/// <summary>
/// Get a fixed-size double array from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if a double array of the specified size was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="expectedCount">Expected size of the array.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetDoubleArray(IntPtr rawMetadata, string key, int expectedCount,
out double[] value)
{
value = new double[expectedCount];
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
value));
return(false);
}
if (rawValueSize != DOUBLE_BYTE_COUNT * expectedCount)
{
// Unexpected size change
Debug.Log(string.Format("key={0} Unexpected byte size {1}.\n" + Environment.StackTrace,
key, rawValueSize));
return(false);
}
Marshal.Copy(rawValue, value, 0, expectedCount);
return(true);
}
/// <summary>
/// Get an Int64 value from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if an Int64 value was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetInt64(IntPtr rawMetadata, string key, out Int64 value)
{
value = 0;
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
key));
return(false);
}
if (rawValueSize != INT64_BYTE_COUNT)
{
// Unexpected size change
Debug.Log(string.Format("key={0} Unexpected byte size {1}.\n" + Environment.StackTrace,
key, rawValueSize));
return(false);
}
value = Marshal.ReadInt64(rawValue);
return(true);
}
/// <summary>
/// Get a string value from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if a string value was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetString(IntPtr rawMetadata, string key, out string value)
{
value = String.Empty;
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
key));
return(false);
}
byte[] rawValueArray = new byte[rawValueSize];
Marshal.Copy(rawValue, rawValueArray, 0, (int)rawValueSize);
try
{
value = Encoding.UTF8.GetString(rawValueArray);
}
catch (Exception e)
{
Debug.Log(string.Format("key={0} Error during UTF-8 decoding {1}.\n" + Environment.StackTrace,
key, e.Message));
return(false);
}
return(true);
}
/// <summary>
/// Delete an area description.
/// </summary>
/// <returns>
/// Returns true if the area description file is found and can be removed.
/// </returns>
public bool Delete()
{
#if UNITY_EDITOR
try
{
if (File.Exists(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION))
{
File.Delete(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION);
return(true);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
}
return(false);
#else
int returnValue = AreaDescriptionAPI.TangoService_deleteAreaDescription(m_uuid);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not delete area description.\n" + Environment.StackTrace);
return(false);
}
return(true);
#endif
}
/// <summary>
/// Free a previously gotten Metadata pointer.
/// </summary>
/// <param name="metadataPtr">Metadata pointer to free.</param>
private static void _FreeMetadataPtr(IntPtr metadataPtr)
{
if (metadataPtr != IntPtr.Zero)
{
AreaDescriptionAPI.TangoAreaDescriptionMetadata_free(metadataPtr);
}
}
/// <summary>
/// Delete an area description.
/// </summary>
/// <returns>
/// Returns true if the area description file is found and can be removed.
/// </returns>
public bool Delete()
{
int returnValue = AreaDescriptionAPI.TangoService_deleteAreaDescription(m_uuid);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not delete area description.\n" + Environment.StackTrace);
return(false);
}
return(true);
}
/// <summary>
/// Set an Int64 value in an area description metadata.
/// </summary>
/// <returns><c>true</c>, if Int64 value was set, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">New value.</param>
private static bool _MetadataSetInt64(IntPtr rawMetadata, string key, Int64 value)
{
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_set(rawMetadata, key, INT64_BYTE_COUNT, ref value)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0}, value={1} Unable to set metadata value.\n" + Environment.StackTrace,
key, value));
return(false);
}
return(true);
}
/// <summary>
/// Set a string value in an area description metadata.
/// </summary>
/// <returns><c>true</c>, if string value was set, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">New value.</param>
private static bool _MetadataSetString(IntPtr rawMetadata, string key, string value)
{
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_set(rawMetadata, key,
(uint)Encoding.UTF8.GetByteCount(value), value)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0}, value={1} Unable to set metadata value.\n" + Environment.StackTrace,
key, value));
return(false);
}
return(true);
}
/// <summary>
/// Saves the current area description, returning the area description saved.
///
/// You can only save an area description while connected to the Tango Service and if you have enabled Area
/// Learning mode. If you loaded an ADF before connecting, then calling this method appends any new learned
/// areas to that ADF and returns the same UUID. If you did not load an ADF, this method creates a new ADF and
/// a new UUID for that ADF.
/// </summary>
/// <returns>
/// AreaDescription instance for the newly saved area description if saved successfully, <c>null</c> otherwise.
///
/// See logcat for details of why the saved failed.
/// </returns>
public static AreaDescription SaveCurrent()
{
byte[] rawUUID = new byte[Common.UUID_LENGTH];
if (AreaDescriptionAPI.TangoService_saveAreaDescription(rawUUID) != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save area description.\n" + Environment.StackTrace);
return(null);
}
string uuid = Encoding.UTF8.GetString(rawUUID);
return(AreaDescription.ForUUID(uuid));
}
/// <summary>
/// Get the low level metadata pointer for an area description.
///
/// Make sure to free this with FreeMetadataPtr when you are done with it.
/// </summary>
/// <returns>A metadata pointer or <c>IntPtr.Zero</c> if it could not be loaded.</returns>
private IntPtr _GetMetadataPtr()
{
IntPtr value = IntPtr.Zero;
int returnValue = AreaDescriptionAPI.TangoService_getAreaDescriptionMetadata(m_uuid, ref value);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("Could not get metadata pointer for uuid {0}.\n" + Environment.StackTrace,
m_uuid));
return(IntPtr.Zero);
}
return(value);
}
/// <summary>
/// Set a fixed-size double array in an area description metadata.
/// </summary>
/// <returns><c>true</c>, if the double array was set, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">New value.</param>
private static bool _MetadataSetDoubleArray(IntPtr rawMetadata, string key, double[] value)
{
uint arrayByteCount = (uint)(DOUBLE_BYTE_COUNT * value.Length);
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_set(rawMetadata, key, arrayByteCount, value)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0}, value={1} Unable to set metadata value.\n" + Environment.StackTrace,
key, value));
return(false);
}
return(true);
}
/// <summary>
/// Get a list of all area description UUIDs on the device.
/// </summary>
/// <returns>List of string UUIDs.</returns>
private static string[] _GetUUIDList()
{
IntPtr rawListString = IntPtr.Zero;
int returnValue = AreaDescriptionAPI.TangoService_getAreaDescriptionUUIDList(ref rawListString);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not get ADF list from device.\n" + Environment.StackTrace);
return(null);
}
string listString = _ReadUTF8String(rawListString);
return(listString.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries));
}
/// <summary>
/// Save the metadata for this area description.
/// </summary>
/// <returns>Returns <c>true</c> if the metadata was successfully saved, <c>false</c> otherwise.</returns>
/// <param name="metadata">Metadata to save.</param>
public bool SaveMetadata(Metadata metadata)
{
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return(false);
}
bool anyErrors = false;
if (!_MetadataSetString(rawMetadata, "name", metadata.m_name))
{
anyErrors = true;
}
if (!_MetadataSetInt64(rawMetadata, "date_ms_since_epoch",
(metadata.m_dateTime.Ticks - METADATA_EPOCH.Ticks) / DATETIME_TICKS_PER_MS))
{
anyErrors = true;
}
double[] tform = new double[7];
tform[0] = metadata.m_transformationPosition[0];
tform[1] = metadata.m_transformationPosition[1];
tform[2] = metadata.m_transformationPosition[2];
tform[3] = metadata.m_transformationRotation[0];
tform[4] = metadata.m_transformationRotation[1];
tform[5] = metadata.m_transformationRotation[2];
tform[6] = metadata.m_transformationRotation[3];
if (!_MetadataSetDoubleArray(rawMetadata, "transformation", tform))
{
anyErrors = true;
}
if (!anyErrors)
{
int returnValue = AreaDescriptionAPI.TangoService_saveAreaDescriptionMetadata(m_uuid, rawMetadata);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save metadata values.\n" + Environment.StackTrace);
anyErrors = true;
}
}
_FreeMetadataPtr(rawMetadata);
return(!anyErrors);
}
/// <summary>
/// Get a list of all area description UUIDs on the device.
/// </summary>
/// <returns>List of string UUIDs.</returns>
private static string[] _GetUUIDList()
{
#if UNITY_EDITOR
try
{
DirectoryInfo directory = new DirectoryInfo(EMULATED_ADF_SAVE_PATH);
if (directory.Exists)
{
FileInfo[] fileInfo = directory.GetFiles();
List <string> uuids = new List <String>();
for (int i = 0; i < fileInfo.Length; i++)
{
if (fileInfo[i].Extension == EMULATED_ADF_EXTENSION)
{
uuids.Add(Path.GetFileNameWithoutExtension(fileInfo[i].Name));
}
}
return(uuids.ToArray());
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
}
return(new string[0]);
#else
IntPtr rawListString = IntPtr.Zero;
int returnValue = AreaDescriptionAPI.TangoService_getAreaDescriptionUUIDList(ref rawListString);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not get ADF list from device.\n" + Environment.StackTrace);
return(null);
}
string listString = _ReadUTF8String(rawListString);
return(listString.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries));
#endif
}
/// <summary>
/// Save the metadata for this area description.
/// </summary>
/// <returns>Returns <c>true</c> if the metadata was successfully saved, <c>false</c> otherwise.</returns>
/// <param name="metadata">Metadata to save.</param>
public bool SaveMetadata(Metadata metadata)
{
#if UNITY_EDITOR
try
{
using (StreamWriter streamWriter =
new StreamWriter(File.Open(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION,
FileMode.Create)))
{
metadataXmlSerializer.Serialize(streamWriter, metadata);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
return(false);
}
return(true);
#else
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return(false);
}
bool anyErrors = false;
if (!_MetadataSetString(rawMetadata, "name", metadata.m_name))
{
anyErrors = true;
}
if (!_MetadataSetInt64(rawMetadata, "date_ms_since_epoch",
(metadata.m_dateTime.Ticks - METADATA_EPOCH.Ticks) / DATETIME_TICKS_PER_MS))
{
anyErrors = true;
}
double[] tform = new double[7];
tform[0] = metadata.m_transformationPosition[0];
tform[1] = metadata.m_transformationPosition[1];
tform[2] = metadata.m_transformationPosition[2];
tform[3] = metadata.m_transformationRotation[0];
tform[4] = metadata.m_transformationRotation[1];
tform[5] = metadata.m_transformationRotation[2];
tform[6] = metadata.m_transformationRotation[3];
if (!_MetadataSetDoubleArray(rawMetadata, "transformation", tform))
{
anyErrors = true;
}
if (!anyErrors)
{
int returnValue = AreaDescriptionAPI.TangoService_saveAreaDescriptionMetadata(m_uuid, rawMetadata);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save metadata values.\n" + Environment.StackTrace);
anyErrors = true;
}
}
_FreeMetadataPtr(rawMetadata);
return(!anyErrors);
#endif
}
/// <summary>
/// Saves the current area description, returning the area description saved.
///
/// You can only save an area description while connected to the Tango Service and if you have enabled Area
/// Learning mode. If you loaded an area description before connecting, then calling this method appends any
/// new learned areas to that area description and returns an area description with the same UUID. If you did
/// not load an area description, this method creates a new area description and a new UUID for that area
/// description.
/// </summary>
/// <returns>
/// AreaDescription instance for the newly saved area description if saved successfully, <c>null</c> otherwise.
///
/// See logcat for details of why a saved failed.
/// </returns>
public static AreaDescription SaveCurrent()
{
#if UNITY_EDITOR
if (!EmulatedAreaDescriptionHelper.m_usingEmulatedDescriptionFrames)
{
Debug.LogError("Error in Area Description save emulation:\nNo current emulated area description.");
return(null);
}
// If we don't have an existing UUID, this is a 'new' Area Description, so we'll have to create it.
if (string.IsNullOrEmpty(EmulatedAreaDescriptionHelper.m_currentUUID))
{
// Just use a .net GUID for the UUID.
string uuid = Guid.NewGuid().ToString();
EmulatedAreaDescriptionHelper.m_currentUUID = uuid;
try
{
Directory.CreateDirectory(EMULATED_ADF_SAVE_PATH);
using (StreamWriter streamWriter =
new StreamWriter(File.Open(EMULATED_ADF_SAVE_PATH + uuid + EMULATED_ADF_EXTENSION,
FileMode.Create)))
{
Metadata metadata = new Metadata();
metadata.m_name = "Unnamed";
metadata.m_dateTime = DateTime.Now;
metadata.m_transformationPosition = new double[3];
metadata.m_transformationRotation = new double[] { 0, 0, 0, 1 };
metadataXmlSerializer.Serialize(streamWriter, metadata);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
return(null);
}
return(AreaDescription.ForUUID(uuid));
}
else
{
// Since we don't actually save any description of the area in emulation,
// if we're using an existing UUID, we don't have to do anything but return it.
return(AreaDescription.ForUUID(EmulatedAreaDescriptionHelper.m_currentUUID));
}
#else
byte[] rawUUID = new byte[Common.UUID_LENGTH];
if (AreaDescriptionAPI.TangoService_saveAreaDescription(rawUUID) != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save area description.\n" + Environment.StackTrace);
return(null);
}
// Don't want to include the null terminator in the C# string.
string uuid = Encoding.UTF8.GetString(rawUUID, 0, Common.UUID_LENGTH - 1);
return(AreaDescription.ForUUID(uuid));
#endif
}
