public static BaseLink Alloc()
{
global::System.IntPtr cPtr = C4dApiPINVOKE.BaseLink_Alloc();
BaseLink ret = (cPtr == global::System.IntPtr.Zero) ? null : new BaseLink(cPtr, false);
return(ret);
}
public BaseLink GetBaseLink(int id)
{
global::System.IntPtr cPtr = C4dApiPINVOKE.BaseContainer_GetBaseLink(swigCPtr, id);
BaseLink ret = (cPtr == global::System.IntPtr.Zero) ? null : new BaseLink(cPtr, false);
return(ret);
}
public BaseLink GetClone(COPYFLAGS flags, AliasTrans trn)
{
global::System.IntPtr cPtr = C4dApiPINVOKE.BaseLink_GetClone(swigCPtr, (int)flags, AliasTrans.getCPtr(trn));
BaseLink ret = (cPtr == global::System.IntPtr.Zero) ? null : new BaseLink(cPtr, false);
return(ret);
}
public BaseLink GetBaseLink()
{
global::System.IntPtr cPtr = C4dApiPINVOKE.GeData_GetBaseLink(swigCPtr);
BaseLink ret = (cPtr == global::System.IntPtr.Zero) ? null : new BaseLink(cPtr, false);
return(ret);
}
/// <summary>
/// 保存
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Save_Click(object sender, RoutedEventArgs e)
{
dbConn = BaseLink.GetConnStr(dbType, txtUserName, txtPwd, txtHostName, txtPort, txtServerName);
if (!BaseLink.CheckLink(dbType, dbConn))
{
CodeBox.Show("连接数据库失败！", this);
}
else
{
var buildLink = BaseLink.ControlsToData(dbType, txtHostName, txtUserName, txtPwd, txtPort, txtServerName, labServerName, true, txtLinkName);
buildLink.LinkName = buildLink.LinkName == "" ? BaseLink.GetLinkName(buildLink) : buildLink.LinkName;
buildLink.Id = Guid.NewGuid().ToString();
AppCache.SetLink(buildLink);
if (FastRead.Query <Data_Source>(a => a.LinkName == buildLink.LinkName).ToCount() == 1)
{
FastWrite.Update <Data_Source>(buildLink, a => a.LinkName == buildLink.LinkName,
a => new { a.Host, a.PassWord, a.Port, a.ServerName, a.Type, a.UserName });
}
else
{
FastWrite.Add(buildLink);
}
CodeBox.Show("连接数据库成功！", this);
}
}
public PacketListener()
{
_baseLink = new BaseLink("COM4");
_parser = new Parser();
_baseLink.PacketReceived += _parser.HandleData;
_parser.EventReceived += OnEvent;
_parser.SliceReceived += OnSlice;
}
public void SetBaseLink(BaseLink v)
{
C4dApiPINVOKE.GeData_SetBaseLink(swigCPtr, BaseLink.getCPtr(v));
if (C4dApiPINVOKE.SWIGPendingException.Pending)
{
throw C4dApiPINVOKE.SWIGPendingException.Retrieve();
}
}
public void Connect(string comPort)
{
_baseLink = new BaseLink(comPort);
_parser = new Parser();
_baseLink.PacketReceived += _parser.HandleData;
_worker = new Thread(_baseLink.StartReading);
_worker.Start();
}
new public void writeURDF(XmlWriter writer)
{
writer.WriteStartDocument();
writer.WriteStartElement("robot");
writer.WriteAttributeString("name", name);
BaseLink.writeURDF(writer);
writer.WriteEndElement();
writer.WriteEndDocument();
writer.Close();
}
/// <summary>
/// 测试数据库连接
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Conn_Click(object sender, RoutedEventArgs e)
{
dbConn = BaseLink.GetConnStr(dbType, txtUserName, txtPwd, txtHostName, txtPort, txtServerName);
if (BaseLink.CheckLink(dbType, dbConn))
{
CodeBox.Show("连接成功！", this);
}
else
{
CodeBox.Show("连接失败！", this);
}
}
public void Connectivity_Link_And_Link_Property_Assignments()
{
List <string> Links = new List <string>(); //彈簧桿件
for (int j = 0; j < Springs.Count; ++j)
{ // Connectivity_Link
string[] JJ = Springs[j].Split(',');
string XX = JJ[0].Substring(1).Replace("V", "");
XX = XX.Replace("H", "");
int NN = int.Parse(XX);
string LL = "L" + JJ[0].Substring(1);
Links.Add($"{LL}, {NN}, {JJ[0]}");
// Link_Property_Assignments
float X = float.Parse(JJ[3]);
float Z = float.Parse(JJ[6]);
if (Z == 0)
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-CornerH,None"); CornerHLink.Add(LL);
}
else
if (Math.Abs(X) == Radius && Z == -SpringOffset)
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-CornerV,None"); CornerVLink.Add(LL);
}
else
if (Z == -SpringOffset)
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-Base,None"); BaseLink.Add(LL);
}
else
if (Math.Abs(X) == Radius + SpringOffset && Z == High)
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-Tangent,None"); TangentLink.Add(LL);
}
else
if (Math.Abs(X) == Radius + SpringOffset)
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-Side,None"); SideLink.Add(LL);
}
else
{
LinkProperty.Add($"{LL},Gap,TwoJoint,Spring-Vault,None"); VaultLink.Add(LL);
}
}
//input.PutDataToSheet("Connectivity - Link", Links);
//input.PutDataToSheet("Link Property Assignments", LinkProperty);
}
internal string[] GetJointNames(bool includeFixed)
{
return(BaseLink.GetJointNames(includeFixed));
}
private GameObject CreateSensor(GameObject agent, GameObject parent, GameObject prefab, JSONNode item, BaseLink baseLink)
{
if (baseLink != null)
{
parent = parent == gameObject ? baseLink.gameObject : parent; // replace baselink with the default gameObject parent
}
var position = parent.transform.position;
var rotation = parent.transform.rotation;
var transform = item["transform"];
if (transform != null)
{
position = parent.transform.TransformPoint(transform.ReadVector3());
rotation = parent.transform.rotation * Quaternion.Euler(transform.ReadVector3("pitch", "yaw", "roll"));
}
var sensor = Instantiate(prefab, position, rotation, agent.transform);
var sb = sensor.GetComponent <SensorBase>();
sb.ParentTransform = parent.transform;
var sbType = sb.GetType();
foreach (var param in item["params"])
{
var key = param.Key;
var value = param.Value;
var field = sbType.GetField(key);
if (field == null)
{
throw new Exception(
$"Unknown {key} parameter for {item["name"].Value} sensor on {gameObject.name} vehicle");
}
if (field.FieldType.IsEnum)
{
try
{
var obj = Enum.Parse(field.FieldType, value.Value);
field.SetValue(sb, obj);
}
catch (ArgumentException ex)
{
throw new Exception(
$"Failed to set {key} field to {value.Value} enum value for {gameObject.name} vehicle, {sb.Name} sensor",
ex);
}
}
else if (field.FieldType == typeof(Color))
{
if (ColorUtility.TryParseHtmlString(value.Value, out var color))
{
field.SetValue(sb, color);
}
else
{
throw new Exception(
$"Failed to set {key} field to {value.Value} color for {gameObject.name} vehicle, {sb.Name} sensor");
}
}
else if (field.FieldType == typeof(bool))
{
field.SetValue(sb, value.AsBool);
}
else if (field.FieldType == typeof(int))
{
field.SetValue(sb, value.AsInt);
}
else if (field.FieldType == typeof(float))
{
field.SetValue(sb, value.AsFloat);
}
else if (field.FieldType == typeof(string))
{
field.SetValue(sb, value.Value);
}
else if (field.FieldType.IsGenericType && field.FieldType.GetGenericTypeDefinition() == typeof(List <>))
{
var type = field.FieldType.GetGenericArguments()[0];
Type listType = typeof(List <>).MakeGenericType(new[] { type });
System.Collections.IList list = (System.Collections.IList)Activator.CreateInstance(listType);
if (type.IsEnum)
{
foreach (var elemValue in value)
{
object elem;
try
{
elem = Enum.Parse(type, elemValue.Value);
}
catch (ArgumentException ex)
{
throw new Exception(
$"Failed to set {key} field to {value.Value} enum value for {gameObject.name} vehicle, {sb.Name} sensor",
ex);
}
list.Add(elem);
}
}
else if (type == typeof(float))
{
foreach (var elemValue in value)
{
float elem = elemValue.Value.AsFloat;
list.Add(elem);
}
}
else
{
foreach (var elemValue in value)
{
var elem = Activator.CreateInstance(type);
foreach (var elemField in type.GetFields())
{
var name = elemField.Name;
if (elemValue.Value[name].IsNumber)
{
elemField.SetValue(elem, elemValue.Value[name].AsFloat);
}
else if (elemValue.Value[name].IsString)
{
elemField.SetValue(elem, elemValue.Value[name].Value);
}
}
list.Add(elem);
}
}
field.SetValue(sb, list);
}
else
{
throw new Exception(
$"Unknown {field.FieldType} type for {key} field for {gameObject.name} vehicle, {sb.Name} sensor");
}
}
return(sensor);
}
private GameObject CreateSensor(GameObject agent, GameObject parent, GameObject prefab, SensorData item, BaseLink baseLink)
{
if (baseLink != null)
{
parent = parent == gameObject ? baseLink.gameObject : parent; // replace baselink with the default gameObject parent
}
var position = parent.transform.position;
var rotation = parent.transform.rotation;
var transform = item.Transform;
if (transform != null)
{
position = parent.transform.TransformPoint(transform.x, transform.y, transform.z);
rotation = parent.transform.rotation * Quaternion.Euler(transform.pitch, transform.yaw, transform.roll);
}
var sensor = Instantiate(prefab, position, rotation, agent.transform);
var sb = sensor.GetComponent <SensorBase>();
var sbType = sb.GetType();
sb.ParentTransform = parent.transform;
if (item.@params != null)
{
foreach (var param in item.@params)
{
// these keys do not go through camelCase modifier so we do it manually
var key = param.Key.First().ToString().ToUpper() + param.Key.Substring(1);
var value = param.Value;
var field = sbType.GetField(key);
if (field == null)
{
throw new Exception($"Unknown {key} parameter for {item.Name} sensor on {gameObject.name} vehicle");
}
if (field.FieldType == typeof(System.Int64) ||
field.FieldType == typeof(System.Int32) ||
field.FieldType == typeof(System.Double) ||
field.FieldType == typeof(System.Single) ||
field.FieldType == typeof(System.String) ||
field.FieldType == typeof(System.Boolean))
{
field.SetValue(sb, Convert.ChangeType(value, field.FieldType));
}
else if (field.FieldType.IsEnum)
{
try
{
var obj = Enum.Parse(field.FieldType, (string)value);
field.SetValue(sb, obj);
}
catch (ArgumentException ex)
{
throw new Exception($"Failed to set {key} field to {value} enum value for {gameObject.name} vehicle, {sb.Name} sensor", ex);
}
}
else if (field.FieldType == typeof(Color))
{
if (ColorUtility.TryParseHtmlString((string)value, out var color))
{
field.SetValue(sb, color);
}
else
{
throw new Exception($"Failed to set {key} field to {value} color for {gameObject.name} vehicle, {sb.Name} sensor");
}
}
else if (field.FieldType.IsGenericType && field.FieldType.GetGenericTypeDefinition() == typeof(List <>))
{
var type = field.FieldType.GetGenericArguments()[0];
Type listType = typeof(List <>).MakeGenericType(type);
IList list = (IList)Activator.CreateInstance(listType);
var jarray = (Newtonsoft.Json.Linq.JArray)value;
if (type.IsEnum)
{
// TODO test this branch - remove this comment when you found a sensor + config that exercises this branch
foreach (var elemValue in jarray.ToObject <List <string> >())
{
object elem;
try
{
elem = Enum.Parse(type, elemValue);
}
catch (ArgumentException ex)
{
throw new Exception($"Failed to set {key} field to {value} enum value for {gameObject.name} vehicle, {sb.Name} sensor", ex);
}
list.Add(elem);
}
}
else if (type == typeof(System.Single))
{
list = jarray.ToObject <List <System.Single> >();
}
else
{
// Full qualified type name used, e.g. "$_type": "Simulator.Sensors.Postprocessing.SunFlare, Simulator"
var jArrStr = jarray.ToString();
if (jArrStr.Contains("$_type"))
{
// Revert change from SensorParameter attribute (more details there)
jArrStr = jArrStr.Replace("$_type", "$type");
// If sensor's assembly is named after its type, we're loading asset bundle with renamed assembly
// Type was serialized before renaming - update types from that assembly to reflect this change
if (sbType.Assembly.GetName().Name == item.Type)
{
jArrStr = Regex.Replace(jArrStr, "(\"\\$type\"\\:[^,]*, )(Simulator.Sensors)", $"$1{item.Type}");
}
list = JsonConvert.DeserializeObject(jArrStr, typeof(List <>).MakeGenericType(type), new JsonSerializerSettings {
TypeNameHandling = TypeNameHandling.Auto
}) as IList;
}
// Shortened type name used, e.g. "type": "SunFlare"
else
{
List <Type> assignableTypes = null;
if (type.IsAbstract)
{
assignableTypes = type.Assembly.GetTypes().Where(t => t != type && type.IsAssignableFrom(t))
.ToList();
}
foreach (var jtoken in jarray)
{
object elem;
if (!type.IsAbstract)
{
elem = jtoken.ToObject(type);
}
else
{
var typeName = jtoken.Value <string>("type");
if (typeName == null)
{
throw new Exception(
$"Type {type.Name} is abstract and does not define `type` field ({gameObject.name} vehicle, {sb.Name} sensor, {key} field)");
}
var elementType = assignableTypes.FirstOrDefault(t => t.Name == typeName);
if (elementType == null)
{
throw new Exception(
$"No {typeName} type derived from {type.Name} for {key} field for {gameObject.name} vehicle, {sb.Name} sensor");
}
elem = jtoken.ToObject(elementType);
}
list.Add(elem);
}
}
}
field.SetValue(sb, list);
}
else
{
var jObjStr = value.ToString();
// Revert change from SensorParameter attribute (more details there)
jObjStr = jObjStr.Replace("$_type", "$type");
// If sensor's assembly is named after its type, we're loading asset bundle with renamed assembly
// Type was serialized before renaming - update types from that assembly to reflect this change
if (sbType.Assembly.GetName().Name == item.Type)
{
jObjStr = Regex.Replace(jObjStr, "(\"\\$type\"\\:[^,]*, )(Simulator.Sensors)", $"$1{item.Type}");
}
var instance = JsonConvert.DeserializeObject(jObjStr, field.FieldType, new JsonSerializerSettings {
TypeNameHandling = TypeNameHandling.Auto
});
field.SetValue(sb, instance);
}
}
}
// Populate all fields with their default instances, if their override was not set through config
foreach (var field in sbType.GetRuntimeFields().Where(field => field.IsDefined(typeof(SensorParameter), true)))
{
var attr = field.GetCustomAttribute <SensorParameter>();
var current = field.GetValue(sb);
if (current != null)
{
continue;
}
var defaultInstance = attr.GetDefaultInstance(sbType, field.FieldType);
if (defaultInstance == null)
{
continue;
}
field.SetValue(sb, defaultInstance);
}
if (sb is CameraSensorBase cameraBase && cameraBase.Postprocessing == null && sbType.IsDefined(typeof(DefaultPostprocessingAttribute), true))
{
if (cameraBase.Postprocessing == null)
{
var attr = sbType.GetCustomAttribute <DefaultPostprocessingAttribute>();
var ppInstances = attr.GetDefaultInstances;
cameraBase.Postprocessing = ppInstances;
}
}
return(sensor);
}
public bool CopyTo(BaseLink dst, COPYFLAGS flags, AliasTrans trn)
{
bool ret = C4dApiPINVOKE.BaseLink_CopyTo(swigCPtr, BaseLink.getCPtr(dst), (int)flags, AliasTrans.getCPtr(trn));
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(BaseLink obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public void Add(BaseLink baseLink)
{
AddLink(baseLink);
}
protected virtual void AddLink(BaseLink obj)
{
Link = obj;
Link.AddLink(obj);
}
/// <summary>
/// 初始化连接信息
/// </summary>
private void InitLinkInfo()
{
BaseLink.DataToControls(AppCache.GetLink, ref txtHostName, ref txtUserName, ref txtPwd, ref txtPort, ref txtServerName, ref labServerName, ref txtLinkName);
BaseLink.ComboBoxSelect(boxDbType, AppCache.GetLink.Type);
BaseLink.ComboBoxSelect(dbTypeLink, AppCache.GetLink.LinkName, true);
}
/// <summary>
/// 数据库选择中
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Box_Selected(object sender, RoutedEventArgs e)
{
dbType = BaseLink.InitLink(ref txtPort, ref labServerName, boxDbType);
}
public GeData(BaseLink n) : this(C4dApiPINVOKE.new_GeData__SWIG_15(BaseLink.getCPtr(n)), true)
{
}
