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Leo Qu
BIN
Assets/Module/.DS_Store
vendored
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BIN
Assets/Module/.DS_Store
vendored
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Binary file not shown.
19
Assets/Module/AngleChangeModel.cs
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19
Assets/Module/AngleChangeModel.cs
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|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
|
||||
[System.Serializable]
|
||||
public class ServoCommand
|
||||
{
|
||||
public string ModuleId;
|
||||
public string Type = "Servo";
|
||||
public float TargetAngle;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class DCCommand
|
||||
{
|
||||
public string ModuleId;
|
||||
public string Type = "DC";
|
||||
public float RotateByDegrees;
|
||||
public string Direction; // "Clockwise" or "CounterClockwise"
|
||||
}
|
||||
11
Assets/Module/AngleChangeModel.cs.meta
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9
Assets/Module/BatteryModule.cs
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9
Assets/Module/BatteryModule.cs
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@@ -0,0 +1,9 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
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||||
public class BatteryModule : ModuleBase
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||||
{
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||||
public override void OnSelect() { }
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||||
public override void DeSelect() { }
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||||
}
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||||
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30
Assets/Module/DiscoveryButton.cs
Normal file
30
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Normal file
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using UnityEngine;
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{
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{
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}
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{
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11
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9
Assets/Module/HubModule.cs
Normal file
9
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Normal file
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136
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Normal file
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Assets/Module/ServoStraightModule.prefab.meta
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183
Assets/Module/TopologyBuilder.cs
Normal file
183
Assets/Module/TopologyBuilder.cs
Normal file
@@ -0,0 +1,183 @@
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using UnityEngine;
|
||||
using System.Collections.Generic;
|
||||
using System;
|
||||
using System.Linq;
|
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using Frontend;
|
||||
|
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|
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|
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public class TopologyBuilder : MonoBehaviour
|
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{
|
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public ModuleSpawner spawner;
|
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|
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public static Dictionary<string, GameObject> idToInstance = new();
|
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|
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public void BuildTopologyFromJson()
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{
|
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|
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// todo: this is some really bad temporary code
|
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TopologyGraph graph = new TopologyGraph();
|
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RobotConfiguration config = ControlLibrary.getRobotConfiguration();
|
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|
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Dictionary<int, ModuleType> idToType = new();
|
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int moduleCount = config.ModulesLength;
|
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for (int i = 0; i < moduleCount; i++)
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{
|
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var n_module = config.Modules(i);
|
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if (n_module != null)
|
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{
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var module = n_module.Value;
|
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Debug.Log("Adding module " + module.Id);
|
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graph.Modules.Add(new ModuleData
|
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{
|
||||
Id = module.Id,
|
||||
Type = module.ModuleType.ToString(),
|
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Degree = module.ConfigurationAsMotorState().Angle
|
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});
|
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idToType.Add(module.Id, module.ModuleType);
|
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}
|
||||
}
|
||||
|
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int connectionCount = config.ConnectionsLength;
|
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for (int i = 0; i < connectionCount; i++)
|
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{
|
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var n_connection = config.Connections(i);
|
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if (n_connection != null)
|
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{
|
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var connection = n_connection.Value;
|
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Debug.Log("orientation: " + connection.Orientation);
|
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graph.Connections.Add(new Connection
|
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{
|
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FromModuleId = connection.FromModuleId,
|
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FromSocket = idToType[connection.FromModuleId] == ModuleType.SPLITTER ? "MaleSocket" + (connection.FromSocket == 0 ? "" : connection.FromSocket) : "MaleSocket",
|
||||
ToModuleId = connection.ToModuleId,
|
||||
ToSocket = "FemaleSocket",
|
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Orientation = connection.Orientation
|
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});
|
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}
|
||||
}
|
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|
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// Destroy previous topology root if it exists
|
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GameObject oldRoot = GameObject.Find("GeneratedTopology");
|
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if (oldRoot != null)
|
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{
|
||||
DestroyImmediate(oldRoot);
|
||||
}
|
||||
|
||||
// Create a new root GameObject to hold all modules
|
||||
GameObject topologyRoot = new GameObject("GeneratedTopology");
|
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topologyRoot.transform.localScale = new Vector3(20f, 20f, 20f);
|
||||
|
||||
|
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// Clean up old instances
|
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foreach (var oldModule in idToInstance.Values)
|
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{
|
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Destroy(oldModule);
|
||||
}
|
||||
idToInstance.Clear();
|
||||
|
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// First spawn all modules
|
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foreach (var module in graph.Modules)
|
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{
|
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// Debug.Log($"Before error: {module.Type}.");
|
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ModuleType type = Enum.Parse<ModuleType>(module.Type);
|
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GameObject prefab = spawner.GetPrefabForType(type);
|
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// GameObject prefab = spawner.GetPrefabForType(module.Type);
|
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if (prefab == null)
|
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{
|
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Debug.LogError($"No prefab found for type {module.Type}");
|
||||
continue;
|
||||
}
|
||||
|
||||
GameObject instance = Instantiate(prefab, Vector3.zero, Quaternion.identity, topologyRoot.transform);
|
||||
instance.name = module.Id.ToString();
|
||||
|
||||
// instance.transform.localScale = new Vector3(20f, 20f, 20f);
|
||||
instance.transform.SetParent(topologyRoot.transform, false); // attach to root
|
||||
instance.transform.localScale = Vector3.one;
|
||||
idToInstance[module.Id.ToString()] = instance;
|
||||
|
||||
ModuleBase baseScript = instance.GetComponent<ModuleBase>();
|
||||
if (baseScript != null)
|
||||
{
|
||||
baseScript.moduleID = module.Id.ToString();
|
||||
if (module.Type.Contains("Servo") && module.Degree != null)
|
||||
{
|
||||
ServoMotorModule servo;
|
||||
if (module.Type == "Servo1")
|
||||
{
|
||||
servo = instance.GetComponent<ServoBendModule>();
|
||||
}
|
||||
else
|
||||
{
|
||||
servo = instance.GetComponent<ServoStraightModule>();
|
||||
}
|
||||
//ServoBendModule servo = instance.GetComponent<ServoBendModule>();
|
||||
// servo.SetInitialAngle(module.Degree);
|
||||
servo.InitialSetAngle(module.Degree);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Then connect them
|
||||
foreach (var connection in graph.Connections)
|
||||
{
|
||||
if (!idToInstance.ContainsKey(connection.FromModuleId.ToString()) || !idToInstance.ContainsKey(connection.ToModuleId.ToString()))
|
||||
{
|
||||
Debug.LogWarning($"Missing instance for {connection.FromModuleId} or {connection.ToModuleId}");
|
||||
continue;
|
||||
}
|
||||
|
||||
GameObject objFrom = idToInstance[connection.FromModuleId.ToString()];
|
||||
GameObject objTo = idToInstance[connection.ToModuleId.ToString()];
|
||||
|
||||
string socketA = connection.FromSocket;
|
||||
string socketB = connection.ToSocket;
|
||||
// Debug.LogError("FromModuleId: " + connection.FromModuleId + " ToModuleId: " + connection.ToModuleId + " FromSocket: " + socketA + " ToSocket: " + socketB);
|
||||
|
||||
ModuleData fromModule = graph.Modules.Find(m => m.Id == connection.FromModuleId);
|
||||
ModuleData toModule = graph.Modules.Find(m => m.Id == connection.ToModuleId);
|
||||
ModuleType fromType = Enum.Parse<ModuleType>(fromModule.Type);
|
||||
ModuleType toType = Enum.Parse<ModuleType>(toModule.Type);
|
||||
if ((fromType == ModuleType.SERVO_1 || fromType == ModuleType.SERVO_2) && socketA == "MaleSocket") {
|
||||
socketA = "ArmSocket";
|
||||
// Debug.LogError("here");
|
||||
}
|
||||
else if ((fromType == ModuleType.SERVO_1 || fromType == ModuleType.SERVO_2) && socketA == "FemaleSocket") {
|
||||
socketA = "BodySocket";
|
||||
// Debug.LogError("here1");
|
||||
}
|
||||
|
||||
if ((toType == ModuleType.SERVO_1 || toType == ModuleType.SERVO_2) && socketB == "MaleSocket") {
|
||||
socketB = "ArmSocket";
|
||||
// Debug.LogError("here2");
|
||||
}
|
||||
else if ((toType == ModuleType.SERVO_1 || toType == ModuleType.SERVO_2) && socketB == "FemaleSocket") {
|
||||
socketB = "BodySocket";
|
||||
// Debug.LogError("here3");
|
||||
}
|
||||
|
||||
float twistDegrees;
|
||||
switch (connection.Orientation)
|
||||
{
|
||||
case Orientation.Deg90:
|
||||
twistDegrees = 90f;
|
||||
break;
|
||||
case Orientation.Deg180:
|
||||
twistDegrees = 180f;
|
||||
break;
|
||||
case Orientation.Deg270:
|
||||
twistDegrees = 270f;
|
||||
break;
|
||||
default:
|
||||
twistDegrees = 0f;
|
||||
break;
|
||||
}
|
||||
|
||||
Debug.Log("twist deg " + twistDegrees);
|
||||
twistDegrees -= 90; // todo: we should not need to do this, there is a bug further down where the rotation is not correct
|
||||
|
||||
spawner.ConnectModules(objFrom, socketA, objTo, socketB, objFrom.transform.position, twistDegrees);
|
||||
}
|
||||
}
|
||||
}
|
||||
11
Assets/Module/TopologyBuilder.cs.meta
Normal file
11
Assets/Module/TopologyBuilder.cs.meta
Normal file
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30
Assets/Module/TopologyGraphModel.cs
Normal file
30
Assets/Module/TopologyGraphModel.cs
Normal file
@@ -0,0 +1,30 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
|
||||
// Root graph container
|
||||
[Serializable]
|
||||
public class TopologyGraph
|
||||
{
|
||||
public List<ModuleData> Modules = new List<ModuleData>();
|
||||
public List<Connection> Connections = new List<Connection>();
|
||||
}
|
||||
|
||||
// Individual module
|
||||
[Serializable]
|
||||
public class ModuleData
|
||||
{
|
||||
public int Id;
|
||||
public string Type;
|
||||
public float Degree;
|
||||
}
|
||||
|
||||
// Connection between modules
|
||||
[Serializable]
|
||||
public class Connection
|
||||
{
|
||||
public int FromModuleId;
|
||||
public string FromSocket;
|
||||
public int ToModuleId;
|
||||
public string ToSocket;
|
||||
public Orientation Orientation;
|
||||
}
|
||||
11
Assets/Module/TopologyGraphModel.cs.meta
Normal file
11
Assets/Module/TopologyGraphModel.cs.meta
Normal file
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BIN
Assets/Module/battery_module_mf_unity.fbx
Normal file
BIN
Assets/Module/battery_module_mf_unity.fbx
Normal file
Binary file not shown.
109
Assets/Module/battery_module_mf_unity.fbx.meta
Normal file
109
Assets/Module/battery_module_mf_unity.fbx.meta
Normal file
@@ -0,0 +1,109 @@
|
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fileFormatVersion: 2
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||||
materialName: 0
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materialSearch: 1
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materialLocation: 1
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animations:
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legacyGenerateAnimations: 4
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bakeSimulation: 0
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resampleCurves: 1
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optimizeGameObjects: 0
|
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removeConstantScaleCurves: 0
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motionNodeName:
|
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rigImportErrors:
|
||||
rigImportWarnings:
|
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animationImportErrors:
|
||||
animationImportWarnings:
|
||||
animationRetargetingWarnings:
|
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animationDoRetargetingWarnings: 0
|
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animationRotationError: 0.5
|
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animationPositionError: 0.5
|
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animationScaleError: 0.5
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sortHierarchyByName: 1
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importBlendShapes: 1
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importCameras: 1
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importLights: 1
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nodeNameCollisionStrategy: 1
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