81 lines
2.3 KiB
C#
81 lines
2.3 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEngine.UI;
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using System.Linq;
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using System;
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using DG.Tweening;
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// ¿ÞÂÊ ÆгΠUI
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public class RobotInfoUI : MonoBehaviour
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{
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public URRobot robot;
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public Text[] text_torque;
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public Text[] text_angle;
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public Slider[] slider_angle;
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public Text[] text_tcp;
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// joint view toggle
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public Sprite jointViewOn, jointViewOff;
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public Toggle[] jointViewToggle;
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// close
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public RectTransform leftPaenl;
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public Sprite closeSprite, openSprite;
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public Image handle;
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public bool isClose;
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public void SetCurrentRobotRealtimeInfo(List<MQTTInfo> data)
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{
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for (int i = 0; i < robot.jointCount; i++)
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{
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if(Math.Sign(robot.rotationValueArray[i]) == -1)
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{
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robot.rotationValueArray[i] = robot.rotationValueArray[i] + 360;
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}
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text_angle[i].text = robot.rotationValueArray[i].ToString("0.00");
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text_torque[i].text = data[robot.jointCount + i].value.ToString();
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slider_angle[i].value = robot.rotationValueArray[i];
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text_tcp[i].text = Convert.ToSingle(data[robot.jointCount * 2 + i].value).ToString();
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//text_torque[i].text = (Math.Truncate(robot.rotationValueArray[i] * 100) / 100).ToString();
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//text_torque[i].text = (Math.Truncate(data[robot.jointCount + i].value * 100) / 100).ToString();
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//slider_angle[i].value = robot.rotationValueArray[i];
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//text_tcp[i].text = (Math.Truncate(data[robot.jointCount* 2 + i].value / 10f * 100) / 100).ToString();
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}
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}
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public void SelectJointViewToggle(int num)
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{
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if (jointViewToggle[num].isOn)
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{
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jointViewToggle[num].GetComponent<Image>().sprite = jointViewOn;
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}
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else
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{
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jointViewToggle[num].GetComponent<Image>().sprite = jointViewOff;
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}
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robot.jointUIArray[num].SetActive(jointViewToggle[num].isOn);
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}
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public void OnClickCloseTabBtn()
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{
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isClose = !isClose;
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if(isClose)
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{
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leftPaenl.DOMoveX(-482f , 0.5f);
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handle.sprite = closeSprite;
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}
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else
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{
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leftPaenl.DOMoveX(0f, 0.5f);
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handle.sprite = openSprite;
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}
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}
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}
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