public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty mmuLoadingProperty)
{
if (mmuLoadingProperty.Description.ID == Data.CoSimMMUDescription.ID)
{
CoSimulationMMUImpl instance = new CoSimulationMMUImpl();
return(instance);
}
return(null);
}
/// <summary>
/// Tries to add/read the respective MMU
/// </summary>
/// <param name="zipFilePath">The filepath of the zip archive</param>
/// <returns></returns>
private bool TryAddMMU(string zipFilePath)
{
//Check whether a description is available
MMUDescription mmuDescription = this.GetMMUDescription(zipFilePath);
//Only continue if description is not null
if (mmuDescription != null)
{
//Check if the MMU supports the specified language
if (!this.supportedLanguages.Contains(mmuDescription.Language))
{
return(false);
}
//Check if already available -> skip
if (this.sessionData.MMULoadingProperties.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Skip if already registered
if (this.availableMMUs.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Create the new loading properties for the MMU
MMULoadingProperty loadingProperties = new MMULoadingProperty()
{
//Assign the description
Description = mmuDescription,
//Store all the data
Data = GetZipContent(zipFilePath),
//Store the path to the zip file
Path = zipFilePath
};
//Add to available MMUs
this.availableMMUs.Add(mmuDescription.ID, loadingProperties);
Logger.Log(Log_level.L_INFO, $"Successfully added MMU: {mmuDescription.Name} {mmuDescription.AssemblyName}");
//Success return true
return(true);
}
//Problem -> return false
return(false);
}
/// <summary>
/// Instantiates a MMU from file
/// </summary>
/// <param name="folderPath"></param>
/// <param name="mmuDescription"></param>
/// <param name="sessionId"></param>
/// <returns></returns>
public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty mmuLoadingProperty)
{
//Check if the MMU supports the specified language
if (mmuLoadingProperty.Description.Language != "C#" && mmuLoadingProperty.Description.Language != "C++CLR")
{
return(null);
}
//Load the mmu from filesystem and instantiate
if (mmuLoadingProperty.Path != null)
{
Assembly assembly = Assembly.LoadFrom(mmuLoadingProperty.Path);
//Get the specific type of the class which implementd the IMotionModelUnitDev interface
Type classType = GetMMUClassType(assembly);
if (classType != null)
{
try
{
//Create a new mmu instance within the same app domain
IMotionModelUnitDev mmuInstance = Activator.CreateInstance(classType) as IMotionModelUnitDev;
//To do -> in future instantiate directly from ram -> Loading properties already provide within the data dictionary all dlls and resources
//To do -> incorporate app domain -> currently not working
//IMotionModelUnitDev mmuInstance = InstantiateInAppDomain(mmuDescription, sessionContent.SessionId, filePath);
return(mmuInstance);
}
catch (Exception e)
{
Logger.Log(Log_level.L_ERROR, $"Could not load MMU: {mmuLoadingProperty.Description.Name} {mmuLoadingProperty.Description.AssemblyName}, exception: {e.Message}");
}
}
}
return(null);
}
public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty loadingProperty)
{
//Instantiate the respective MMU -> Change this line for testing a different MMU
return(Activator.CreateInstance(mmuType) as IMotionModelUnitDev);
}
/// <summary>
/// Instantiates a MMU from file
/// </summary>
/// <param name="folderPath"></param>
/// <param name="mmuDescription"></param>
/// <param name="sessionId"></param>
/// <returns></returns>
public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty mmuLoadingProperty)
{
Debug.Log("Calling Unity MMU instantiator " + mmuLoadingProperty.Path);
MMUDescription mmuDescription = mmuLoadingProperty.Description;
string filePath = mmuLoadingProperty.Path;
//Check if the MMU supports the specified language
if (mmuDescription.Language != "UnityC#" && mmuDescription.Language != "Unity")
{
throw new NotSupportedException("MMU is not supported");
}
//Skip if file path invalid
if (filePath == null)
{
throw new NullReferenceException("File path of MMU is null " + mmuDescription.Name);
}
//Skip if the MMU has no dependencies
if (mmuDescription.Dependencies.Count == 0)
{
throw new Exception("No dependencies of MMU specified " + mmuDescription.Name);
}
//Create a variable which hols the mmu
IMotionModelUnitDev mmu = null;
//Get the paths
string folderPath = System.IO.Directory.GetParent(filePath).ToString();
string assetBundlePath = folderPath + "\\" + mmuDescription.Dependencies[0].Name;
//Perform on unity main thread
MainThreadDispatcher.Instance.ExecuteBlocking(delegate
{
//To do in futre -> Create a new scene for each MMU
//Scene scene = SceneManager.CreateScene("Scene" + mmuDescription.Name);
//SceneManager.SetActiveScene(scene);
//First load the resources
AssetBundle mmuAssetBundle = null;
try
{
if (!mmuLoadingProperty.Data.ContainsKey(assetBundlePath))
{
mmuAssetBundle = AssetBundle.LoadFromFile(assetBundlePath);
if (mmuAssetBundle == null)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Failed to load AssetBundle! AssetBundle is null!" + mmuDescription.Name);
return;
}
mmuLoadingProperty.Data.Add(assetBundlePath, mmuAssetBundle);
}
else
{
mmuAssetBundle = mmuLoadingProperty.Data[assetBundlePath] as AssetBundle;
}
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot load asset bundle: " + mmuDescription.Name + " " + e.Message);
return;
}
GameObject prefab = null;
try
{
prefab = mmuAssetBundle.LoadAsset <GameObject>(mmuDescription.Name);
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot load prefab: " + mmuDescription.Name + " " + e.Message);
}
GameObject mmuObj = null;
try
{
mmuObj = GameObject.Instantiate(prefab);
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot instantiate prefab: " + mmuDescription.Name + " " + e.Message);
}
try
{
Assembly assembly = Assembly.LoadFile(filePath);
//Find the class type which implements the IMotionModelInterface
Type classType = assembly.GetTypes().ToList().Find(s => s.GetInterfaces().Contains(typeof(IMotionModelUnitDev)));
if (classType != null)
{
//Add the script to the game object
mmu = mmuObj.AddComponent(classType) as IMotionModelUnitDev;
///Loading and assigning the configuration file
if (mmuObj.GetComponent <UnityMMUBase>() != null)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"MMU {mmuDescription.Name} implements the UnityMMUBase");
//Get the UnityMMUBse interface
UnityMMUBase mmuBase = mmuObj.GetComponent <UnityMMUBase>();
//By default set the configuration file path and define it globally
string avatarConfigFilePath = AppDomain.CurrentDomain.BaseDirectory + "/" + "avatar.mos";
//Check if the MMU has a custom configuration file
if (this.GetLocalAvatarConfigurationFile(folderPath, out string localConfigFilePath))
{
//Setting the local avatar as reference for retargeting
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"Local avatar configuration was found: {mmuDescription.Name} ({avatarConfigFilePath}).");
//Set to the utilized path
avatarConfigFilePath = localConfigFilePath;
}
//Further perform a check whether the file is available at all
if (System.IO.File.Exists(avatarConfigFilePath))
{
mmuBase.ConfigurationFilePath = avatarConfigFilePath;
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"Setting the configuration file path for loading the avatar of {mmuDescription.Name} to {avatarConfigFilePath}");
}
//Problem in here -> File is obviously not available
else
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, $"Problem setting the configuration file path for loading the avatar of {mmuDescription.Name} to {avatarConfigFilePath}. File not available.");
}
}
}
else
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot instantiate MMU: " + mmuDescription.Name);
}
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Problem at instantiating class of MMU: " + mmuDescription.Name + " " + e.Message + " " + e.StackTrace);
}
//Disable all renderers in the scene
foreach (Renderer renderer in GameObject.FindObjectsOfType <Renderer>())
{
renderer.enabled = false;
}
});
/// <summary>
/// Tries to add/read the respective MMU
/// </summary>
/// <param name="zipFilePath">The filepath of the zip archive</param>
/// <returns></returns>
private bool TryAddMMU(string directoryPath)
{
try
{
//Check whether a description is available
MMUDescription mmuDescription = this.GetMMUDescription(directoryPath);
//Only continue if description is not null
if (mmuDescription != null)
{
//Check if the MMU supports the specified language
if (!this.supportedLanguages.Contains(mmuDescription.Language))
{
return(false);
}
//Check if already available -> skip
if (this.sessionData.MMULoadingProperties.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Skip if already registered
if (this.availableMMUs.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Determine the mmu file
string mmuFile = Directory.GetFiles(directoryPath).ToList().Find(s => s.Contains(mmuDescription.AssemblyName));
//Create the new loading properties for the MMU
MMULoadingProperty loadingProperties = new MMULoadingProperty()
{
//Assign the description
Description = mmuDescription,
//Store all the data
Data = GetFolderContent(directoryPath),
//Set the path of the directory
Path = mmuFile //directory path -> in future use directory path in here
};
//Add to available MMUs
this.availableMMUs.Add(mmuDescription.ID, loadingProperties);
Logger.Log(Log_level.L_INFO, $"Successfully added MMU: {mmuDescription.Name} {mmuDescription.AssemblyName}");
//Success return true
return(true);
}
//Problem -> return false
return(false);
}
catch (Exception)
{
return(false);
}
}
public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty loadingProperty)
{
//Instantiate the respective MMU -> Change this line for testing a different MMU
return(new CarryMMUConcurrentImpl());
}
