Merge pull request #189 from Kapim/devel

Devel

arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionObjectMenuProjectEditor.cs

@@ -43,7 +43,7 @@ private void OnOverrideAddedOrUpdated(object sender, ParameterEventArgs args) {
     public async void CreateNewAP(string name) {
         Debug.Assert(CurrentObject != null);
 
-        Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentObject.transform, Vector3.one * 0.025f, Quaternion.identity);
+        Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentObject.transform, Vector3.one * 0.1f, Quaternion.identity);
         IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
         bool result = await GameManager.Instance.AddActionPoint(name, CurrentObject.Data.Id, offset);
         if (result)

arcor2_AREditor/Assets/2D_EDITOR/Scripts/ActionPointMenu.cs

@@ -88,7 +88,7 @@ public void ShowAddActionPointDialog() {
     public async void AddAP(string name) {
         Debug.Assert(CurrentActionPoint != null);
 
-        Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentActionPoint.transform, Vector3.one * 0.025f, Quaternion.identity);
+        Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentActionPoint.transform, Vector3.one * 0.1f, Quaternion.identity);
         IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
         bool result = await GameManager.Instance.AddActionPoint(name, CurrentActionPoint.Data.Id, offset);
         if (result)

arcor2_AREditor/Assets/2D_EDITOR/Scripts/ConnectionManagerArcoro.cs

@@ -14,45 +14,39 @@ public class ConnectionManagerArcoro : Base.Singleton<ConnectionManagerArcoro> {
     [SerializeField]
     private Material EnabledMaterial, DisabledMaterial;
 
-    public bool ConnectionsActive = true;
-
     private void Start() {
         virtualPointer = VirtualConnectionOnTouch.Instance.VirtualPointer;
 
-        Base.GameManager.Instance.OnCloseProject += OnCloseProject;
     }
 
 
     public Connection CreateConnection(GameObject o1, GameObject o2) {
-        if (!ConnectionsActive)
-            return null;
-        GameObject c = Instantiate(ConnectionPrefab);
+        Connection c = Instantiate(ConnectionPrefab).GetComponent<Connection>();
         c.transform.SetParent(transform);
         // Set correct targets. Output has to be always at 0 index, because we are connecting output to input.
         // Output has direction to the east, while input has direction to the west.
         if (o1.GetComponent<Base.InputOutput>().GetType() == typeof(Base.PuckOutput)) {
-            c.GetComponent<Connection>().target[0] = o1.GetComponent<RectTransform>();
-            c.GetComponent<Connection>().target[1] = o2.GetComponent<RectTransform>();
+            c.target[0] = o1.GetComponent<RectTransform>();
+            c.target[1] = o2.GetComponent<RectTransform>();
         } else {
-            c.GetComponent<Connection>().target[1] = o1.GetComponent<RectTransform>();
-            c.GetComponent<Connection>().target[0] = o2.GetComponent<RectTransform>();
+            c.target[1] = o1.GetComponent<RectTransform>();
+            c.target[0] = o2.GetComponent<RectTransform>();
         }
-        Connections.Add(c.GetComponent<Connection>());
-        return c.GetComponent<Connection>();
+        Connections.Add(c);
+        if (!ControlBoxManager.Instance.ConnectionsToggle.isOn)
+            c.gameObject.SetActive(false);
+
+        return c;
     }
 
     public void CreateConnectionToPointer(GameObject o) {
-        if (!ConnectionsActive)
-            return;
         if (virtualConnectionToMouse != null)
             Destroy(virtualConnectionToMouse.gameObject);
         VirtualConnectionOnTouch.Instance.DrawVirtualConnection = true;
         virtualConnectionToMouse = CreateConnection(o, virtualPointer);
     }
 
     public void DestroyConnectionToMouse() {
-        if (!ConnectionsActive)
-            return;
         Destroy(virtualConnectionToMouse.gameObject);
         Connections.Remove(virtualConnectionToMouse);
         VirtualConnectionOnTouch.Instance.DrawVirtualConnection = false;
@@ -133,7 +127,7 @@ public async Task<bool> ValidateConnection(InputOutput output, InputOutput input
         return true;
     }
 
-    private void OnCloseProject(object sender, EventArgs e) {
+    public void Clear() {
         foreach (Connection c in Connections) {
             if (c != null && c.gameObject != null) {
                 Destroy(c.gameObject);
@@ -146,7 +140,6 @@ public void DisplayConnections(bool active) {
         foreach (Connection connection in Connections) {
             connection.gameObject.SetActive(active);
         }
-        ConnectionsActive = active;
     }
 
     public void DisableConnectionToMouse() {

arcor2_AREditor/Assets/2D_EDITOR/Scripts/actions/ActionObject2D.cs

@@ -83,7 +83,7 @@ public override void InitActionObject(string id, string type, Vector3 position,
         throw new System.NotImplementedException();
     }
 
-    public override void SetVisibility(float value) {
+    public override void SetVisibility(float value, bool forceShaderChange = false) {
         throw new System.NotImplementedException();
     }
 

arcor2_AREditor/Assets/BASE/Scripts/ActionObject.cs

@@ -182,8 +182,8 @@ public void RemoveActionPoints() {
         }
 
 
-        public virtual void SetVisibility(float value) {
-            Debug.Assert(value >= 0 && value <= 1, "Action object: " + Data.Id + " SetVisibility(" + value.ToString() + ")");
+        public virtual void SetVisibility(float value, bool forceShaderChange = false) {
+            //Debug.Assert(value >= 0 && value <= 1, "Action object: " + Data.Id + " SetVisibility(" + value.ToString() + ")");
             visibility = value;
             PlayerPrefsHelper.SaveFloat(SceneManager.Instance.SceneMeta.Id + "/ActionObject/" + Data.Id + "/visibility", value);
         }

arcor2_AREditor/Assets/BASE/Scripts/ControlBoxManager.cs

@@ -173,7 +173,7 @@ public void ShowCreateGlobalActionPointDialog() {
     }
 
     public async void CreateGlobalActionPoint(string name) {
-       Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, Vector3.one * 0.025f, Quaternion.identity);
+       Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, Vector3.one * 0.1f, Quaternion.identity);
         IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint)); 
 
         bool result = await GameManager.Instance.AddActionPoint(name, "", offset);

arcor2_AREditor/Assets/BASE/Scripts/InputOutput.cs

@@ -28,12 +28,13 @@ public LogicItem GetLogicItem() {
         }
 
         public override async void OnClick(Click type) {
+            if (!ControlBoxManager.Instance.ConnectionsToggle.isOn) {
+                Notifications.Instance.ShowNotification("Cannot manipulate connections", "When connections are disabled, they cannot be manipulated");
+                return;
+            }
             if (GameManager.Instance.GetEditorState() != GameManager.EditorStateEnum.Normal) {
                 //return;
             }
-            if (!ConnectionManagerArcoro.Instance.ConnectionsActive) {
-                return;
-            }
             if (GameManager.Instance.GetGameState() != GameManager.GameStateEnum.ProjectEditor) {
                 Notifications.Instance.ShowNotification("Not allowed", "Editation of connections only allowed in project editor");
                 return;

arcor2_AREditor/Assets/BASE/Scripts/Interfaces/IRobot.cs

@@ -17,4 +17,7 @@ public interface IRobot
     void SetJointValue(string name, float angle, bool angle_in_degrees = false);
 
     List<IO.Swagger.Model.Joint> GetJoints();
+
+    void SetGrey(bool grey);
+
 }

arcor2_AREditor/Assets/BASE/Scripts/Parameter.cs

@@ -258,7 +258,6 @@ public static GameObject InitializeJointsParameter(ParameterMetadata actionParam
             foreach (Base.ActionPoint ap in Base.ProjectManager.Instance.GetAllActionPoints()) {
                 foreach (IO.Swagger.Model.ProjectRobotJoints joints in ap.GetAllJoints(false, null, false).Values) {
                     string prefix = "";
-                    Debug.LogError(joints.RobotId + " - " + actionProviderId);
                     if (joints.RobotId != actionProviderId)
                         prefix = "(another robot) ";
                     else if (!joints.IsValid) {

arcor2_AREditor/Assets/BASE/Scripts/Parameters/SwitchComponent.cs

@@ -4,6 +4,7 @@
 using UnityEngine.UI;
 using Michsky.UI.ModernUIPack;
 using UnityEngine.Events;
+using UnityEngine.Analytics;
 
 public class SwitchComponent : MonoBehaviour, IParameter
 {
@@ -61,7 +62,10 @@ public void SetDarkMode(bool dark) {
     }
 
     public void AddOnValueChangedListener(UnityAction<bool> callback) {
+        Switch.OnEvents.RemoveAllListeners();
         Switch.OnEvents.AddListener(OnChange);
+        Switch.OffEvents.RemoveAllListeners();
+        Switch.OffEvents.AddListener(OnChange);
         onChangeCallback = callback;
     }
 

arcor2_AREditor/Assets/BASE/Scripts/ProjectManager.cs

@@ -315,7 +315,6 @@ public async Task<bool> CreateProject(IO.Swagger.Model.Project project, bool all
                 foreach (IO.Swagger.Model.Parameter p in objectOverrides.Parameters) {
                     if (actionObject.TryGetParameterMetadata(p.Name, out ParameterMeta meta)) {
                         Parameter parameter = new Parameter(meta, p.Value);
-                        Debug.LogError(parameter);
                         actionObject.Overrides[p.Name] = parameter;
                     }
 
@@ -355,6 +354,8 @@ public bool DestroyProject() {
                 EndAction = null;
             }
             ActionPoints.Clear();
+            ConnectionManagerArcoro.Instance.Clear();
+            LogicItems.Clear();
             return true;
         }
 
@@ -367,9 +368,9 @@ private void UpdateLogicItems(List<IO.Swagger.Model.LogicItem> logic) {
                 if (!LogicItems.TryGetValue(projectLogicItem.Id, out LogicItem logicItem)) {
                     logicItem = new LogicItem(projectLogicItem);
                     LogicItems.Add(logicItem.Data.Id, logicItem);
+                } else {
+                    logicItem.UpdateConnection(projectLogicItem);
                 }
-                logicItem.UpdateConnection(projectLogicItem);
-
             }
         }
 

arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs

@@ -285,12 +285,18 @@ private void OnSceneState(object sender, SceneStateEventArgs args) {
                         Notifications.Instance.ShowNotification("Scene service failed", args.Event.Message);
                     }
                     OnHideRobotsEE?.Invoke(this, EventArgs.Empty);
+                    foreach (IRobot robot in GetRobots()) {
+                        robot.SetGrey(true);
+                    }
                     break;
                 case SceneStateData.StateEnum.Started:
                     SceneStarted = true;
                     if (RobotsEEVisible)
                         OnShowRobotsEE?.Invoke(this, EventArgs.Empty);
                     RegisterRobotsForEvent(true, RegisterForRobotEventRequestArgs.WhatEnum.Joints);
+                    foreach (IRobot robot in GetRobots()) {
+                        robot.SetGrey(false);
+                    }
                     GameManager.Instance.HideLoadingScreen();
                     break;
                 case SceneStateData.StateEnum.Stopped:
@@ -302,6 +308,10 @@ private void OnSceneState(object sender, SceneStateEventArgs args) {
             OnSceneStateEvent?.Invoke(this, args);
         }
 
+        private void InitScene() {
+
+        }
+
         /// <summary>
         /// Register or unregister to/from subsription of joints or end effectors pose of each robot in the scene.
         /// </summary>
@@ -462,15 +472,15 @@ public Vector3 GetCollisionFreePointAbove(Transform transform, Vector3 bbSize, Q
             tmpGo.transform.localPosition = Vector3.zero;
             tmpGo.transform.localRotation = Quaternion.identity;
 
-            Collider[] colliders = Physics.OverlapBox(transform.position, bbSize / 2, orientation);   //OverlapSphere(tmpGo.transform.position, 0.025f);
+            Collider[] colliders = Physics.OverlapBox(transform.position, bbSize, orientation);   //OverlapSphere(tmpGo.transform.position, 0.025f);
 
             // to avoid infinite loop
             int i = 0;
             while (colliders.Length > 0 && i < 40) {
                 Collider collider = colliders[0];
                 // TODO - depends on the rotation between detected marker and original position of camera, height of collision free point above will be slightly different
                 // How to solve this?
-                tmpGo.transform.Translate(new Vector3(0, collider.bounds.extents.y + 0.05f, 0), SceneOrigin.transform);
+                tmpGo.transform.Translate(new Vector3(0, collider.bounds.extents.y, 0), SceneOrigin.transform);
                 colliders = Physics.OverlapBox(tmpGo.transform.position, bbSize / 2, orientation);
                 ++i;
             }
@@ -494,6 +504,7 @@ public ActionObject SpawnActionObject(string id, string type, CollisionModels cu
             if (aom.Robot) {
                 //Debug.Log("URDF: spawning RobotActionObject");
                 obj = Instantiate(RobotPrefab, ActionObjectsSpawn.transform);
+
             } else {
                 obj = Instantiate(ActionObjectPrefab, ActionObjectsSpawn.transform);
             }