Merge pull request #110 from OpenCommissioning/development

Development

Author: Preliy

Runtime/Scripts/Common/MonoBehaviourSingleton.cs

@@ -7,7 +7,7 @@ public class MonoBehaviourSingleton<T> : MonoBehaviour where T : Component
         public Component Component => this;
         public static T Instance { get; private set; }
 
-        public virtual void Awake ()
+        protected virtual void Awake ()
         {
             if (Instance == null) 
             {

Runtime/Scripts/Components/Axis.cs

@@ -1,14 +1,17 @@
 using System;
 using UnityEngine;
+using UnityEngine.Serialization;
 
 namespace OC.Components
 {
     [AddComponentMenu("Open Commissioning/Actor/Axis")]
     [SelectionBase]
     [DisallowMultipleComponent]
     [DefaultExecutionOrder(1000)]
-    public class Axis : Actor, IInteractable, ICustomInspector
+    public class Axis : Actor, IInteractable
     {
+        public Type ReferenceType => typeof(Axis);
+        
         public Actor Actor
         {
             set => _actor = value;
@@ -58,6 +61,7 @@ public AxisDirection Direction
         protected float _offset;
         [SerializeField] 
         protected AxisDirection _direction = AxisDirection.X;
+        [FormerlySerializedAs("_axisType")]
         [SerializeField]
         protected AxisType _type = AxisType.Translation;
         [SerializeField] 

Runtime/Scripts/Components/Cylinder.cs

@@ -8,8 +8,9 @@ namespace OC.Components
     [AddComponentMenu("Open Commissioning/Actor/Cylinder")]
     [SelectionBase]
     [DisallowMultipleComponent]
-    public class Cylinder : Actor, IDevice, ICustomInspector, IInteractable
+    public class Cylinder : Actor, IDevice, IInteractable
     {
+        public Type ReferenceType => typeof(Cylinder);
         public Link Link => _link;
         public IProperty<bool> Override => _override;
         public IProperty<bool> Minus => _minus;
@@ -72,13 +73,10 @@ public bool JogPlus
         protected void Start()
         {
             _link.Initialize(this);
-            
-            RefreshState(_progress.Value);
         }
 
         protected void OnEnable()
         {
-            _progress.OnValueChanged += RefreshState;
             _isActive.Subscribe(OnActiveChanged.Invoke);
             _onLimitMin.Subscribe(OnLimitMinEvent.Invoke);
             _onLimitMax.Subscribe(OnLimitMaxEvent.Invoke);
@@ -88,7 +86,6 @@ protected void OnEnable()
 
         protected void OnDisable()
         {
-            _progress.OnValueChanged -= RefreshState;
             _isActive.Unsubscribe(OnActiveChanged.Invoke);
             _onLimitMin.Unsubscribe(OnLimitMinEvent.Invoke);
             _onLimitMax.Unsubscribe(OnLimitMaxEvent.Invoke);
@@ -118,26 +115,28 @@ private void GetLinkData()
 
         private void SetLinkData()
         {
-            _link.Status.SetBit(0, _onLimitMin);
-            _link.Status.SetBit(1, _onLimitMax);
+            _link.Status.SetBit(0, _onLimitMin.Value);
+            _link.Status.SetBit(1, _onLimitMax.Value);
         }
 
         private void Operation(float deltaTime)
         {
             switch (_type.Value)
             {
                 case CylinderType.DoubleActing:
-                    if (_minus.Value ^ _plus.Value) IntegrateProgress(deltaTime, _plus.Value ? _timeToMax : -_timeToMin);
+                    if (_minus.Value ^ _plus.Value) IntegrateProgress(deltaTime, _plus.Value ? _timeToMax.Value : -_timeToMin.Value);
                     break;
                 case CylinderType.SingleActingNegative:
-                    IntegrateProgress(deltaTime, _plus.Value ? _timeToMax : -_timeToMin);
+                    IntegrateProgress(deltaTime, _plus.Value ? _timeToMax.Value : -_timeToMin.Value);
                     break;
                 case CylinderType.SingleActingPositive:
-                    IntegrateProgress(deltaTime, _minus.Value ? -_timeToMin : _timeToMax);
+                    IntegrateProgress(deltaTime, _minus.Value ? -_timeToMin.Value : _timeToMax.Value);
                     break;
                 default:
                     throw new ArgumentOutOfRangeException();
             }
+            
+            UpdateState();
         }
 
         public enum CylinderType
@@ -148,21 +147,20 @@ public enum CylinderType
         }
 
         public void SetProgress(float value) =>  _progress.Value = Mathf.Clamp01(value);
-
+        
         private void IntegrateProgress(float deltaTime, float duration)
         {
             var progress = _progress.Value + deltaTime / duration;
             _progress.Value = Mathf.Clamp01(progress);
         }
-        
-        private void RefreshState(float value)
+
+        private void UpdateState()
         {
-            _target.Value = Mathf.Lerp(_limits.Value.x, _limits.Value.y, _profile.Evaluate(_progress));
-            _isActive.Value = Math.FastApproximately(_target, _value, 1e-3f);
+            _target.Value = Mathf.Lerp(_limits.Value.x, _limits.Value.y, _profile.Evaluate(_progress.Value));
+            _isActive.Value = !Math.FastApproximately(_target.Value, _value.Value, 1e-1f);
             _value.Value = _target.Value;
-            _onLimitMin.Value = Math.FastApproximately(_value, _limits.Value.x, 1e-3f);
-            _onLimitMax.Value = Math.FastApproximately(_value, _limits.Value.y, 1e-3f);
-            SetLinkData();
+            _onLimitMin.Value = Math.FastApproximately(_value.Value, _limits.Value.x, 1e-3f);
+            _onLimitMax.Value = Math.FastApproximately(_value.Value, _limits.Value.y, 1e-3f);
         }
     }
 }

Runtime/Scripts/Components/DataReader.cs

@@ -13,6 +13,7 @@ namespace OC.Components
     [RequireComponent(typeof(BoxCollider))]
     public class DataReader : Detector, IMeasurement<float>, IInteractable
     {
+        public Type ReferenceType => typeof(DataReader);
         public IProperty<string> TargetData => _targetData;
         public IPropertyReadOnly<string> RawData => _rawData;
         public IPropertyReadOnly<float> Value => _value;

Runtime/Scripts/Components/Drive.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections;
 using System.Globalization;
 using OC.Communication;
@@ -10,8 +11,9 @@ namespace OC.Components
     [AddComponentMenu("Open Commissioning/Actor/Drive")]
     [SelectionBase]
     [DisallowMultipleComponent]
-    public abstract class Drive : Actor, IDevice, IMetadataAsset, ICustomInspector, IInteractable
+    public abstract class Drive : Actor, IDevice, IMetadataAsset, IInteractable
     {
+        public abstract Type ReferenceType { get; }
         public Link Link => _link;
         public IProperty<bool> Override => _override;
         public int MetadataAssetLength => 1;

Runtime/Scripts/Components/DrivePosition.cs

@@ -1,3 +1,4 @@
+using System;
 using OC.Communication;
 using UnityEngine;
 
@@ -9,6 +10,7 @@ namespace OC.Components
     [DefaultExecutionOrder(100)]
     public class DrivePosition : Drive
     {
+        public override Type ReferenceType => typeof(DrivePosition);
         public IProperty<float> Speed => _speed;
 
         [SerializeField]

Runtime/Scripts/Components/DriveSimple.cs

@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using OC.Communication;
 
@@ -8,6 +9,8 @@ namespace OC.Components
     [DisallowMultipleComponent]
     public class DriveSimple : DriveSpeed
     {
+        public override Type ReferenceType => typeof(DriveSimple);
+        
         public IProperty<float> Speed => _speed;
         public IProperty<bool> Forward => _forward;
         public IProperty<bool> Backward => _backward;

Runtime/Scripts/Components/DriveSpeed.cs

@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using OC.Communication;
 
@@ -8,6 +9,8 @@ namespace OC.Components
     [DisallowMultipleComponent]
     public class DriveSpeed : Drive
     {
+        public override Type ReferenceType => typeof(DriveSpeed);
+        
         public IProperty<float> Acceleration => _acceleration;
 
         [SerializeField]