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Igor Timofeev
2018-06-14 21:46:00 +03:00
parent acb3f860e5
commit 08dfb6e30a
4 changed files with 154 additions and 54 deletions
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112
Applications/Robot/VRScanComputer.lua
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@@ -12,12 +12,21 @@ local modem = component.modem
local port = 512
config = {
offsetX = 0,
offsetY = 0,
offsetZ = 0,
glassesX = 0,
glassesY = 0,
glassesZ = 0,
robotX = 0,
robotY = 0,
robotZ = 0,
width = 3,
height = 1,
length = 3,
radius = 16,
minDensity = 0.2,
maxDensity = 10,
}
local configPath = MineOSPaths.applicationData .. "VRScan.cfg"
local configPath = MineOSPaths.applicationData .. "VRScan4.cfg"
if filesystem.exists(configPath) then
config = table.fromFile(configPath)
end
@@ -33,57 +42,100 @@ mainContainer:addChild(GUI.panel(1, 1, mainContainer.width, mainContainer.height
local layout = mainContainer:addChild(GUI.layout(1, 1, mainContainer.width, mainContainer.height, 1, 1))
local offsetXInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetX), "Robot offset by X"))
local width = 39
local offsetYInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetY), "Robot offset by Y"))
local function addCoords(v1, v2, v3, t1, t2, t3)
local subLayout = layout:addChild(GUI.layout(1, 1, width, 3, 1, 1))
subLayout:setDirection(1, 1, GUI.DIRECTION_HORIZONTAL)
subLayout:setAlignment(1, 1, GUI.ALIGNMENT_HORIZONTAL_LEFT, GUI.ALIGNMENT_VERTICAL_TOP)
local offsetZInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetZ), "Robot offset by Z"))
local width = math.floor((width - 2) / 3)
return
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v1, t1)),
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v2, t2)),
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v3, t3))
end
local widthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Width: ", ""))
local glassesXInput, glassesYInput, glassesZInput = addCoords(tostring(config.glassesX), tostring(config.glassesY), tostring(config.glassesZ), "Glasses X", "Glasses Y", "Glasses Z")
local robotXInput, robotYInput, robotZInput = addCoords(tostring(config.robotX), tostring(config.robotY), tostring(config.robotZ), "Robot X", "Robot Y", "Robot Z")
local widthSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.width, false, "Width: ", ""))
widthSlider.height = 2
widthSlider.roundValues = true
local heightSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Height: ", ""))
local heightSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.height, false, "Height: ", ""))
heightSlider.height = 2
heightSlider.roundValues = true
local lengthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Length: ", ""))
local lengthSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.length, false, "Length: ", ""))
lengthSlider.height = 2
heightSlider.roundValues = true
lengthSlider.roundValues = true
local radiusSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Radius: ", ""))
local radiusSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 24, config.radius, false, "Radius: ", ""))
radiusSlider.height = 2
radiusSlider.roundValues = true
local minDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Min density: ", ""))
local minDensitySlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, config.minDensity, false, "Min density: ", ""))
minDensitySlider.height = 2
local maxDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Max density: ", ""))
local maxDensitySlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, config.maxDensity, false, "Max density: ", ""))
maxDensitySlider.height = 2
layout:addChild(GUI.button(1, 1, 36, 3, 0xC3C3C3, 0xFFFFFF, 0x969696, 0xFFFFFF, "Scan")).onTouch = function()
config.offsetX, config.offsetY, config.offsetZ = tonumber(offsetXInput.text), tonumber(offsetYInput.text), tonumber(offsetZInput.text)
local function saveConfig()
config.glassesX = tonumber(glassesXInput.text)
config.glassesY = tonumber(glassesYInput.text)
config.glassesZ = tonumber(glassesZInput.text)
config.robotX = tonumber(robotXInput.text)
config.robotY = tonumber(robotYInput.text)
config.robotZ = tonumber(robotZInput.text)
config.width = math.floor(widthSlider.value)
config.height = math.floor(heightSlider.value)
config.length = math.floor(lengthSlider.value)
config.radius = math.floor(radiusSlider.value)
config.minDensity = minDensitySlider.value
config.maxDensity = maxDensitySlider.value
table.toFile(configPath, config)
end
layout:addChild(GUI.button(1, 1, width, 3, 0xC3C3C3, 0xFFFFFF, 0x969696, 0xFFFFFF, "Scan")).onTouch = function()
saveConfig()
broadcast(
"scan",
config.offsetX,
config.offsetY,
config.offsetZ,
math.floor(widthSlider.value),
math.floor(heightSlider.value),
math.floor(lengthSlider.value),
math.floor(radiusSlider.value),
minDensitySlider.value,
maxDensitySlider.value
)
broadcast("scan", table.toString({
width = config.width,
height = config.height,
length = config.length,
radius = config.radius,
minDensity = config.minDensity,
maxDensity = config.maxDensity
}))
glasses.removeAll()
end
layout.eventHandler = function(mainContainer, layout, e1, e2, e3, e4, e5, e6, e7, e8, e9, e10, e11, e12)
if e1 == "modem_message" and e6 == "VRScan" then
if e7 == "result" then
local robotX, robotY, robotZ, result = e[8], e[9], e[10], serialization.unserialize(e[11])
GUI.alert("Got result from " .. robotX .. "x" .. robotY .. robotZ .. " with size " .. #result)
local result = table.fromString(e8)
for x in pairs(result.blocks) do
for y in pairs(result.blocks[x]) do
for z in pairs(result.blocks[x][y]) do
for i = 1, #result.blocks[x][y][z] do
local cube = glasses.addCube3D()
cube.setVisibleThroughObjects(true)
cube.setColor(0, 0.6, 1)
cube.setAlpha(0.5)
cube.set3DPos(
config.robotX - config.glassesX + result.x + x,
config.robotY - config.glassesY + result.y + y,
config.robotZ - config.glassesZ + result.z + z
)
end
end
end
end
end
end
end