static async ValueTask <(bool success, string message)> TrySetFixedFrame(string id)
{
(bool success, string message)result = default;
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
TfListener.FixedFrameId = id;
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("ControllerService: Unexpected timeout in TrySetFixedFrame");
return(result);
}
}
return(true, "");
}
static async Task RemoveRobotAsync([NotNull] UpdateRobot srv)
{
string id = srv.Request.Id;
if (id.Length == 0)
{
srv.Response.Success = false;
srv.Response.Message = "EE Id field is empty";
return;
}
ModuleData moduleData;
if ((moduleData = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == id)) == null)
{
srv.Response.Success = true;
srv.Response.Message = $"WW There is no node with name '{id}'";
return;
}
if (moduleData.ModuleType != ModuleType.Robot)
{
srv.Response.Success = false;
srv.Response.Message =
$"EE Another module of the same id already exists, but it has type {moduleData.ModuleType}";
return;
}
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
Logger.Info($"ControllerService: Removing robot");
ModuleListPanel.Instance.RemoveModule(moduleData);
}
catch (Exception e)
{
srv.Response.Success = false;
srv.Response.Message = $"EE An exception was raised: {e.Message}";
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
srv.Response.Success = false;
srv.Response.Message = "EE Request timed out!";
return;
}
if (string.IsNullOrEmpty(srv.Response.Message))
{
srv.Response.Success = true;
}
}
}
static async ValueTask <string[]> GetModulesAsync()
{
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
string[] result = Array.Empty <string>();
GameThread.Post(() =>
{
try
{
IConfiguration[] configurations = ModuleDatas.Select(data => data.Configuration).ToArray();
result = configurations.Select(JsonConvert.SerializeObject).ToArray();
}
catch (JsonException e)
{
Logger.Error("ControllerService: Unexpected JSON exception in GetModules", e);
}
catch (Exception e)
{
Logger.Error("ControllerService: Unexpected exception in GetModules", e);
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("Timeout in GetModules");
}
return(result);
}
}
static async Task AddRobotAsync([NotNull] UpdateRobot srv)
{
string id = srv.Request.Id;
ModuleData moduleData;
if (id.Length != 0)
{
moduleData = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == id);
if (moduleData != null && moduleData.ModuleType != ModuleType.Robot)
{
srv.Response.Success = false;
srv.Response.Message =
$"EE Another module of the same id already exists, but it has type {moduleData.ModuleType}";
return;
}
}
else
{
moduleData = null;
}
using (var signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
//Logger.Info($"ControllerService: Creating robot");
var newModuleData = moduleData ?? ModuleListPanel.Instance.CreateModule(
ModuleType.Robot, requestedId: id.Length != 0 ? id : null);
srv.Response.Success = true;
((SimpleRobotModuleData)newModuleData).UpdateConfiguration(
srv.Request.Configuration,
srv.Request.ValidFields);
}
catch (Exception e)
{
srv.Response.Success = false;
srv.Response.Message = $"EE An exception was raised: {e.Message}";
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
srv.Response.Success = false;
srv.Response.Message = "EE Request timed out!";
return;
}
if (string.IsNullOrEmpty(srv.Response.Message))
{
srv.Response.Success = true;
}
}
}
void UpdateParametersLink([NotNull] string link)
{
description.Clear();
if (!ConnectionManager.IsConnected)
{
panel.TextBottom.text = EmptyBottomText;
return;
}
description.Append("<font=Bold>").Append(link).AppendLine("</font>");
if (!paramValue.IsEmpty)
{
description.AppendLine("<font=Bold>Value:</font>");
string value = JsonConvert
.SerializeObject(paramValue, Formatting.Indented, JsonConverter);
if (paramValue.ValueType != XmlRpcValue.Type.String)
{
description.Append(value);
}
else
{
description.Append(value
.Replace("<", "<noparse><</noparse>")
.Replace("\\n", "\n")
.Replace("\\\"", "\"")
);
}
}
else
{
tokenSource?.Cancel();
tokenSource = new CancellationTokenSource(5000);
GetParamValue(link, tokenSource.Token);
}
panel.TextBottom.SetText(description);
panel.TextBottom.UpdateVertexData();
async void GetParamValue(string param, CancellationToken token)
{
if (!ConnectionManager.IsConnected)
{
return;
}
try
{
(paramValue, _) = await ConnectionManager.Connection.GetParameterAsync(param, 5000, token);
GameThread.Post(() => UpdateParametersLink(link));
}
catch (OperationCanceledException)
{
}
}
}
void SetConnectionState(ConnectionState newState)
{
if (ConnectionState == newState)
{
return;
}
ConnectionState = newState;
GameThread.Post(() => ConnectionStateChanged?.Invoke(newState));
}
static async ValueTask <(bool success, string message)> TryUpdateModuleAsync([NotNull] string id,
string[] fields,
string config)
{
(bool success, string message)result = default;
if (string.IsNullOrWhiteSpace(id))
{
result.message = "EE Empty configuration id!";
return(result);
}
if (string.IsNullOrWhiteSpace(config))
{
result.message = "EE Empty configuration text!";
return(result);
}
using (var signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
var module = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == id);
if (module == null)
{
result.success = false;
result.message = "EE There is no module with that id";
return;
}
module.UpdateConfiguration(config, fields);
result.success = true;
}
catch (JsonException e)
{
result.success = false;
result.message = $"EE Error parsing JSON config: {e.Message}";
Logger.Error("Error:", e);
}
catch (Exception e)
{
result.success = false;
result.message = $"EE An exception was raised: {e.Message}";
Logger.Error("Error:", e);
}
finally
{
signal.Release();
}
});
return(await signal.WaitAsync(DefaultTimeoutInMs) ? result : (false, "EE Request timed out!"));
}
}
internal static async Task StartCaptureAsync([NotNull] StartCapture srv)
{
if (Settings.ScreenCaptureManager == null)
{
srv.Response.Success = false;
srv.Response.Message = "No screenshot manager has been set for this platform";
return;
}
string errorMessage = null;
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(async() =>
{
try
{
await Settings.ScreenCaptureManager.StartAsync(
srv.Request.ResolutionX, srv.Request.ResolutionY, srv.Request.WithHolograms);
}
catch (Exception e)
{
errorMessage = e.Message;
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("ControllerService: Unexpected timeout in StartCaptureAsync");
srv.Response.Success = false;
srv.Response.Message = "Request timed out";
return;
}
}
if (errorMessage != null)
{
srv.Response.Success = false;
srv.Response.Message = errorMessage;
return;
}
srv.Response.Success = true;
}
internal static async Task CaptureScreenshotAsync([NotNull] CaptureScreenshot srv)
{
if (Settings.ScreenCaptureManager == null)
{
srv.Response.Success = false;
srv.Response.Message = "No screenshot manager has been set for this platform";
return;
}
string errorMessage = null;
Screenshot ss = null;
Pose? pose = null;
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(async() =>
{
try
{
var assetHolder = UnityEngine.Resources
.Load <GameObject>("App Asset Holder")
.GetComponent <AppAssetHolder>();
AudioSource.PlayClipAtPoint(assetHolder.Screenshot, Settings.MainCamera.transform.position);
ss = await Settings.ScreenCaptureManager.CaptureColorAsync();
pose = ss != null
? TfListener.RelativePoseToFixedFrame(ss.CameraPose).Unity2RosPose().ToCameraFrame()
: (Pose?)null;
}
catch (Exception e)
{
errorMessage = e.Message;
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
Logger.Error("ControllerService: Unexpected timeout in CaptureScreenshotAsync");
srv.Response.Success = false;
srv.Response.Message = "Request timed out";
return;
}
}
if (errorMessage != null)
{
srv.Response.Success = false;
srv.Response.Message = errorMessage;
return;
}
if (ss == null)
{
srv.Response.Success = false;
srv.Response.Message = "Captured failed for unknown reason";
return;
}
srv.Response.Success = true;
srv.Response.Width = ss.Width;
srv.Response.Height = ss.Height;
srv.Response.Bpp = ss.Bpp;
srv.Response.Header = (screenshotSeq++, ss.Timestamp, TfListener.FixedFrameId);
srv.Response.Intrinsics = ss.Intrinsic.ToArray();
srv.Response.Pose = pose ?? Pose.Identity;
srv.Response.Data = await CompressAsync(ss);
}
static async ValueTask <(string id, bool success, string message)> TryAddModuleFromTopicAsync(
[NotNull] string topic,
[NotNull] string requestedId)
{
(string id, bool success, string message)result = default;
if (string.IsNullOrWhiteSpace(topic))
{
result.message = "EE Invalid topic name";
return(result);
}
var data = ModuleDatas.FirstOrDefault(module => module.Topic == topic);
if (data != null)
{
result.message = requestedId == data.Configuration.Id
? "** Module already exists"
: "WW A module with that topic but different id already exists";
result.id = data.Configuration.Id;
result.success = true;
return(result);
}
if (requestedId.Length != 0 && ModuleDatas.Any(module => module.Configuration.Id == requestedId))
{
result.message = "EE There is already another module with that id";
return(result);
}
var topics = Connection.GetSystemPublishedTopicTypes(RequestType.CachedOnly);
string type = topics.FirstOrDefault(topicInfo => topicInfo.Topic == topic)?.Type;
if (type == null)
{
topics = await Connection.GetSystemPublishedTopicTypesAsync(DefaultTimeoutInMs);
type = topics.FirstOrDefault(topicInfo => topicInfo.Topic == topic)?.Type;
}
if (type == null)
{
return("", false, $"EE Failed to find topic '{topic}'");
}
if (!Resource.ResourceByRosMessageType.TryGetValue(type, out ModuleType resource))
{
return("", false, $"EE Type '{type}' is unsupported");
}
using (var signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
result.id = ModuleListPanel.Instance.CreateModule(resource, topic, type,
requestedId: requestedId.Length != 0 ? requestedId : null).Configuration.Id;
result.success = true;
}
catch (Exception e)
{
result.message = $"EE An exception was raised: {e.Message}";
Logger.Error("Exception raised in TryAddModuleFromTopicAsync", e);
}
finally
{
signal.Release();
}
});
return(await signal.WaitAsync(DefaultTimeoutInMs) ? result : ("", false, "EE Request timed out!"));
}
}
static async ValueTask <(string id, bool success, string message)> TryAddModuleAsync(
[NotNull] string moduleTypeStr,
[NotNull] string requestedId)
{
(string id, bool success, string message)result = default;
if (string.IsNullOrWhiteSpace(moduleTypeStr))
{
result.message = "EE Invalid module type";
return(result);
}
ModuleType moduleType = ModuleTypeFromString(moduleTypeStr);
if (moduleType == ModuleType.Invalid)
{
result.message = "EE Invalid module type";
return(result);
}
if (moduleType != ModuleType.Grid &&
moduleType != ModuleType.DepthCloud &&
moduleType != ModuleType.AugmentedReality &&
moduleType != ModuleType.Joystick &&
moduleType != ModuleType.Robot)
{
result.message = "EE Cannot create module of that type, use AddModuleFromTopic instead";
return(result);
}
ModuleData moduleData;
if (requestedId.Length != 0 &&
(moduleData = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == requestedId)) != null)
{
if (moduleData.ModuleType != moduleType)
{
result.message =
$"EE Another module of the same id already exists, but it has type {moduleData.ModuleType}";
}
else
{
result.success = true;
result.id = requestedId;
result.message = "** Module already exists";
}
return(result);
}
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
Logger.Info($"Creating module of type {moduleType}");
var newModuleData = ModuleListPanel.Instance.CreateModule(moduleType,
requestedId: requestedId.Length != 0 ? requestedId : null);
result.id = newModuleData.Configuration.Id;
result.success = true;
Logger.Info("Done!");
}
catch (Exception e)
{
result.message = $"EE An exception was raised: {e.Message}";
}
finally
{
signal.Release();
}
});
return(await signal.WaitAsync(DefaultTimeoutInMs) ? result : ("", false, "EE Request timed out!"));
}
}
protected void SetConnectionWarningState(bool value)
{
GameThread.Post(() => ConnectionWarningStateChanged?.Invoke(value));
}
