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Fully added gripper, distance, IMU, and display modules

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This commit is contained in:
Christen
2026-02-28 21:39:36 -05:00
parent fd5d41f645
commit 6b2270381d
105 changed files with 40782 additions and 1261 deletions
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311
Assets/LiveViewModulePanel.cs
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@@ -3,10 +3,6 @@ using UnityEngine.UI;
using UnityEngine.EventSystems;
using TMPro;
/// <summary>
/// Unified side panel for LiveView: shows module info and either servo (vertical slider) or DC controls.
/// Attach to ModuleControlSidePanel in the scene; assign refs in inspector.
/// </summary>
public class LiveViewModulePanel : MonoBehaviour
{
[Header("Module Info")]
@@ -17,118 +13,49 @@ public class LiveViewModulePanel : MonoBehaviour
public Slider servoAngleSlider;
public TextMeshProUGUI servoAngleLabel;
[Header("DC Control")]
public GameObject dcControlSection;
[Header("DC + Display Control (Reused)")]
public GameObject moduleControlSection;
[Header("Panel Layout")]
[Tooltip("Width of the side panel")]
public float panelWidth = 260f;
[Tooltip("Corner radius for rounded corners (0-0.5)")]
[Range(0f, 0.5f)]
public float cornerRadius = 0.12f;
[Header("Slider Styling")]
public Color sliderTrackColor = new Color(0.4f, 0.4f, 0.45f, 0.9f);
public Color sliderFillColor = new Color(0.75f, 0.75f, 0.8f, 1f);
public Color sliderHandleColor = new Color(0.95f, 0.95f, 0.98f, 1f);
public Color sliderTextColor = new Color(0.92f, 0.92f, 0.95f, 1f);
private bool _sliderDragging;
private DCMotorControlPanel _dcPanel;
private ControlPanel panel;
private ModuleBase _lastSelected;
private GameObject sensorTextContainer;
private readonly System.Collections.Generic.List<TextMeshProUGUI> sensorTextLines = new System.Collections.Generic.List<TextMeshProUGUI>();
void Start()
{
CreateSensorTextUI();
if (servoAngleSlider != null)
{
servoAngleSlider.minValue = 0f;
servoAngleSlider.maxValue = 180f;
servoAngleSlider.direction = Slider.Direction.BottomToTop;
servoAngleSlider.onValueChanged.AddListener(OnServoSliderChanged);
ConfigureSliderForVertical(servoAngleSlider);
var et = servoAngleSlider.GetComponent<EventTrigger>() ?? servoAngleSlider.gameObject.AddComponent<EventTrigger>();
var begin = new EventTrigger.Entry { eventID = EventTriggerType.BeginDrag };
begin.callback.AddListener(_ => OnServoSliderBeginDrag());
begin.callback.AddListener(_ => _sliderDragging = true);
et.triggers.Add(begin);
var end = new EventTrigger.Entry { eventID = EventTriggerType.EndDrag };
end.callback.AddListener(_ => OnServoSliderEndDrag());
end.callback.AddListener(_ => _sliderDragging = false);
et.triggers.Add(end);
}
var oldController = FindObjectOfType<ServoModuleUISliderController>(true);
if (oldController != null) oldController.enabled = false;
// Get ControlPanel from the reused section
panel = moduleControlSection != null ? moduleControlSection.GetComponent<ControlPanel>() : null;
if (panel == null)
panel = FindObjectOfType<ControlPanel>(true);
_dcPanel = dcControlSection != null ? dcControlSection.GetComponent<DCMotorControlPanel>() : null;
if (_dcPanel == null)
_dcPanel = FindObjectOfType<DCMotorControlPanel>(true);
ApplyRoundedMaterial();
UpdatePanel();
}
void ApplyRoundedMaterial()
{
var img = GetComponent<Image>();
if (img == null || (img.material != null && img.material.shader != null && img.material.shader.name == "UI/RoundedRect")) return;
var shader = Shader.Find("UI/RoundedRect");
if (shader == null) return;
var mat = new Material(shader);
mat.SetFloat("_Radius", cornerRadius);
img.material = mat;
}
void ConfigureSliderForVertical(Slider slider)
{
if (slider == null || servoControlSection == null) return;
var sectionRect = servoControlSection.GetComponent<RectTransform>();
if (sectionRect != null)
EnsureDegreeLabels(sectionRect);
}
void EnsureDegreeLabels(RectTransform sectionRect)
{
SetDegreeLabel(sectionRect, "0deg", "0°", 0, 14);
SetDegreeLabel(sectionRect, "180deg", "180°", 1, -14);
}
void SetDegreeLabel(RectTransform sectionRect, string goName, string text, float anchorY, float posY)
{
var t = sectionRect.Find(goName);
if (t == null)
{
var go = new GameObject(goName);
go.transform.SetParent(sectionRect, false);
var tmp = go.AddComponent<TextMeshProUGUI>();
tmp.text = text;
tmp.fontSize = 16;
tmp.color = Color.white;
tmp.alignment = TextAlignmentOptions.MidlineLeft;
var r = go.GetComponent<RectTransform>();
r.anchorMin = new Vector2(1f, anchorY);
r.anchorMax = new Vector2(1f, anchorY);
r.pivot = new Vector2(0f, 0.5f);
r.anchoredPosition = new Vector2(20, posY);
r.sizeDelta = new Vector2(50, 24);
}
else
{
var tmp = t.GetComponent<TextMeshProUGUI>();
if (tmp != null)
{
tmp.color = Color.white;
tmp.fontSize = 16;
}
var r = t.GetComponent<RectTransform>();
if (r != null)
{
r.anchorMin = new Vector2(1f, anchorY);
r.anchorMax = new Vector2(1f, anchorY);
r.pivot = new Vector2(0f, 0.5f);
r.anchoredPosition = new Vector2(20, posY);
r.sizeDelta = new Vector2(50, 24);
}
}
}
void Update()
{
UpdatePanel();
@@ -140,57 +67,87 @@ public class LiveViewModulePanel : MonoBehaviour
if (selected == null)
{
_lastSelected = null;
SetModuleInfo("No module selected");
SetServoSectionActive(false);
SetDCSectionActive(false);
SetModuleControlSectionActive(false);
SetSensorTextActive(false);
return;
}
// Info text
string typeName = GetModuleTypeName(selected);
string degreeInfo = GetDegreeInfo(selected);
string info = string.IsNullOrEmpty(degreeInfo)
? $"Type: {typeName}"
: $"Type: {typeName}\n{degreeInfo}";
SetModuleInfo(info);
SetModuleInfo(string.IsNullOrEmpty(degreeInfo) ? $"Type: {typeName}" : $"Type: {typeName}\n{degreeInfo}");
var servo = selected as ServoMotorModule;
var dc = selected as DCMotorModule;
var display = selected as DisplayModule;
var distance = selected as DistanceSensorModule;
var imu = selected as IMUSensorModule;
if (servo != null)
{
SetServoSectionActive(true);
SetDCSectionActive(false);
SetModuleControlSectionActive(false);
SetSensorTextActive(false);
if (servoAngleSlider != null && !_sliderDragging)
servoAngleSlider.SetValueWithoutNotify(servo.currentAngle);
return;
}
else if (dc != null)
if (distance != null)
{
SetServoSectionActive(false);
SetDCSectionActive(true);
SetModuleControlSectionActive(false);
SetSensorTextActive(true);
SetSensorLines(distance.GetInfoLines()); // implement like IMU or build here
return;
}
if (imu != null)
{
SetServoSectionActive(false);
SetModuleControlSectionActive(false);
SetSensorTextActive(true);
SetSensorLines(imu.GetInfoLines());
return;
}
// DC or Display both use the same control section
if (dc != null || display != null)
{
SetServoSectionActive(false);
SetModuleControlSectionActive(true);
SetSensorTextActive(false);
if (selected != _lastSelected)
{
_lastSelected = selected;
panel?.Initialize(selected);
}
return;
}
// Other types
SetServoSectionActive(false);
SetModuleControlSectionActive(false);
SetSensorTextActive(false);
}
void SetModuleControlSectionActive(bool active)
{
if (moduleControlSection == null || panel == null) return;
if (active)
panel.gameObject.SetActive(true);
else
{
SetServoSectionActive(false);
SetDCSectionActive(false);
}
}
string GetModuleTypeName(ModuleBase m)
{
if (m is ServoBendModule) return "Servo Bend";
if (m is ServoStraightModule) return "Servo Straight";
if (m is DCMotorModule) return "DC";
if (m is HubModule) return "Hub";
if (m is BatteryModule) return "Battery";
return m.GetType().Name;
}
string GetDegreeInfo(ModuleBase m)
{
var servo = m as ServoMotorModule;
if (servo != null)
return $"Joint: {servo.currentAngle:F1}°";
return "";
panel.HidePanel();
}
void SetModuleInfo(string text)
@@ -205,30 +162,114 @@ public class LiveViewModulePanel : MonoBehaviour
servoControlSection.SetActive(active);
}
void SetDCSectionActive(bool active)
{
if (dcControlSection != null)
{
if (active && _dcPanel != null)
_dcPanel.gameObject.SetActive(true);
else if (!active && _dcPanel != null)
_dcPanel.HidePanel();
}
}
void OnServoSliderChanged(float value)
{
if (ServoMotorModule.selectedModule != null)
ServoMotorModule.selectedModule.SetAngleAndSendControlLibrary(value);
}
public void OnServoSliderBeginDrag()
void CreateSensorTextUI()
{
_sliderDragging = true;
if (moduleInfoText == null) return;
var parent = moduleInfoText.transform.parent;
if (parent == null) return;
sensorTextContainer = new GameObject("SensorTextContainer");
sensorTextContainer.transform.SetParent(parent, false);
var src = moduleInfoText.rectTransform;
var rt = sensorTextContainer.AddComponent<RectTransform>();
// Place under the moduleInfoText
rt.anchorMin = src.anchorMin;
rt.anchorMax = src.anchorMax;
rt.pivot = src.pivot;
rt.anchoredPosition = src.anchoredPosition + new Vector2(0f, -70f);
rt.sizeDelta = new Vector2(src.sizeDelta.x, 220f);
sensorTextContainer.SetActive(false);
}
public void OnServoSliderEndDrag()
void SetSensorTextActive(bool active)
{
_sliderDragging = false;
if (sensorTextContainer != null && sensorTextContainer.activeSelf != active)
sensorTextContainer.SetActive(active);
}
}
void EnsureSensorLineCount(int count)
{
if (sensorTextContainer == null) return;
while (sensorTextLines.Count < count)
{
var go = new GameObject($"SensorLine{sensorTextLines.Count}");
go.transform.SetParent(sensorTextContainer.transform, false);
var tmp = go.AddComponent<TextMeshProUGUI>();
// Match your UI font + material
tmp.font = moduleInfoText.font;
tmp.fontSharedMaterial = moduleInfoText.fontSharedMaterial;
// Your requested style (like screenshot)
tmp.fontStyle = FontStyles.Bold;
tmp.fontSize = 22f;
tmp.enableAutoSizing = false;
tmp.color = Color.white;
tmp.enableVertexGradient = false;
tmp.alignment = TextAlignmentOptions.TopLeft;
tmp.enableWordWrapping = true;
// Layout: stacked lines
var rt = tmp.rectTransform;
rt.anchorMin = new Vector2(0f, 1f);
rt.anchorMax = new Vector2(1f, 1f);
rt.pivot = new Vector2(0f, 1f);
float lineH = 26f;
float y = -sensorTextLines.Count * lineH;
rt.anchoredPosition = new Vector2(0f, y);
rt.sizeDelta = new Vector2(0f, lineH);
sensorTextLines.Add(tmp);
}
// Hide extras
for (int i = 0; i < sensorTextLines.Count; i++)
sensorTextLines[i].gameObject.SetActive(i < count);
}
void SetSensorLines(string[] lines)
{
if (lines == null) lines = new string[0];
EnsureSensorLineCount(lines.Length);
for (int i = 0; i < lines.Length; i++)
sensorTextLines[i].text = lines[i];
}
string GetModuleTypeName(ModuleBase m)
{
if (m is ServoBendModule) return "Servo Bend";
if (m is ServoStraightModule) return "Servo Straight";
if (m is DCMotorModule) return "DC";
if (m is DisplayModule) return "Display";
if (m is HubModule) return "Hub";
if (m is BatteryModule) return "Battery";
if (m is GripperModule) return "Gripper";
if (m is DisplayModule) return "Display";
if (m is DistanceSensorModule) return "Distance Sensor";
if (m is IMUSensorModule) return "IMU Sensor";
return m.GetType().Name;
}
string GetDegreeInfo(ModuleBase m)
{
var servo = m as ServoMotorModule;
if (servo != null)
return $"Joint: {servo.currentAngle:F1}°";
return "";
}
}