/// <inheritdoc />
public override async Task <ISpatialCoordinate> LocalizeAsync(CancellationToken cancellationToken)
{
DebugLog($"Localizing, CanBeCanceled:{cancellationToken.CanBeCanceled}, IsCancellationRequested:{cancellationToken.IsCancellationRequested}");
ISpatialCoordinate coordinate = null;
using (var cancellableCTS = CancellationTokenSource.CreateLinkedTokenSource(defaultCancellationToken, cancellationToken))
{
if (!TrySendMarkerVisualDiscoveryMessage())
{
Debug.LogWarning("Failed to send marker visual discovery message, spatial localization failed.");
return(null);
}
// Receive marker to show
DebugLog("Waiting to have a coordinate id assigned");
await Task.WhenAny(coordinateAssigned.Task, Task.Delay(-1, cancellableCTS.Token));
if (string.IsNullOrEmpty(coordinateId))
{
DebugLog("Failed to assign coordinate id");
return(null);
}
using (var cts = CancellationTokenSource.CreateLinkedTokenSource(discoveryCTS.Token, cancellableCTS.Token))
{
DebugLog($"Attempting to discover coordinate: {coordinateId}, CanBeCanceled:{cts.Token.CanBeCanceled}, IsCancellationRequested:{cts.Token.IsCancellationRequested}");
if (await coordinateService.TryDiscoverCoordinatesAsync(cts.Token, new string[] { coordinateId.ToString() }))
{
DebugLog($"Coordinate discovery completed: {coordinateId}");
if (!coordinateService.TryGetKnownCoordinate(coordinateId, out coordinate))
{
DebugLog("Failed to find spatial coordinate although discovery completed.");
}
}
else
{
DebugLog("TryDiscoverCoordinatesAsync failed.");
}
}
DebugLog($"Waiting for coordinate to be found: {coordinateId}");
await Task.WhenAny(coordinateFound.Task, Task.Delay(-1, cancellableCTS.Token));
}
return(coordinate);
}
/// <inheritdoc />
public override async Task <ISpatialCoordinate> LocalizeAsync(CancellationToken cancellationToken)
{
if (!defaultCancellationToken.CanBeCanceled)
{
Debug.LogError("Session is invalid. No localization performed.");
return(null);
}
DebugLog($"Waiting for marker visual, CanBeCanceled:{cancellationToken.CanBeCanceled}, IsCancellationRequested:{cancellationToken.IsCancellationRequested}");
using (var cancellableCTS = CancellationTokenSource.CreateLinkedTokenSource(defaultCancellationToken, cancellationToken))
{
await Task.WhenAny(coordinateAssigned.Task, Task.Delay(-1, cancellableCTS.Token));
if (string.IsNullOrEmpty(coordinateId))
{
DebugLog("Failed to assign coordinate id");
return(null);
}
ISpatialCoordinate coordinate = null;
using (var cts = CancellationTokenSource.CreateLinkedTokenSource(discoveryCTS.Token, cancellableCTS.Token))
{
DebugLog($"Attempting to discover coordinate: {coordinateId}, CanBeCanceled:{cts.Token.CanBeCanceled}, IsCancellationRequested:{cts.Token.IsCancellationRequested}");
if (await coordinateService.TryDiscoverCoordinatesAsync(cts.Token, new string[] { coordinateId.ToString() }))
{
DebugLog($"Coordinate discovery completed: {coordinateId}");
if (!coordinateService.TryGetKnownCoordinate(coordinateId, out coordinate))
{
DebugLog("Failed to find spatial coordinate although discovery completed.");
}
else
{
SendCoordinateFound(coordinate.Id);
return(coordinate);
}
}
else
{
DebugLog("TryDiscoverCoordinatesAsync failed.");
}
}
}
return(null);
}
