Merge pull request #232 from Kapim/devel

Release

Author: Kapim

arcor2_AREditor/Assets/BASE/Scripts/GameManager.cs

@@ -201,7 +201,7 @@ public class GameManager : Singleton<GameManager> {
         /// <summary>
         /// Api version
         /// </summary>        
-        public const string ApiVersion = "0.18.0";
+        public const string ApiVersion = "0.19.0";
         /// <summary>
         /// List of projects metadata
         /// </summary>

arcor2_AREditor/Assets/BASE/Scripts/Swagger/IO.Swagger.dll

@@ -157,9 +157,9 @@ public async void ConnectToServer(string domain, int port) {
 
             GameManager.Instance.ConnectionStatus = GameManager.ConnectionStatusEnum.Connecting;
             try {
-                APIDomainWS = GetWSURI(domain, port);
+                APIDomainWS = GetWSURI(domain.Trim(), port);
                 websocket = new WebSocket(APIDomainWS);
-                serverDomain = domain;
+                serverDomain = domain.Trim();
 
                 websocket.OnOpen += OnConnected;
                 websocket.OnError += OnError;

arcor2_AREditor/Assets/BASE/Scripts/WebsocketManager.cs

@@ -159,7 +159,7 @@ MonoBehaviour:
     position: 0
     weight: 0.1
   - color: {r: 1, g: 1, b: 1, a: 1}
-    direction: 2
+    direction: 0
     position: 0
     weight: 0.1
   resolution: 20

arcor2_AREditor/Assets/TABLET/Prefabs/ConnectionPrefab.prefab

@@ -115,15 +115,37 @@ private void ClearMenu() {
     }
 
     private RequestResult CheckActionParameters(Base.ActionMetadata actionMetadata) {
+        //TODO - otestovat
         RequestResult result = new RequestResult(true);
         bool poseError = false, jointsError = false, dynamicValueError = false;
         bool anyOrientation = ProjectManager.Instance.AnyOrientationInTheProject();
         bool anyJoints = ProjectManager.Instance.AnyJointsInTheProject();
         foreach (ParameterMetadata param in actionMetadata.ParametersMetadata.Values) {
-            if (!poseError && param.Type == ParameterMetadata.POSE && !anyOrientation) {
-                result.Success = false;
-                result.Message += "(there is no available orientation in the project and this action requires it)\n";
-                poseError = true;
+            
+            if (!poseError && param.Type == ParameterMetadata.POSE) {
+                int poseParemetersCount = 0;
+                if (anyOrientation) {
+                    foreach (ParameterMetadata parameter in actionMetadata.ParametersMetadata.Values) {
+                        if (parameter.Type == ParameterMetadata.POSE) {
+                            if (++poseParemetersCount > 1) {
+                                break;
+                            }
+
+                        }
+                    }
+                }
+                
+                if (poseParemetersCount == 1 && !currentActionPoint.AnyOrientation()) {
+                    result.Success = false;
+                    result.Message += "(there is no available orientation in the selected AP and this action requires it)\n";
+                    poseError = true;
+                } else if (!anyOrientation) {
+                    result.Success = false;
+                    result.Message += "(there is no available orientation in the project and this action requires it)\n";
+                    poseError = true;
+                }
+
+                
             }
             if (!jointsError && param.Type == ParameterMetadata.JOINTS && !anyJoints) {
                 result.Success = false;

arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionPickerMenu.cs

@@ -305,7 +305,7 @@ private void OnDestroy() {
     }
 
     public void SetProjectServiceURI(string uri) {
-        PlayerPrefsHelper.SaveString("ProjectServiceURI", uri);
+        PlayerPrefsHelper.SaveString("ProjectServiceURI", uri.Trim());
         ResetProjectServiceURIButton.SetInteractivity(true);
     }
 

arcor2_AREditor/Assets/TABLET/Scripts/GUI/MainSettingsMenu.cs

@@ -25,6 +25,10 @@ private void Awake() {
             GameManager.Instance.OnEditorStateChanged += OnEditorStateChanged;
         }
 
+        private void Start() {
+            InvokeRepeating("UpdateSight", 0.1f, 0.1f);
+        }
+
         private void OnEditorStateChanged(object sender, EditorStateEventArgs args) {
             switch (args.Data) {
                 case GameManager.EditorStateEnum.Normal:
@@ -36,22 +40,10 @@ private void OnEditorStateChanged(object sender, EditorStateEventArgs args) {
                     break;
             }
         }
-        private void Update() {
+
+        private void UpdateSight() {
             Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f));
-            if (SelectedGizmoAxis?.GetInvocationList().Length > 0) {
-                RaycastHit[] hits = Physics.RaycastAll(ray.origin, ray.direction);
-                foreach (RaycastHit hit in hits) {
-                    if (hit.collider.gameObject.CompareTag("gizmo_x")) {
-                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.X));
-                    } else if (hit.collider.gameObject.CompareTag("gizmo_y")) {
-                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.Y));
-                    } else if(hit.collider.gameObject.CompareTag("gizmo_z")) {
-                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.Z));
-                    }
-                }
-            }
             if (SelectorMenu.Instance.CanvasGroup.alpha > 0 && SelectorMenu.Instance.gameObject.activeSelf) {
-                
 
                 RaycastHit hitinfo = new RaycastHit();
                 bool anyHit = false, directHit = false;
@@ -122,8 +114,8 @@ private void Update() {
                     }
                     if (h) {
                         items.Sort((x, y) => x.Item1.CompareTo(y.Item1));
-                       /* if (items.Count > 10)
-                            items.RemoveRange(10, items.Count - 10);*/
+                        /* if (items.Count > 10)
+                             items.RemoveRange(10, items.Count - 10);*/
                         SelectorMenu.Instance.UpdateAimMenu(items);
                     } else {
                         SelectorMenu.Instance.UpdateAimMenu(new List<Tuple<float, InteractiveObject>>());
@@ -133,221 +125,24 @@ private void Update() {
                 }
 
             }
+        } 
 
-            //if (SelectorMenu.Instance.Active) {
-            /* if (SelectorMenu.Instance.CanvasGroup.alpha > 0 && SelectorMenu.Instance.gameObject.activeSelf) {
-
-             //if (Physics.Raycast(Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0)), out hit, Mathf.Infinity)) {
-                 Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f));
-
-                 RaycastHit hitinfo = new RaycastHit();
-                 bool anyHit = false, directHit = false;
-                 if (Physics.Raycast(ray, out RaycastHit hit)) {
-                     hitinfo = hit;
-                     anyHit = true;
-                     directHit = true;
-                     //Debug.DrawRay(ray.origin, ray.direction);
-                 } else {
-                     RaycastHit[] hits = Physics.BoxCastAll(ray.origin, new Vector3(0.03f, 0.03f, 0.0001f), ray.direction, Camera.main.transform.rotation);
-                     if (hits.Length > 0) {
-
-                         float minDist = float.MaxValue;
-                         foreach (RaycastHit h in hits) {
-                             Vector3 dir = ray.direction;
-
-                             Vector3 point = ray.origin + dir * Vector3.Distance(ray.origin, h.point);
-                             float dist = Vector3.Distance(point, h.collider.ClosestPointOnBounds(point));
-                             Debug.DrawLine(point, h.point);
-                             Debug.DrawRay(ray.origin, ray.direction);
-                             if (dist < minDist) {
-                                 hitinfo = h;
-                                 anyHit = true;
-                                 minDist = dist;
-                             }
-                         }
-                     }
-                 }
-                 if (anyHit) {
-                     Vector3 lhs = hitinfo.point - ray.origin;
-
-                     float dotP = Vector3.Dot(lhs, ray.direction.normalized);
-                     Vector3 point = ray.origin + ray.direction.normalized * dotP;
-                     List<Tuple<float, InteractiveObject>> items = new List<Tuple<float, InteractiveObject>>();
-                     bool h = false;
-                     foreach (SelectorItem item in SelectorMenu.Instance.SelectorItems.Values) {
-                         if (!item.InteractiveObject.Enabled)
-                             continue;
-                         try {
-                             if (item.InteractiveObject == null) {
-                                 continue;
-
-                             }
-                             float dist = item.InteractiveObject.GetDistance(hitinfo.point);
-
-                             foreach (Collider c in item.InteractiveObject.Colliders) {
-
-                                 if (c == hitinfo.collider) {
-                                     dist = 0;
-                                     h = true;
-                                 }
-
-                             }
-
-
-                             if (item.InteractiveObject is ActionObjectNoPose || dist > 0.2) { // add objects max 20cm away from point of impact 
-
-                                 Debug.DrawLine(ray.origin, hitinfo.point);
-                                 continue;
-                             }
-
-                             items.Add(new Tuple<float, InteractiveObject>(dist, item.InteractiveObject));
-                         } catch (MissingReferenceException ex) {
-                             Debug.LogError(ex);
-                             Debug.LogError($"{item.InteractiveObject.GetName()}: {hitinfo.collider.name}");
-                         }
-                     }
-                     if (h) {
-                         items.Sort((x, y) => x.Item1.CompareTo(y.Item1));
-                         SelectorMenu.Instance.UpdateAimMenu(items);
-                     } else {
-                         SelectorMenu.Instance.UpdateAimMenu(new List<Tuple<float, InteractiveObject>>());
-                     }
-                 } else {
-                     SelectorMenu.Instance.UpdateAimMenu(new List<Tuple<float, InteractiveObject>>());
-                 }
-
-             } 
-             */
-
-            /*if (SelectorMenu.Instance.CanvasGroup.alpha == 0 || !SelectorMenu.Instance.gameObject.activeSelf)
-                return;
-            //if (Physics.Raycast(Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0)), out hit, Mathf.Infinity)) {
+        private void FixedUpdate() {
             Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f));
-
-            RaycastHit hitinfo = new RaycastHit();
-            bool anyHit = false;
-            if (Physics.Raycast(ray, out RaycastHit hit)) {
-                hitinfo = hit;
-                anyHit = true;
-            } else {
-                RaycastHit[] hits = Physics.BoxCastAll(ray.origin, new Vector3(0.03f, 0.03f, 0.0001f), ray.direction, Camera.main.transform.rotation);
-                if (hits.Length > 0) {
-                    float minDist = float.MaxValue;
-                    foreach (RaycastHit h in hits) {
-                        Vector3 dir = ray.direction;
-
-                        Vector3 point = ray.origin + dir * Vector3.Distance(ray.origin, h.point);
-                        float dist = Vector3.Distance(point, h.collider.ClosestPointOnBounds(point));
-                        Debug.DrawLine(point, h.point);
-                        Debug.DrawRay(ray.origin, ray.direction);
-                        if (dist < minDist) {
-                            hitinfo = h;
-                            anyHit = true;
-                            minDist = dist;
-                        }
-                    }
-                }
-            }
-            if (anyHit) {
-                Vector3 lhs = hitinfo.point - ray.origin;
-
-                float dotP = Vector3.Dot(lhs, ray.direction.normalized);
-                Vector3 point = ray.origin + ray.direction.normalized * dotP;
-                SelectorMenu.Instance.UpdateAimMenu(hitinfo.point);
-            } else {
-                SelectorMenu.Instance.UpdateAimMenu(null);
-            }*/
-
-            /*
-            RaycastHit[] hits = Physics.BoxCastAll(ray.origin, new Vector3(0.03f, 0.03f, 0.0001f), ray.direction, Camera.main.transform.rotation);
-            if (hits.Length > 0) {
-                float minDist = float.MaxValue;
-                foreach (RaycastHit h in hits) {
-                    Vector3 dir = ray.direction;
-                    dir.Normalize();
-                    Vector3 point = ray.origin + dir * Vector3.Distance(ray.origin, h.point);
-                    float dist = Vector3.Distance(point, h.collider.ClosestPointOnBounds(point));
-                    Debug.DrawLine(point, h.point);
-                    Debug.DrawRay(ray.origin, ray.direction);
-                    if (dist < minDist) {
-                        hitinfo = h;
-                        minDist = dist;
+            if (SelectedGizmoAxis?.GetInvocationList().Length > 0) {
+                RaycastHit[] hits = Physics.RaycastAll(ray.origin, ray.direction);
+                foreach (RaycastHit hit in hits) {
+                    if (hit.collider.gameObject.CompareTag("gizmo_x")) {
+                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.X));
+                    } else if (hit.collider.gameObject.CompareTag("gizmo_y")) {
+                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.Y));
+                    } else if(hit.collider.gameObject.CompareTag("gizmo_z")) {
+                        SelectedGizmoAxis.Invoke(this, new GizmoAxisEventArgs(Gizmo.Axis.Z));
                     }
                 }
-                Vector3 lhs = hitinfo.point - ray.origin;
-
-                float dotP = Vector3.Dot(lhs, ray.direction.normalized);
-                Vector3 point2 = ray.origin + ray.direction.normalized * dotP;
-                SelectorMenu.Instance.UpdateAimMenu(point2);
-            } else {
-                SelectorMenu.Instance.UpdateAimMenu(null);
             }
-            */
-            /*ExtDebug.DrawBoxCastBox(ray.origin, new Vector3(0.05f, 0.05f, 0.00001f), Camera.main.transform.rotation, ray.direction, 20f, Color.green);
-            List<Tuple<float, InteractiveObject>> orderedTransforms = new List<Tuple<float, InteractiveObject>>();
-            if (hits.Length > 0) {
-                RaycastHit hit = hits.First();
-                GameManager.Instance.GetAllInteractiveObjects();
-            }*/
-            /*foreach (RaycastHit hit in hits) {
-
-                float dist = Vector3.Cross(ray.direction, hit.point - ray.origin).magnitude;
-                InteractiveObject interactiveObject = hit.collider.transform.gameObject.GetComponent<InteractiveObject>();
-                if (interactiveObject is null) {
-                    OnClickCollider collider = hit.collider.transform.gameObject.GetComponent<OnClickCollider>();
-                    if (collider is null) {
-                        continue;
-                    }
-                    interactiveObject = collider.Target.gameObject.GetComponent<InteractiveObject>();
-                    if (interactiveObject is null) {
-                        continue;
-                    }
-                }
-                if (!InteractiveObjectInList(orderedTransforms, interactiveObject)) {
-                    orderedTransforms.Add(new Tuple<float, InteractiveObject>(dist, interactiveObject));
-                }
-
-                //hit.collider.transform.gameObject.SendMessage("OnHoverStart");
-                /*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) {
-                    Debug.LogError(e);
-                }*/
-            /*}
-
-            orderedTransforms.Sort((x, y) => x.Item1.CompareTo(y.Item1));
+            
 
-            SelectorMenu.Instance.UpdateAimMenu(orderedTransforms);
-            //SelectorMenu.Instance.UpdateAimMenu(orderedTransforms.Select(_ => _.Item2).Distinct().ToList());
-
-             /*else {
-                if (CurrentObject != null) {
-                    if (!endingHover)
-                        StartCoroutine(HoverEnd());
-                }
-            }*/
         }
 
             private bool InteractiveObjectInList(List<Tuple<float, InteractiveObject>> list, InteractiveObject interactiveObject) {