From 695470bf7a24fd61040a394a04bac7460a96cc2c Mon Sep 17 00:00:00 2001
From: chenyulin <chenyulin@sjtu.edu.cn>
Date: Thu, 27 Jun 2024 17:52:05 +0800
Subject: [PATCH] feat. add task system

---
 Assets/Script/DT/RouteGenerator.cs  |  5 +-
 Assets/Script/ObjectSpaceManager.cs |  3 +-
 Assets/Script/TaskManager.cs        | 98 +++++++++++++++++++++++++++++
 Assets/Script/TaskManager.cs.meta   | 11 ++++
 Assets/Script/UI/ObjectFrame.cs     | 18 ++++++
 5 files changed, 133 insertions(+), 2 deletions(-)
 create mode 100644 Assets/Script/TaskManager.cs
 create mode 100644 Assets/Script/TaskManager.cs.meta

diff --git a/Assets/Script/DT/RouteGenerator.cs b/Assets/Script/DT/RouteGenerator.cs
index e6cf91e..a9087ed 100644
--- a/Assets/Script/DT/RouteGenerator.cs
+++ b/Assets/Script/DT/RouteGenerator.cs
@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using UnityEngine;
 
+[System.Serializable]
 public class KeyPoint
 {
     public Vector3 pos = Vector3.zero;
@@ -14,7 +15,7 @@ public KeyPoint(Vector3 pos, bool grab = false, bool wait = false)
         this.wait = wait;
     }
 }
-
+[System.Serializable]
 public class Route
 {
     public List<KeyPoint> routes = new List<KeyPoint>();
@@ -26,8 +27,10 @@ public Route(List<KeyPoint> turningPoints)
         }
         for (int i = 1; i < turningPoints.Count; i++)
         {
+            
             KeyPoint start = turningPoints[i-1];
             KeyPoint end = turningPoints[i];
+            Debug.Log(start.pos.ToString() + ' ' + end.pos.ToString());
             float dist = (start.pos - end.pos).magnitude;
             int sigment = (int)(dist * 20f);
             for (int j = 0; j <= sigment; j++)
diff --git a/Assets/Script/ObjectSpaceManager.cs b/Assets/Script/ObjectSpaceManager.cs
index 3edf526..0411967 100644
--- a/Assets/Script/ObjectSpaceManager.cs
+++ b/Assets/Script/ObjectSpaceManager.cs
@@ -63,8 +63,9 @@ public void UpdateObject(string cat, Vector3 pos, Vector3 rot, Vector3 size)
         }
         if (!pre_found)
         {
-            CreateObject(id, cat, pos, rot, size);
             id++;
+            CreateObject(id, cat, pos, rot, size);
+            
         }
     }
 
diff --git a/Assets/Script/TaskManager.cs b/Assets/Script/TaskManager.cs
new file mode 100644
index 0000000..f27afa5
--- /dev/null
+++ b/Assets/Script/TaskManager.cs
@@ -0,0 +1,98 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+public class ArmTask
+{
+    public enum Type
+    {
+        Finished,
+        MoveObject
+    }
+    public Type type = Type.Finished;
+
+    // moveObject
+    public Vector3 move_start;
+    public Vector3 move_end;
+
+    public void InitAsMoveObject(Vector3 start, Vector3 end)
+    {
+        type = Type.MoveObject;
+        move_start = start;
+        move_end = end;
+    }
+}
+public class TaskManager : MonoBehaviour
+{
+    public ArmTask task = new ArmTask();
+
+    public Transform ArmEnd;
+    public IKController IKSolver;
+    public RouteGenerator routeGenerator;
+
+    Coroutine taskRoutine;
+
+    GameObject taskSouce;
+
+    public void GetTask(ArmTask t, GameObject sender)
+    {
+        
+        if (task.type == ArmTask.Type.Finished)
+        {
+            task = t;
+            taskSouce = sender;
+            Debug.Log("New " + task.type.ToString() + " task assigned.");
+            
+            if (taskRoutine != null)
+            {
+            }
+            else
+            {
+                taskRoutine = StartCoroutine(ExecuteMoveObject());
+            }
+        }
+        else
+        {
+            Debug.Log("Current task not finished.");
+        }
+        
+    }
+
+    IEnumerator ExecuteMoveObject()
+    {
+        Debug.Log("Start move object coroutine.");
+        // generate the action sequence
+        List<KeyPoint> turningPoint = new List<KeyPoint>();
+        turningPoint.Add(new KeyPoint(ArmEnd.position, false));
+        turningPoint.Add(new KeyPoint(task.move_start, true));
+        turningPoint.Add(new KeyPoint(task.move_end, false));
+        routeGenerator.SetRoute(turningPoint);
+
+        
+
+        yield return new WaitForSeconds(3);
+        taskRoutine = null;
+        task = new ArmTask();
+        try
+        {
+            taskSouce.GetComponent<ObjectFrame>().CancelAim();
+        }
+        catch { }
+        
+        Debug.Log("Task Finished");
+        yield break;
+    }
+
+    // Start is called before the first frame update
+    void Start()
+    {
+
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+}
diff --git a/Assets/Script/TaskManager.cs.meta b/Assets/Script/TaskManager.cs.meta
new file mode 100644
index 0000000..63b152b
--- /dev/null
+++ b/Assets/Script/TaskManager.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 83a34a6d2f0e5c74ea4b197c0ea81ae3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Script/UI/ObjectFrame.cs b/Assets/Script/UI/ObjectFrame.cs
index 77acc85..dac39e8 100644
--- a/Assets/Script/UI/ObjectFrame.cs
+++ b/Assets/Script/UI/ObjectFrame.cs
@@ -28,11 +28,26 @@ public enum Type
     ObjectFrame source;
     [SerializeField] Material aimMat;
     [SerializeField] LineRenderer Line;
+    [SerializeField] TaskManager taskManager;
 
     // for detect type;
     ObjectFrame dist;
     [SerializeField] Material objectMat;
 
+    public void SendTask()
+    {
+        if (taskManager)
+        {
+            ArmTask t = new ArmTask();
+            t.InitAsMoveObject(source.Frame.transform.position, Frame.transform.position);
+            taskManager.GetTask(t, gameObject);
+        }
+        else
+        {
+            Debug.Log("TaskManager not found.");
+        }
+    }
+
     public void InitFrame(Type t, Vector3 pos, Vector3 rot, Vector3 scale)
     {
         type = t;
@@ -53,6 +68,9 @@ public void UpdateFrame(string cat, Vector3 pos, Vector3 rot, Vector3 scale)
     public void CancelAim()
     {
         Debug.Log("Cancel Aim");
+
+
+
         if (type == Type.Aim)
         {
             source.transform.Find("Frame").gameObject.GetComponent<ObjectManipulator>().ManipulationType = Microsoft.MixedReality.Toolkit.Utilities.ManipulationHandFlags.OneHanded;