdated; @@ -194,11 +199,12 @@ private void OnActionPointBaseUpdated(object sender, BareActionPointEventArgs ar } } - private void OnActionPointOrientationBaseUpdated(object sender, ActionPointOrientationEventArgs args) { + private void OnActionPointOrientationBaseUpdatedCallback(object sender, ActionPointOrientationEventArgs args) { try { ActionPoint actionPoint = ProjectManager.Instance.GetActionPointWithOrientation(args.Data.Id); actionPoint.BaseUpdateOrientation(args.Data); ProjectChanged = true; + OnActionPointOrientationBaseUpdated?.Invoke(this, args); } catch (KeyNotFoundException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Failed to update action point orientation", ex.Message); @@ -206,11 +212,12 @@ private void OnActionPointOrientationBaseUpdated(object sender, ActionPointOrien } } - private void OnActionPointOrientationRemoved(object sender, StringEventArgs args) { + private void OnActionPointOrientationRemovedCallback(object sender, StringEventArgs args) { try { ActionPoint actionPoint = GetActionPointWithOrientation(args.Data); actionPoint.RemoveOrientation(args.Data); ProjectChanged = true; + OnActionPointOrientationRemoved?.Invoke(this, args); } catch (KeyNotFoundException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Failed to remove action point orientation", ex.Message); @@ -218,11 +225,12 @@ private void OnActionPointOrientationRemoved(object sender, StringEventArgs args } } - private void OnActionPointOrientationUpdated(object sender, ActionPointOrientationEventArgs args) { + private void OnActionPointOrientationUpdatedCallback(object sender, ActionPointOrientationEventArgs args) { try { ActionPoint actionPoint = ProjectManager.Instance.GetActionPointWithOrientation(args.Data.Id); actionPoint.UpdateOrientation(args.Data); ProjectChanged = true; + OnActionPointOrientationUpdated?.Invoke(this, args); } catch (KeyNotFoundException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Failed to update action point orientation", ex.Message); @@ -230,11 +238,12 @@ private void OnActionPointOrientationUpdated(object sender, ActionPointOrientati } } - private void OnActionPointOrientationAdded(object sender, ActionPointOrientationEventArgs args) { + private void OnActionPointOrientationAddedCallback(object sender, ActionPointOrientationEventArgs args) { try { ActionPoint actionPoint = GetActionPoint(args.ActionPointId); actionPoint.AddOrientation(args.Data); ProjectChanged = true; + OnActionPointOrientationAdded?.Invoke(this, args); } catch (KeyNotFoundException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Failed to add action point orientation", ex.Message); @@ -543,7 +552,7 @@ public bool ActionPointsContainsName(string name) { internal void HideAPOrientations() { APOrientationsVisible = false; foreach (ActionPoint actionPoint in GetAllActionPoints()) { - actionPoint.UpdateOrientationsVisuals(); + actionPoint.UpdateOrientationsVisuals(false); } PlayerPrefsHelper.SaveBool("scene/" + ProjectMeta.Id + "/APOrientationsVisibility", false); } @@ -554,7 +563,7 @@ internal void HideAPOrientations() { internal void ShowAPOrientations() { APOrientationsVisible = true; foreach (ActionPoint actionPoint in GetAllActionPoints()) { - actionPoint.UpdateOrientationsVisuals(); + actionPoint.UpdateOrientationsVisuals(true); } PlayerPrefsHelper.SaveBool("scene/" + ProjectMeta.Id + "/APOrientationsVisibility", true); } @@ -1109,7 +1118,7 @@ public void ActionRemoved(IO.Swagger.Model.BareAction action) { /// internal void ProjectSaved() { ProjectChanged = false; - Base.Notifications.Instance.ShowNotification("Project saved successfully", ""); + Notifications.Instance.ShowToastMessage("Project saved successfully."); OnProjectSaved?.Invoke(this, EventArgs.Empty); } diff --git a/arcor2_AREditor/Assets/BASE/Scripts/RobotEE.cs b/arcor2_AREditor/Assets/BASE/Scripts/RobotEE.cs index c9a363a50..c15b0f284 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/RobotEE.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/RobotEE.cs @@ -29,11 +29,11 @@ public override void OnClick(Click type) { } public override void OnHoverStart() { - + eeName.gameObject.SetActive(true); } public override void OnHoverEnd() { - + eeName.gameObject.SetActive(false); } /// diff --git a/arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs index 8864cde16..f2af99bec 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs @@ -116,6 +116,8 @@ public bool RobotsEEVisible { /// public bool SceneStarted = false; + public event AREditorEventArgs.SceneStateHandler OnSceneStateEvent; + public bool Valid = false; /// /// Public setter for sceneChanged property. Invokes OnSceneChanged event with each change and @@ -238,10 +240,10 @@ private void Start() { WebsocketManager.Instance.OnRobotEefUpdated += RobotEefUpdated; WebsocketManager.Instance.OnRobotJointsUpdated += RobotJointsUpdated; WebsocketManager.Instance.OnSceneBaseUpdated += OnSceneBaseUpdated; - WebsocketManager.Instance.OnSceneStateEvent += OnSceneStateEven; + WebsocketManager.Instance.OnSceneStateEvent += OnSceneState; } - private void OnSceneStateEven(object sender, SceneStateEventArgs args) { + private void OnSceneState(object sender, SceneStateEventArgs args) { switch (args.Event.State) { case SceneStateData.StateEnum.Starting: GameManager.Instance.ShowLoadingScreen("Starting scene..."); @@ -265,6 +267,8 @@ private void OnSceneStateEven(object sender, SceneStateEventArgs args) { GameManager.Instance.HideLoadingScreen(); break; } + // needs to be rethrown to ensure all subscribers has updated data + OnSceneStateEvent?.Invoke(this, args); } private void OnSceneBaseUpdated(object sender, BareSceneEventArgs args) { @@ -636,7 +640,7 @@ public ActionObject GetNextActionObject(string aoId) { /// Invoked when scene was saved /// internal void SceneSaved() { - Base.Notifications.Instance.ShowNotification("Scene saved successfully", ""); + Base.Notifications.Instance.ShowToastMessage("Scene saved successfully."); OnSceneSaved?.Invoke(this, EventArgs.Empty); SceneChanged = false; } diff --git a/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs b/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs new file mode 100644 index 000000000..d2e896e36 --- /dev/null +++ b/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs @@ -0,0 +1,49 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class ToastMessage : Base.Singleton +{ + [SerializeField] + private TMPro.TMP_Text text; + [SerializeField] + private CanvasGroup canvasGroup; + + public void ShowMessage(string message, int duration) { +#if UNITY_ANDROID && !UNITY_EDITOR + AndroidJavaClass unityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer"); + AndroidJavaObject unityActivity = unityPlayer.GetStatic("currentActivity"); + + if (unityActivity != null) { + AndroidJavaClass toastClass = new AndroidJavaClass("android.widget.Toast"); + unityActivity.Call("runOnUiThread", new AndroidJavaRunnable(() => + { + AndroidJavaObject toastObject = toastClass.CallStatic("makeText", unityActivity, message, 0); + toastObject.Call("show"); + })); + } +#elif UNITY_STANDALONE || UNITY_EDITOR + text.text = message; + StartCoroutine(ShowToast()); + StartCoroutine(HideToast(duration)); +#endif + } + + private IEnumerator ShowToast() { + for (float f = 0; f <= 0.3f; f += Time.deltaTime) { + canvasGroup.alpha = Mathf.Lerp(0f, 1f, f / 0.3f); + yield return null; + } + canvasGroup.alpha = 1; + } + + private IEnumerator HideToast(int duration) { + yield return new WaitForSeconds(duration); + for (float f = 0f; f <= 0.3f; f += Time.deltaTime) { + canvasGroup.alpha = Mathf.Lerp(1f, 0f, f / 0.3f); + yield return null; + } + canvasGroup.alpha = 0; + } +} + diff --git a/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs.meta b/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs.meta new file mode 100644 index 000000000..d34b2ab05 --- /dev/null +++ b/arcor2_AREditor/Assets/BASE/Scripts/ToastMessage.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4d41581e121ba5b4db9c8e0989d6994e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs b/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs index 68fbb44f3..51fea9306 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs @@ -1028,8 +1028,9 @@ public async Task UpdateActionPointUsingRobot(string actionPointId, string robot /// Id of action object /// Desired pose (position and orientation) /// - public async Task UpdateActionObjectPose(string actionObjectId, IO.Swagger.Model.Pose pose) { - + public async Task UpdateActionObjectPose(string actionObjectId, IO.Swagger.Model.Pose pose, bool dryRun = false) { + if (dryRun) + return; int r_id = Interlocked.Increment(ref requestID); IO.Swagger.Model.UpdateObjectPoseRequestArgs args = new IO.Swagger.Model.UpdateObjectPoseRequestArgs (objectId: actionObjectId, pose: pose); @@ -1524,7 +1525,9 @@ public async Task AddActionPoint(string name, string parent, IO.Swagger.Model.Po /// UUID of action point /// New position of action point. /// - public async Task UpdateActionPointPosition(string id, IO.Swagger.Model.Position position) { + public async Task UpdateActionPointPosition(string id, IO.Swagger.Model.Position position, bool dryRun = false) { + if (dryRun) + return; int r_id = Interlocked.Increment(ref requestID); IO.Swagger.Model.UpdateActionPointPositionRequestArgs args = new IO.Swagger.Model.UpdateActionPointPositionRequestArgs(actionPointId: id, newPosition: position); IO.Swagger.Model.UpdateActionPointPositionRequest request = new IO.Swagger.Model.UpdateActionPointPositionRequest(r_id, "UpdateActionPointPosition", args); @@ -1715,7 +1718,7 @@ public async Task UpdateActionPointJoints(string jointsId, List(r_id); diff --git a/arcor2_AREditor/Assets/TABLET/Prefabs/ActionObject.prefab b/arcor2_AREditor/Assets/TABLET/Prefabs/ActionObject.prefab index 7ea28ff89..0768808e7 100644 --- a/arcor2_AREditor/Assets/TABLET/Prefabs/ActionObject.prefab +++ b/arcor2_AREditor/Assets/TABLET/Prefabs/ActionObject.prefab @@ -117,7 +117,7 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: Enabled: 1 - 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public override void OnClick(Click type) { + public async override void OnClick(Click type) { if (GameManager.Instance.GetEditorState() == GameManager.EditorStateEnum.SelectingActionObject || GameManager.Instance.GetEditorState() == GameManager.EditorStateEnum.SelectingActionPointParent) { GameManager.Instance.ObjectSelected(this); @@ -117,9 +117,14 @@ public override void OnClick(Click type) { if (type == Click.MOUSE_LEFT_BUTTON || type == Click.LONG_TOUCH) { // We have clicked with left mouse and started manipulation with object if (GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor) { - manipulationStarted = true; - tfGizmo.AddTarget(Model.transform); - outlineOnClick.GizmoHighlight(); + try { + await WebsocketManager.Instance.UpdateActionObjectPose(Data.Id, new IO.Swagger.Model.Pose(new Orientation(), new Position()), true); + manipulationStarted = true; + tfGizmo.AddTarget(Model.transform); + outlineOnClick.GizmoHighlight(); + } catch (RequestFailedException ex) { + Notifications.Instance.ShowNotification("Object pose could not be changed", ex.Message); + } } } else if (type == Click.MOUSE_RIGHT_BUTTON || type == Click.TOUCH) { diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/ActionPoint3D.cs b/arcor2_AREditor/Assets/TABLET/Scripts/ActionPoint3D.cs index c232651cb..646544d0d 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/ActionPoint3D.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/ActionPoint3D.cs @@ -94,16 +94,22 @@ public override void OnClick(Click type) { } - public void StartManipulation() { + public async void StartManipulation() { if (Locked) { Notifications.Instance.ShowNotification("Locked", "This action point is locked and can't be manipulated"); } else { - // We have clicked with left mouse and started manipulation with object - Debug.LogWarning("Turning on gizmo overlay"); - manipulationStarted = true; - updatePosition = false; - tfGizmo.AddTarget(Sphere.transform); - outlineOnClick.GizmoHighlight(); + + try { + await WebsocketManager.Instance.UpdateActionPointPosition(Data.Id, new Position(), true); + // We have clicked with left mouse and started manipulation with object + Debug.LogWarning("Turning on gizmo overlay"); + manipulationStarted = true; + updatePosition = false; + tfGizmo.AddTarget(Sphere.transform); + outlineOnClick.GizmoHighlight(); + } catch (RequestFailedException ex) { + Notifications.Instance.ShowNotification("Action point pose could not be changed", ex.Message); + } } } @@ -163,19 +169,16 @@ public override void SetSize(float size) { public override (List, Dictionary) UpdateActionPoint(IO.Swagger.Model.ActionPoint projectActionPoint) { (List, Dictionary) result = base.UpdateActionPoint(projectActionPoint); - UpdateOrientationsVisuals(); ActionPointName.text = projectActionPoint.Name; return result; } public override void UpdateOrientation(NamedOrientation orientation) { base.UpdateOrientation(orientation); - UpdateOrientationsVisuals(); } public override void AddOrientation(NamedOrientation orientation) { base.AddOrientation(orientation); - UpdateOrientationsVisuals(); } public override void HighlightAP(bool highlight) { @@ -216,6 +219,7 @@ public override void OnHoverEnd() { Lock.SetActive(false); } + public override void ActionPointBaseUpdate(IO.Swagger.Model.BareActionPoint apData) { base.ActionPointBaseUpdate(apData); ActionPointName.text = apData.Name; diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionPointAimingMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionPointAimingMenu.cs index a5de039d2..1ffb8ee38 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionPointAimingMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionPointAimingMenu.cs @@ -14,7 +14,7 @@ public class ActionPointAimingMenu : MonoBehaviour, IMenu { public Base.ActionPoint CurrentActionPoint; - public GameObject JointsBlock, PositionBlock, PositionExpertModeBlock, PositionLiteModeBlock, PositionRobotPickBlock; + public GameObject PositionExpertModeBlock, PositionRobotPickBlock, OrientationsDynamicList, JointsDynamicList; [SerializeField] private TMPro.TMP_Text ActionPointName, OrientationsListLabel, JointsListLabel; @@ -23,11 +23,12 @@ public class ActionPointAimingMenu : MonoBehaviour, IMenu { private ActionButton OrientationManualDefaultButton; [SerializeField] - private Button AddOrientationUsingRobotButton; + private Button AddOrientationUsingRobotButton, AddJointsButton, UpdatePositionUsingRobotBtn; - public DropdownParameter PositionRobotsList, JointsRobotsList, PositionEndEffectorList; + [SerializeField] + private TooltipContent UpdatePositionUsingRobotTooltip, AddOrientationUsingRobotTooltip, AddJointsTooltip; - public GameObject OrientationsDynamicList, JointsDynamicList; + public DropdownParameter PositionRobotsList, JointsRobotsList, PositionEndEffectorList; [SerializeField] private ConfirmationDialog confirmationDialog; @@ -54,19 +55,30 @@ private void Start() { WebsocketManager.Instance.OnActionPointBaseUpdated += OnActionPointBaseUpdated; // TODO: subscribe only when menu is opened - WebsocketManager.Instance.OnActionPointOrientationAdded += OnActionPointOrientationAdded; - WebsocketManager.Instance.OnActionPointOrientationBaseUpdated += OnActionPointOrientationBaseUpdated; - WebsocketManager.Instance.OnActionPointOrientationRemoved += OnActionPointOrientationRemoved; + ProjectManager.Instance.OnActionPointOrientationAdded += OnActionPointOrientationAdded; + ProjectManager.Instance.OnActionPointOrientationBaseUpdated += OnActionPointOrientationBaseUpdated; + ProjectManager.Instance.OnActionPointOrientationRemoved += OnActionPointOrientationRemoved; WebsocketManager.Instance.OnActionPointJointsAdded += OnActionPointJointsAdded; WebsocketManager.Instance.OnActionPointJointsBaseUpdated += OnActionPointJointsBaseUpdated; + WebsocketManager.Instance.OnActionPointJointsUpdated += OnActionPointJointsUpdated; WebsocketManager.Instance.OnActionPointJointsRemoved += OnActionPointJointsRemoved; } + private void OnActionPointJointsUpdated(object sender, RobotJointsEventArgs args) { + try { + ActionButton btn = GetButton(args.Data.Id, JointsDynamicList); + btn.GetComponentInParent().State = args.Data.IsValid; + } catch (ItemNotFoundException) { + // not currently opened action point + } + } + private void OnActionPointBaseUpdated(object sender, BareActionPointEventArgs args) { if (CurrentActionPoint == null || args.ActionPoint.Id != CurrentActionPoint.GetId()) return; PositionManualEdit.SetPosition(args.ActionPoint.Position); + UpdateJointsDynamicList((string) JointsRobotsList.GetValue()); //because of possible invalidation of joints } private void OnActionPointJointsRemoved(object sender, StringEventArgs args) { @@ -93,7 +105,9 @@ private void OnActionPointJointsAdded(object sender, RobotJointsEventArgs args) if (args.ActionPointId != CurrentActionPoint.GetId()) return; if (SceneManager.Instance.GetRobot(args.Data.RobotId).GetName() == (string) JointsRobotsList.GetValue()) { - CreateBtn(JointsDynamicList.transform, args.Data.Id, args.Data.Name, () => OpenDetailMenu(args.Data)).Highlight(2f); + var btn = CreateJointsButton(JointsDynamicList.transform, args.Data.Id, args.Data.Name, () => OpenDetailMenu(args.Data)); + btn.State = args.Data.IsValid; + btn.GetComponentInChildren().Highlight(2f); } } @@ -115,23 +129,22 @@ private void OnActionPointOrientationBaseUpdated(object sender, ActionPointOrien btn.SetLabel(args.Data.Name); } catch (KeyNotFoundException) { // not currently opened action point - } + } } private void OnActionPointOrientationAdded(object sender, ActionPointOrientationEventArgs args) { if (CurrentActionPoint.Data.Id == args.ActionPointId) { - CreateBtn(OrientationsDynamicList.transform, args.Data.Id, args.Data.Name, () => OpenDetailMenu(args.Data)).Highlight(2f); + CreateOrientationBtn(args.Data); UpdateOrientationsListLabel(); } } private void OnActionPointUpdated(object sender, ProjectActionPointEventArgs args) { if (CurrentActionPoint == null || args.ActionPoint.Id != CurrentActionPoint.GetId()) - return; ActionPointName.text = args.ActionPoint.Name; } - + public async void UpdateMenu() { ActionPointName.text = CurrentActionPoint.Data.Name; @@ -139,31 +152,68 @@ public async void UpdateMenu() { positionRobotsListDropdown.dropdownItems.Clear(); await PositionRobotsList.gameObject.GetComponent().Init(OnRobotChanged, true); if (!SceneManager.Instance.SceneStarted || positionRobotsListDropdown.dropdownItems.Count == 0) { - PositionBlock.SetActive(GameManager.Instance.ExpertMode); - PositionExpertModeBlock.SetActive(GameManager.Instance.ExpertMode); - PositionLiteModeBlock.SetActive(false); + PositionRobotsList.gameObject.SetActive(false); + PositionEndEffectorList.gameObject.SetActive(false); + UpdatePositionUsingRobotBtn.interactable = false; AddOrientationUsingRobotButton.interactable = false; } else { - PositionBlock.SetActive(true); - PositionExpertModeBlock.SetActive(GameManager.Instance.ExpertMode); - PositionLiteModeBlock.SetActive(true); - OnRobotChanged((string) PositionRobotsList.GetValue()); + PositionRobotsList.gameObject.SetActive(true); + PositionEndEffectorList.gameObject.SetActive(true); + UpdatePositionUsingRobotBtn.interactable = true; AddOrientationUsingRobotButton.interactable = true; + OnRobotChanged((string) PositionRobotsList.GetValue()); } + PositionExpertModeBlock.SetActive(GameManager.Instance.ExpertMode); PositionManualEdit.SetPosition(CurrentActionPoint.Data.Position); JointsRobotsList.Dropdown.dropdownItems.Clear(); await JointsRobotsList.gameObject.GetComponent().Init(UpdateJointsDynamicList, false); - if (SceneManager.Instance.SceneStarted && JointsRobotsList.Dropdown.dropdownItems.Count > 0) { - JointsBlock.SetActive(true); + if (JointsRobotsList.Dropdown.dropdownItems.Count > 0) { + JointsRobotsList.gameObject.SetActive(true); + JointsDynamicList.SetActive(true); UpdateJointsDynamicList((string) JointsRobotsList.GetValue()); } else { - JointsBlock.SetActive(false); + JointsRobotsList.gameObject.SetActive(false); + JointsDynamicList.SetActive(false); + } + if (SceneManager.Instance.SceneStarted) { + AddJointsButton.interactable = true; + } else { + AddJointsButton.interactable = false; } UpdateOrientationsDynamicList(); + UpdateTooltips(); + } + + private void UpdateTooltips() { + const string noRobot = "There is no robot in the scene"; + const string sceneNotStarted = "To add using robot, start the scene"; + + if (!SceneManager.Instance.RobotInScene()) { + UpdatePositionUsingRobotTooltip.description = noRobot; + AddOrientationUsingRobotTooltip.description = noRobot; + AddJointsTooltip.description = noRobot; + UpdatePositionUsingRobotTooltip.enabled = true; + AddOrientationUsingRobotTooltip.enabled = true; + AddJointsTooltip.enabled = true; + JointsListLabel.text = "To show joints list, add a robot to the scene"; + } else if (!SceneManager.Instance.SceneStarted) { + UpdatePositionUsingRobotTooltip.description = "To update using robot, start the scene"; + AddOrientationUsingRobotTooltip.description = sceneNotStarted; + AddJointsTooltip.description = sceneNotStarted; + UpdatePositionUsingRobotTooltip.enabled = true; + AddOrientationUsingRobotTooltip.enabled = true; + AddJointsTooltip.enabled = true; + JointsListLabel.text = "List of joints:"; + } else { + UpdatePositionUsingRobotTooltip.enabled = false; + AddOrientationUsingRobotTooltip.enabled = false; + AddJointsTooltip.enabled = false; + JointsListLabel.text = "List of joints:"; + } } private async void OnRobotChanged(string robot_name) { @@ -202,7 +252,7 @@ private async void UpdateActionPointPosition(Position position = null) { await WebsocketManager.Instance.UpdateActionPointUsingRobot(CurrentActionPoint.GetId(), robotId, endEffectorId); confirmationDialog.Close(); } - + Notifications.Instance.ShowToastMessage("Position updated successfully"); } catch (RequestFailedException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Update position failed", ex.Message); @@ -241,29 +291,37 @@ public void UpdateOrientationsDynamicList() { } } foreach (IO.Swagger.Model.NamedOrientation orientation in CurrentActionPoint.GetNamedOrientations()) { - ActionButton orientationButton = CreateBtn(OrientationsDynamicList.transform, orientation.Id, orientation.Name, () => OpenDetailMenu(orientation)); - - // Add EventTrigger OnPointerEnter and OnPointerExit - to be able to highlight corresponding orientation when hovering over button - OutlineOnClick orientationOutline = CurrentActionPoint.GetOrientationVisual(orientation.Id).GetComponent(); - EventTrigger eventTrigger = orientationButton.gameObject.AddComponent(); - // Create OnPointerEnter entry - EventTrigger.Entry onPointerEnter = new EventTrigger.Entry { - eventID = EventTriggerType.PointerEnter - }; - onPointerEnter.callback.AddListener((eventData) => orientationOutline.Highlight()); - eventTrigger.triggers.Add(onPointerEnter); - - // Create OnPointerExit entry - EventTrigger.Entry onPointerExit = new EventTrigger.Entry { - eventID = EventTriggerType.PointerExit - }; - onPointerExit.callback.AddListener((eventData) => orientationOutline.UnHighlight()); - eventTrigger.triggers.Add(onPointerExit); + CreateOrientationBtn(orientation); } UpdateOrientationsListLabel(); } + /// + /// Creates button in orientations dynamic list with orientation's arrow highlight on hover + /// + /// + private void CreateOrientationBtn(NamedOrientation orientation) { + ActionButton orientationButton = CreateBtn(OrientationsDynamicList.transform, orientation.Id, orientation.Name, () => OpenDetailMenu(orientation)); + + // Add EventTrigger OnPointerEnter and OnPointerExit - to be able to highlight corresponding orientation when hovering over button + OutlineOnClick orientationOutline = CurrentActionPoint.GetOrientationVisual(orientation.Id).GetComponent(); + EventTrigger eventTrigger = orientationButton.gameObject.AddComponent(); + // Create OnPointerEnter entry + EventTrigger.Entry onPointerEnter = new EventTrigger.Entry { + eventID = EventTriggerType.PointerEnter + }; + onPointerEnter.callback.AddListener((eventData) => orientationOutline.Highlight()); + eventTrigger.triggers.Add(onPointerEnter); + + // Create OnPointerExit entry + EventTrigger.Entry onPointerExit = new EventTrigger.Entry { + eventID = EventTriggerType.PointerExit + }; + onPointerExit.callback.AddListener((eventData) => orientationOutline.UnHighlight()); + eventTrigger.triggers.Add(onPointerExit); + } + private ActionButton GetButton(string id, GameObject parent) { foreach (ActionButton ab in parent.GetComponentsInChildren()) { if (ab.ObjectId == id) { @@ -279,7 +337,7 @@ private ActionButton GetButton(string id, GameObject parent) { /// /// private bool ContainActiveButton(Transform parent) { - foreach (ActionButton ab in OrientationsDynamicList.GetComponentsInChildren()) { + foreach (ActionButton ab in parent.GetComponentsInChildren()) { if (ab.gameObject.activeSelf) { return true; } @@ -287,8 +345,19 @@ private bool ContainActiveButton(Transform parent) { return false; } + private ServiceButton CreateJointsButton(Transform parent, string objectId, string label, UnityAction callback) { + ServiceButton serviceBtn = Instantiate(Base.GameManager.Instance.ServiceButtonPrefab, parent).GetComponent(); + var btn = serviceBtn.GetComponentInChildren(); + btn.transform.localScale = new Vector3(1, 1, 1); + btn.SetLabel(label); + btn.ObjectId = objectId; + btn.Button.onClick.AddListener(callback); + return serviceBtn; + } + private ActionButton CreateBtn(Transform parent, string objectId, string label, UnityAction callback) { - ActionButton btn = Instantiate(Base.GameManager.Instance.ButtonPrefab, parent).GetComponent(); + ActionButton btn; + btn = Instantiate(Base.GameManager.Instance.ButtonPrefab, parent).GetComponent(); btn.transform.localScale = new Vector3(1, 1, 1); btn.SetLabel(label); btn.ObjectId = objectId; @@ -320,7 +389,7 @@ public void UpdateJointsDynamicList(string robotName) { System.Collections.Generic.List joints = CurrentActionPoint.GetAllJoints(true, robotId).Values.ToList(); foreach (IO.Swagger.Model.ProjectRobotJoints joint in joints) { - CreateBtn(JointsDynamicList.transform, joint.Id, joint.Name, () => OpenDetailMenu(joint)); + CreateJointsButton(JointsDynamicList.transform, joint.Id, joint.Name, () => OpenDetailMenu(joint)).State = joint.IsValid; } } catch (ItemNotFoundException ex) { Debug.LogError(ex); @@ -364,6 +433,7 @@ public async void AddDefaultOrientation() { try { name = CurrentActionPoint.GetFreeOrientationName(); await WebsocketManager.Instance.AddActionPointOrientation(CurrentActionPoint.Data.Id, new Orientation(), name); + Notifications.Instance.ShowToastMessage("Orientation added successfully"); } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Failed to add new orientation", ex.Message); } diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddJointsMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddJointsMenu.cs index e7db395c2..8af293f4c 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddJointsMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddJointsMenu.cs @@ -75,6 +75,7 @@ public async void AddJoints() { Debug.Assert(CurrentActionPoint != null); try { await Base.WebsocketManager.Instance.AddActionPointJoints(CurrentActionPoint.Data.Id, robot.GetId(), name); + Notifications.Instance.ShowToastMessage("Joints added successfully"); } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Failed to add joints", ex.Message); return; diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddOrientationMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddOrientationMenu.cs index f602f7b7a..18e2639c1 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddOrientationMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/AddOrientationMenu.cs @@ -109,7 +109,7 @@ public async void AddOrientation() { await WebsocketManager.Instance.AddActionPointOrientationUsingRobot(CurrentActionPoint.Data.Id, robotId, (string) EndEffectorList.GetValue(), name); } Close(); //close add menu - + Notifications.Instance.ShowToastMessage("Orientation added successfully"); } catch (ItemNotFoundException ex) { Notifications.Instance.ShowNotification("Failed to add new orientation", ex.Message); } catch (RequestFailedException ex) { diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs index 5ca8a4a9c..572e30735 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs @@ -12,17 +12,17 @@ public class OrientationJointsDetailMenu : MonoBehaviour, IMenu { public Base.ActionPoint CurrentActionPoint; - public GameObject OrientationBlock, OrientationExpertModeBlock, JointsBlock, JointsExpertModeBlock, MoveHereBlock; + public GameObject OrientationBlock, OrientationExpertModeBlock, JointsBlock, JointsExpertModeBlock, InvalidJointsLabel; public OrientationManualEdit OrientationManualEdit; public Slider SpeedSlider; [SerializeField] - private TooltipContent updateButtonTooltip, manualOrientationEditTooltip, manualJointsEditTooltip; + private TooltipContent updateButtonTooltip, manualOrientationEditTooltip, manualJointsEditTooltip, moveRobotTooltip, moveModelTooltip; [SerializeField] - private Button UpdateButton, ManualOrientationEditButton, ManualJointsEditButton; + private Button UpdateButton, ManualOrientationEditButton, moveRobotButton, moveModelButton; [SerializeField] private TMPro.TMP_InputField DetailName; //name of current orientation/joints @@ -69,31 +69,56 @@ public async void UpdateMenu() { RobotsList.Dropdown.dropdownItems.Clear(); await RobotsList.gameObject.GetComponent().Init(OnRobotChanged, true); - if (RobotsList.Dropdown.dropdownItems.Count > 0) { - OrientationBlock.SetActive(true); - MoveHereBlock.SetActive(true); - - UpdateButton.interactable = true; - updateButtonTooltip.enabled = false; + if (SceneManager.Instance.SceneStarted && SceneManager.Instance.RobotInScene()) { + OrientationBlock.SetActive(true); + EnableButtons(true); OnRobotChanged((string) RobotsList.GetValue()); - } else { + } else if (!SceneManager.Instance.RobotInScene()) { OrientationBlock.SetActive(false); - MoveHereBlock.SetActive(false); updateButtonTooltip.description = "There is no robot to update orientation with"; - updateButtonTooltip.enabled = true; - UpdateButton.interactable = false; + moveRobotTooltip.description = "There is no robot"; + moveModelTooltip.description = moveRobotTooltip.description; + EnableButtons(false); + } else { //scene not started + OrientationBlock.SetActive(false); + + updateButtonTooltip.description = "Scene is not started"; + moveRobotTooltip.description = updateButtonTooltip.description; + moveModelTooltip.description = updateButtonTooltip.description; + EnableButtons(false); } OrientationManualEdit.SetOrientation(orientation.Orientation); ValidateFieldsOrientation(); } else { //joints + if (!SceneManager.Instance.SceneStarted) { + updateButtonTooltip.description = "Scene is not started"; + moveRobotTooltip.description = updateButtonTooltip.description; + moveModelTooltip.description = updateButtonTooltip.description; + EnableButtons(false); + } else { + EnableButtons(true); + } DetailName.text = joints.Name; + InvalidJointsLabel.SetActive(!joints.IsValid); UpdateJointsList(); } } + /// + /// Sets interactibility of buttons and enables/disables tooltips + /// + /// True if buttons should be interactable + private void EnableButtons(bool enable) { + updateButtonTooltip.enabled = !enable; + moveRobotTooltip.enabled = !enable; + moveModelTooltip.enabled = !enable; + UpdateButton.interactable = enable; + moveRobotButton.interactable = enable; + moveModelButton.interactable = enable; + } private async void OnRobotChanged(string robot_name) { EndEffectorList.Dropdown.dropdownItems.Clear(); @@ -121,7 +146,10 @@ public void UpdateJointsList() { foreach (IO.Swagger.Model.Joint joint in joints.Joints) { LabeledInput labeledInput = Instantiate(GameManager.Instance.LabeledFloatInput, JointsDynamicList.transform).GetComponent(); labeledInput.SetLabel(joint.Name, joint.Name); - labeledInput.SetValue(joint.Value); + + NumberFormatInfo numberFormatInfo = new NumberFormatInfo(); + numberFormatInfo.NumberDecimalSeparator = "."; + labeledInput.SetValue(joint.Value.ToString(numberFormatInfo)); } } @@ -134,7 +162,7 @@ public async void OnJointsSaveClick() { } await WebsocketManager.Instance.UpdateActionPointJoints(joints.Id, updatedJoints); - + Notifications.Instance.ShowToastMessage("Joints updated successfully"); } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Joints update failed", ex.Message); return; @@ -147,7 +175,7 @@ public async void OnJointsSaveClick() { public async void OnOrientationSaveClick() { try { await WebsocketManager.Instance.UpdateActionPointOrientation(OrientationManualEdit.GetOrientation(), orientation.Id); - Notifications.Instance.ShowNotification("Orientation updated", ""); + Notifications.Instance.ShowToastMessage("Orientation updated successfully"); } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Failed to update orientation", ex.Message); } @@ -160,6 +188,7 @@ public async void UpdateUsingRobot() { try { string robotId = SceneManager.Instance.RobotNameToId((string) RobotsList.GetValue()); await WebsocketManager.Instance.UpdateActionPointOrientationUsingRobot(robotId, (string) EndEffectorList.GetValue(), orientation.Id); + Notifications.Instance.ShowToastMessage("Orientation updated successfully"); } catch (ItemNotFoundException ex) { Debug.LogError(ex); Notifications.Instance.ShowNotification("Failed update orientation", ex.Message); @@ -171,6 +200,7 @@ public async void UpdateUsingRobot() { { try { await WebsocketManager.Instance.UpdateActionPointJointsUsingRobot(joints.Id); + Notifications.Instance.ShowToastMessage("Joints updated successfully"); } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Failed to update joints", ex.Message); } @@ -229,13 +259,13 @@ public async void Rename() { return; } await WebsocketManager.Instance.RenameActionPointOrientation(orientation.Id, name); - Notifications.Instance.ShowNotification("Orientation renamed successfully", ""); + Notifications.Instance.ShowToastMessage("Orientation renamed successfully"); } else { if (name == joints.Name) { return; } await WebsocketManager.Instance.RenameActionPointJoints(joints.Id, name); - Notifications.Instance.ShowNotification("Joints renamed successfully", ""); + Notifications.Instance.ShowToastMessage("Joints renamed successfully"); } } catch (RequestFailedException ex) { Notifications.Instance.ShowNotification("Failed to rename orientation/joints", ex.Message); diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Sight.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Sight.cs index 0f85f50f0..35875e298 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Sight.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Sight.cs @@ -7,18 +7,35 @@ namespace Base { public class Sight : Singleton { public GameObject CurrentObject; + public System.DateTime HoverStartTime; + + private bool endingHover = false; + private void Update() { RaycastHit hit = new RaycastHit(); if (Physics.Raycast(Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0)), out hit, Mathf.Infinity)) { try { if (CurrentObject == null) { hit.collider.transform.gameObject.SendMessage("OnHoverStart"); + HoverStartTime = System.DateTime.UtcNow; CurrentObject = hit.collider.transform.gameObject; } else { if (!GameObject.ReferenceEquals(hit.collider.transform.gameObject, CurrentObject)) { CurrentObject.SendMessage("OnHoverEnd"); + if (endingHover) { + StopAllCoroutines(); + endingHover = false; + } hit.collider.transform.gameObject.SendMessage("OnHoverStart"); + HoverStartTime = System.DateTime.UtcNow; CurrentObject = hit.collider.transform.gameObject; + } else { + + if (endingHover) { + StopAllCoroutines(); + endingHover = false; + HoverStartTime = System.DateTime.UtcNow; + } } } } catch (Exception e) { @@ -26,12 +43,22 @@ private void Update() { } } else { if (CurrentObject != null) { - CurrentObject.SendMessage("OnHoverEnd"); - CurrentObject = null; + if (!endingHover) + StartCoroutine(HoverEnd()); } } } + private IEnumerator HoverEnd() { + endingHover = true; + yield return new WaitForSeconds((float) (0.5d - (System.DateTime.UtcNow - HoverStartTime).TotalSeconds)); + if (CurrentObject != null) { + CurrentObject.SendMessage("OnHoverEnd"); + CurrentObject = null; + } + endingHover = false; + } + public void Touch() { if (CurrentObject == null) return; diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/InputHandler.cs b/arcor2_AREditor/Assets/TABLET/Scripts/InputHandler.cs index dab18d618..85956a315 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/InputHandler.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/InputHandler.cs @@ -23,6 +23,10 @@ public class InputHandler : Singleton { private GameObject hoveredObject; + public System.DateTime HoverStartTime; + + private bool endingHover = false; + private void Update() { #if (UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR HandleTouch(); @@ -67,41 +71,59 @@ private void TryToRaycast(Clickable.Click clickType) { if (!EventSystem.current.IsPointerOverGameObject()) { RaycastHit hit = new RaycastHit(); if (Physics.Raycast(Camera.main.ScreenPointToRay(Input.mousePosition), out hit, Mathf.Infinity, LayerMask)) { - // try { - if (clickType == Clickable.Click.MOUSE_HOVER) { - if (EventSystem.current.IsPointerOverGameObject()) { - return; - } + // try { + if (clickType == Clickable.Click.MOUSE_HOVER) { + if (EventSystem.current.IsPointerOverGameObject()) { + return; + } - if (hoveredObject == null) { - hit.collider.transform.gameObject.SendMessage("OnHoverStart"); - hoveredObject = hit.collider.transform.gameObject; - } else { - if (!GameObject.ReferenceEquals(hit.collider.transform.gameObject, hoveredObject)) { - hoveredObject.SendMessage("OnHoverEnd"); - hit.collider.transform.gameObject.SendMessage("OnHoverStart"); - hoveredObject = hit.collider.transform.gameObject; - } - } - //} catch (Exception e) { - // Debug.LogError(e); - //} + if (hoveredObject == null) { + hit.collider.transform.gameObject.SendMessage("OnHoverStart"); + HoverStartTime = System.DateTime.UtcNow; + hoveredObject = hit.collider.transform.gameObject; } else { - hit.collider.transform.gameObject.SendMessage("OnClick", clickType); - if (hoveredObject != null) { + if (!GameObject.ReferenceEquals(hit.collider.transform.gameObject, hoveredObject)) { hoveredObject.SendMessage("OnHoverEnd"); - hoveredObject = null; + if (endingHover) { + StopAllCoroutines(); + endingHover = false; + } + hit.collider.transform.gameObject.SendMessage("OnHoverStart"); + HoverStartTime = System.DateTime.UtcNow; + hoveredObject = hit.collider.transform.gameObject; + } else { + + if (endingHover) { + StopAllCoroutines(); + endingHover = false; + HoverStartTime = System.DateTime.UtcNow; + } } - } - // } catch (Exception e) { - // Debug.LogError(e); - // } + //} catch (Exception e) { + // Debug.LogError(e); + //} + } else { + //hit.collider.transform.gameObject.SendMessage("OnClick", clickType); + if (hoveredObject != null) { + hoveredObject.transform.gameObject.SendMessage("OnClick", clickType); + if (!endingHover) + StartCoroutine(HoverEnd()); + + } + + } + // } catch (Exception e) { + // Debug.LogError(e); + // } } else { - OnBlindClick?.Invoke(this, new EventClickArgs(clickType)); + if (hoveredObject != null) { - hoveredObject.SendMessage("OnHoverEnd"); - hoveredObject = null; + hoveredObject.transform.gameObject.SendMessage("OnClick", clickType); + if (!endingHover) + StartCoroutine(HoverEnd()); + } else { + OnBlindClick?.Invoke(this, new EventClickArgs(clickType)); } } @@ -109,6 +131,16 @@ private void TryToRaycast(Clickable.Click clickType) { } } + private IEnumerator HoverEnd() { + endingHover = true; + yield return new WaitForSeconds((float) (0.5d - (System.DateTime.UtcNow - HoverStartTime).TotalSeconds)); + if (hoveredObject != null) { + hoveredObject.SendMessage("OnHoverEnd"); + hoveredObject = null; + } + endingHover = false; + } + private void HandleTouch() { RaycastHit hit = new RaycastHit(); diff --git a/arcor2_AREditor/Assets/Tests/ActionPointAimingMenuTests.cs b/arcor2_AREditor/Assets/Tests/ActionPointAimingMenuTests.cs index 8f5f6ee13..000d49a64 100644 --- a/arcor2_AREditor/Assets/Tests/ActionPointAimingMenuTests.cs +++ b/arcor2_AREditor/Assets/Tests/ActionPointAimingMenuTests.cs @@ -173,6 +173,8 @@ public IEnumerator AimingMenuExpertModeTest() GameManager.Instance.ExpertMode = true; yield return new WaitForSeconds(4); //wait for project to load + WebsocketManager.Instance.StartScene(false); + yield return new WaitForSeconds(apiWaitingTime); actionPoint = ProjectManager.Instance.GetactionpointByName("sph_ap"); actionPoint.OnClick(Clickable.Click.MOUSE_RIGHT_BUTTON); @@ -655,6 +657,8 @@ public IEnumerator JointsDetailMenuExpertModeTest() { [DependencyTest(10)] [Automation("Action point aiming menu tests")] public IEnumerator AimingMenuNoRobotExpertModeTest() { + WebsocketManager.Instance.StopScene(false); + yield return new WaitForSeconds(apiWaitingTime); GameManager.Instance.CloseProject(true); yield return new WaitForSeconds(4); //wait for project to close @@ -667,6 +671,8 @@ public IEnumerator AimingMenuNoRobotExpertModeTest() { } yield return new WaitForSeconds(4); //wait for project to load + WebsocketManager.Instance.StartScene(false); + yield return new WaitForSeconds(apiWaitingTime); GameManager.Instance.ExpertMode = true; currentNumberOfOrientations = 1; //reset counter for the new project @@ -680,11 +686,11 @@ public IEnumerator AimingMenuNoRobotExpertModeTest() { yield return StartCoroutine(Q.assert.IsTrue(positionCollapsable.gameObject.activeSelf, "Position collapsable menu should be active.")); yield return StartCoroutine(Q.assert.IsTrue(orientationCollapsable.gameObject.activeSelf, "Orientations collapsable menu should be active.")); - yield return StartCoroutine(Q.assert.IsTrue(!jointsCollapsable.gameObject.activeSelf, "Joints collapsable menu should not be active.")); + yield return StartCoroutine(Q.assert.IsTrue(jointsCollapsable.gameObject.activeSelf, "Joints collapsable menu should be active.")); //position collapsable menu tests - yield return StartCoroutine(Q.assert.IsTrue(!positionRobotPickBlock.gameObject.activeSelf, "Update robot pick block should not be active")); + yield return StartCoroutine(Q.assert.IsTrue(!positionUpdateUsingRobotBtn.GetComponent