public AddCommand(
ICloudObjectsContainer <SlamPoint> pointsContainer,
ICloudObjectsContainer <SlamLine> linesContainer,
ICloudObjectsContainer <SlamObservation> observationsContainer,
SlamPackage slamEvent)
{
m_pointsContainer = pointsContainer;
m_linesContainer = linesContainer;
m_observationsContainer = observationsContainer;
if (slamEvent.Points != null)
{
m_addedPoints = slamEvent.Points.Where(p => p.isNew).ToArray();
}
if (slamEvent.Lines != null)
{
m_addedLines = slamEvent.Lines.Where(l => !m_linesContainer.Exists(l)).ToArray();
for (int i = 0; i < m_addedLines.Length; ++i)
{
m_addedLines[i].isRemoved = true;
m_addedLines[i].vert1 = m_pointsContainer[m_addedLines[i].pointId1].position;
m_addedLines[i].vert2 = m_pointsContainer[m_addedLines[i].pointId2].position;
}
}
if (slamEvent.Observations != null)
{
m_addedObservations = slamEvent.Observations.Where(o => o.Point.isNew && o.Point.id != -1).ToArray();
}
}
public static void TestNonExistent(
this SlamPackage package,
Func <SlamPoint, bool> filter,
ICloudObjectsContainer <SlamPoint> pointsContainer,
ICloudObjectsContainer <SlamObservation> graph)
{
#if DEBUG
if (package.Points != null)
{
var existentPoints = SlamObjectQuery(package.Points.Where(p => filter(p)), id => !pointsContainer.Exists(id));
ElektronikLogger.WrapDebug(() => Test(package, existentPoints, "Point id {0} doesn't exists. New: '{1}'. Removed: '{2}'"));
}
if (package.Observations != null)
{
var existentObs = SlamObjectQuery(package.Observations.Select(o => (SlamPoint)o).Where(o => filter(o)), id => !graph.Exists(id));
ElektronikLogger.WrapDebug(() => Test(package, existentObs, "Observation id {0} doesn't exists. New: '{1}'. Removed: '{2}'"));
}
#endif
}
public static void TestExistent(
this SlamPackage package,
Func <SlamPoint, bool> filter,
ICloudObjectsContainer <SlamPoint> pointsContainer,
ICloudObjectsContainer <SlamObservation> graph)
{
if (package.Points != null)
{
var existentPoints = SlamObjectQuery(package.Points.Where(p => filter(p)), id => pointsContainer.Exists(id));
Test(package, existentPoints, "Point id {0} already exists. New: '{1}'. Removed: '{2}'");
}
if (package.Observations != null)
{
var existentObs = SlamObjectQuery(package.Observations.Select(o => (SlamPoint)o).Where(o => filter(o)), id => graph.Exists(id));
Test(package, existentObs, "Observation id {0} already exists. New: '{1}'. Removed: '{2}'");
}
}