/// <summary>
/// Main constructor
/// </summary>
/// <param name="address"></param>
/// <param name="port"></param>
/// <param name="mmuAccess"></param>
public RemoteAdapterAccess(string address, int port, MAdapterDescription adapterDescription, MMUAccess mmuAccess)
{
this.Address = address;
this.Port = port;
this.mmuAccess = mmuAccess;
this.Description = adapterDescription;
}
/// <summary>
/// Basic constructor of a (remote) MMU
/// </summary>
/// <param name="mmuAccess"></param>
/// <param name="adapter"></param>
/// <param name="sessionId"></param>
/// <param name="description"></param>
public MotionModelUnitAccess(MMUAccess mmuAccess, IAdapter adapter, string sessionId, MMUDescription description)
{
this.Adapter = adapter;
//Assign all variables
this.Description = description;
this.sessionId = sessionId;
this.MotionType = description.MotionType;
this.mmuAccess = mmuAccess;
this.Name = description.Name;
this.ID = description.ID;
//Create a new client for the MMU
this.adapterClient = adapter.CreateClient();
}
/// <summary>
/// Setup method for the MMIAvatar
/// </summary>
/// <param name="address">The address of the MMU server</param>
/// <param name="sessionId">A unique id for the session</param>
/// <param name="avatarID">A unique id for the avatar</param>
public virtual void Setup(string address, int port, string sessionId)
{
//Save the initial position and rotation
Vector3 startPosition = this.transform.position;
Quaternion startRotation = this.transform.rotation;
//Setup the retargeting
this.SetupRetargeting();
//Create the mmu access which creates the connection to the MMI framework
this.MMUAccess = new MMUAccess(sessionId + ":" + this.MAvatar.ID)
{
//Set the scene access
SceneAccess = GameObject.FindObjectOfType <UnitySceneAccess>(),
//Define the retargeting here
SkeletonAccess = this.GetSkeletonAccess(),
};
//Set the id
this.MMUAccess.AvatarID = this.MAvatar.ID;
//Setthe status text
this.statusText = "Connecting to MMUAccess " + address + ":" + port;
//Connect asynchronously and wait for the result
this.MMUAccess.ConnectAsync(new MIPAddress(address, port), TimeSpan.FromSeconds(this.Timeout), this.ConnectionCallback, this.MAvatar.ID);
// Spawn Skeleton Access Service, if required.
MMISettings settings = GetComponentInParent <MMISettings>();
if (settings.AllowRemoteSkeletonConnections)
{
//Start the remote skeleton access
this.remoteSkeletonAccessServer = new RemoteSkeletonAccessServer(new MIPAddress(settings.RemoteSkeletonAccessAddress, settings.RemoteSkeletonAccessPort), new MIPAddress(settings.MMIRegisterAddress, settings.MMIRegisterPort), this.GetRetargetingService().GetSkeleton());
this.remoteSkeletonAccessServer.Start();
Debug.Log("Started Remote Skeleton Access Server with Avatar <" + this.AvatarID + ">");
}
//Set the postion and rotation of the avatar to the desired one
this.transform.position = startPosition;
this.transform.rotation = startRotation;
//Apply the transform manipulations to update the avatar location
this.ApplyTransformManipulations();
}
/// <summary>
/// MMU causes problems if initializing multiple times -> To check in future
/// Basic initialization
/// For specifying the priorities of the MMUs /motion types the properties can be specified (e.g. {"walk", 1.0}, {"grasp", 2.0})
/// The listed motion types are also the ones which are loaded. If this porperty is not defined then every MMU is loaded.
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
base.Initialize(avatarDescription, properties);
Console.WriteLine("---------------------------------------------------------");
Console.WriteLine("Initializing co-simulation MMU");
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
AvatarID = avatarDescription.AvatarID,
SceneAccess = this.SceneAccess
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
if (this.mmuAccess.Connect(this.AdapterEndpoint, avatarDescription.AvatarID))
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
//Select the MMUs which should be loaded
loadableMMUs = this.SelectMMUsToLoad(loadableMMUs);
//Create a dictionary for storing the priorities
Dictionary <string, float> priorities = new Dictionary <string, float>();
priorities = this.GetPriorities?.Invoke();
//Select the MMUs to load if explictely specified by the user
if (properties != null && properties.Count > 0)
{
for (int i = loadableMMUs.Count - 1; i >= 0; i--)
{
MMUDescription description = loadableMMUs[i];
float priority = 1;
//If MMU is listed -> add the priority
if (priorities.TryGetValue(description.MotionType, out priority))
{
priorities.Add(description.MotionType, priority);
}
//MMU is not explicetly listed -> remove from loading list
else
{
loadableMMUs.RemoveAt(i);
}
}
}
//No MMU list defined -> Load all MMUs with same priority (despite the own MMU)
else
{
//Remove the own MMU -> Avoid recursively instantiating own MMU (unless explictely forced)
if (loadableMMUs.Exists(s => s.Name == this.Name))
{
MMUDescription ownDescription = loadableMMUs.Find(s => s.Name == this.Name);
loadableMMUs.Remove(ownDescription);
}
}
Console.WriteLine("Got loadable MMUs:");
try
{
//Load the relevant MMUs
bool success = this.mmuAccess.LoadMMUs(loadableMMUs, TimeSpan.FromSeconds(20));
}
catch (Exception e)
{
Console.WriteLine("Error at loading MMUs : " + e.Message + e.StackTrace);
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
e.Message,
e.StackTrace
}
});
}
Console.WriteLine("All MMUs successfully loaded");
foreach (MMUDescription description in loadableMMUs)
{
Console.WriteLine(description.Name);
}
//Initialize all MMUs
bool initialized = this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(20), avatarDescription.AvatarID);
if (!initialized)
{
Console.WriteLine("Problem at initializing MMUs");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Problem at initializing MMUs" }
}
});
}
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
//Set the priorities of the motions
this.coSimulator.SetPriority(priorities);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
/// <summary>
/// Basic initialization method
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
//Call the base class (important for automatic conversion from MSimulationState to SimulationState)
base.Initialize(avatarDescription, properties);
this.SkeletonAccess = new IntermediateSkeleton();
this.SkeletonAccess.InitializeAnthropometry(avatarDescription);
//Create a new session uuid
this.sessionId = Guid.NewGuid().ToString();
//Create a new virtual scene
this.virtualScene = new MMIScene();
//Create a unique id for the new virtual object representing the move target
string moveTargetID = Guid.NewGuid().ToString();
//Create a new virtual object representing the move target
moveTarget = new MSceneObject(moveTargetID, "MoveTarget", new MTransform()
{
ID = moveTargetID,
Position = new MVector3(0, 0, 0),
Rotation = new MQuaternion(0, 0, 0, 1)
});
//Add the virtual move target to the scene
this.virtualScene.Apply(new MSceneUpdate()
{
AddedSceneObjects = new List <MSceneObject>()
{
moveTarget
}
});
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
//IntermediateAvatarDescription = avatarDescription,
SceneAccess = this.virtualScene
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
bool connected = this.mmuAccess.Connect(this.AdapterEndpoint, this.AvatarDescription.AvatarID);
if (connected)
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
MMUDescription moveMMU = loadableMMUs.Find(s => s.MotionType == "move");
Console.WriteLine("Got loadable MMUs:");
//Load the relevant MMUs
bool loaded = this.mmuAccess.LoadMMUs(new List <MMUDescription>()
{
moveMMU
}, TimeSpan.FromSeconds(10));
if (!loaded)
{
Console.WriteLine("Error at loading MMU");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Error at loading mmu" }
}
});
}
//Initialize all MMUs
this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(10), this.AvatarDescription.AvatarID);
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="description"></param>
/// <param name="instance"></param>
public LocalAdapterAccess(MAdapterDescription description, MMIAdapter.Iface instance, MMUAccess mmuAccess)
{
this.Description = description;
this.instance = instance;
this.mmuAccess = mmuAccess;
}
