121 lines
5.3 KiB
C#
121 lines
5.3 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine.Networking;
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using UnityEngine;
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// Mqtt 单捞磐 啊傍
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public class M2MqttClient : MonoBehaviour
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{
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//public float doosanInputTime;
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//public float kukaInputTime;
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//void Update()
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//{
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//}
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//public void ArrangeData(string msg, string topic, string topicDoosan, string topicKuka)
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//{
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// print("msg " + msg);
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// int dateTimePos = msg.LastIndexOf("DataTime") + 19;
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// DateTime edgeTime = Convert.ToDateTime(msg.Substring(dateTimePos, 24));
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// DateTime currentTime = DateTime.Now;
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// TimeSpan timeDiff = currentTime - edgeTime;
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// string msgJson = "{\"data\":" + msg + "}";
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// doosanInfoList.Clear();
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// //yaskawaInfoList.Clear();
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// kukaInfoList.Clear();
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// var info = FromJson<RobotMoveInfo>(msgJson);
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// if (topic.Equals(topicDoosan))
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// {
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// foreach (var data in info)
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// {
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// doosanInfoList.Add(data);
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// }
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// if((doosanInfoList[doosanRobot.joints.Length * 2 + 6].value / 10f) > 1f &&
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// (doosanInfoList[doosanRobot.joints.Length * 2 + 6 + 1].value / 10f) > 1f &&
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// (doosanInfoList[doosanRobot.joints.Length * 2 + 6 + 2].value / 10f) > 1f)
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// {
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// doosanInputTime = 0f;
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// SystemManager.instance.doosanConditionText = "备悼吝";
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// SystemManager.instance.doosanConditionTextColor = SystemManager.instance.on;
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// }
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// double tempPosXDiff = Math.Abs(timeDiff.Milliseconds * (doosanInfoList[doosanRobot.joints.Length * 2 + 6].value/10f));
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// double posXDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosXDiff/1000f;
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// double tempPosYDiff = Math.Abs(timeDiff.Milliseconds * (doosanInfoList[doosanRobot.joints.Length * 2 + 6 + 1].value/10f));
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// double posYDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosYDiff/1000f;
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// double tempPosZDiff = Math.Abs(timeDiff.Milliseconds * (doosanInfoList[doosanRobot.joints.Length * 2 + 6 + 2].value/10f));
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// double posZDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosZDiff/1000f;
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// Logger.Append("Doosan", edgeTime.ToString(), currentTime.ToString(), timeDiff.ToString(), posXDiff.ToString(), posYDiff.ToString(), posZDiff.ToString());
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// doosanRobot.Move(doosanInfoList);
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// robotInfoUI.SetCurrentRobotRealtimeInfo(doosanInfoList, "Doosan");
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// doosanRobot.GetComponent<RobotPopupUI>().SetJointInfoAndTCP(doosanRobot.angles, doosanInfoList);
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// }
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// //else if (topic.Equals(topicYaskawa))
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// //{
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// // foreach (var data in info)
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// // {
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// // print("Yaskawa " + data.value);
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// // yaskawaInfoList.Add(data);
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// // }
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// // Logger.Append("Yaskawa", edgeTime.ToString(), currentTime.ToString(), timeDiff.ToString());
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// // yaskawaRobot.Move(yaskawaInfoList);
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// // robotInfoUI.SetCurrentRobotRealtimeInfo(yaskawaInfoList, "Yaskawa");
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// // //yaskawaRobot.GetComponent<RobotPopupUI>().SetJointAngleAndTorque(yaskawaRobot.angles, yaskawaInfoList);
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// //}
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// else if (topic.Equals(topicKuka))
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// {
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// foreach (var data in info)
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// {
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// kukaInfoList.Add(data);
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// }
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// if ((kukaInfoList[kukaRobot.joints.Length * 2 + 6].value / 10f) > 1f &&
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// (kukaInfoList[kukaRobot.joints.Length * 2 + 6 + 1].value / 10f) > 1f &&
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// (kukaInfoList[kukaRobot.joints.Length * 2 + 6 + 2].value / 10f) > 1f)
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// {
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// kukaInputTime = 0f;
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// SystemManager.instance.kukaConditionText = "备辆吝";
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// SystemManager.instance.kukaConditionTextColor = SystemManager.instance.on;
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// }
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// double tempPosXDiff = Math.Abs(timeDiff.Milliseconds * kukaInfoList[kukaRobot.joints.Length * 2 + 6].value);
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// double posXDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosXDiff/1000f;
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// double tempPosYDiff = Math.Abs(timeDiff.Milliseconds * kukaInfoList[kukaRobot.joints.Length * 2 + 6 + 1].value);
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// double posYDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosYDiff/1000f;
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// double tempPosZDiff = Math.Abs(timeDiff.Milliseconds * kukaInfoList[kukaRobot.joints.Length * 2 + 6 + 2].value);
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// double posZDiff = Convert.ToDouble(timeDiff.Seconds) + tempPosZDiff/1000f;
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// Logger.Append("Kuka", edgeTime.ToString(), currentTime.ToString(), timeDiff.ToString(), posXDiff.ToString(), posYDiff.ToString(), posZDiff.ToString());
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// kukaRobot.Move(kukaInfoList);
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// robotInfoUI.SetCurrentRobotRealtimeInfo(kukaInfoList, "Kuka");
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// kukaRobot.GetComponent<RobotPopupUI>().SetJointInfoAndTCP(kukaRobot.angles, kukaInfoList);
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// }
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// else
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// {
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// Debug.LogError("topic error");
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// }
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//}
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//public static T[] FromJson<T>(string json)
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//{
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// Wrapper<T> wrapper = JsonUtility.FromJson<Wrapper<T>>(json);
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// return wrapper.data;
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//}
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//[System.Serializable]
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//private class Wrapper<T>
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//{
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// public T[] data;
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//}
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}
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