public override void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var api = ApiManager.Instance;
SensorBase sensor = null;
if (SimulatorManager.InstanceAvailable)
{
sensor = SimulatorManager.Instance.Sensors.GetSensor(uid);
}
if (sensor != null)
{
var sensorType = sensor.GetType().GetCustomAttribute <SensorType>();
if (sensorType.Name == "Lidar")
{
var path = args["path"].Value;
var result = (bool)sensor.GetType().GetMethod("Save").Invoke(sensor, new object[] { path });
api.SendResult(this, result);
}
else
{
api.SendError(this, $"Sensor '{uid}' is not a lidar sensor");
}
}
else
{
api.SendError(this, $"Sensor '{uid}' not found");
}
}
static string GetSensorType(SensorBase sensor)
{
var type = sensor.GetType().GetCustomAttributes(typeof(SensorType), false)[0] as SensorType;
UnityEngine.Debug.Log($"{type.Name}");
return(type.Name);
}
public override void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var api = ApiManager.Instance;
SensorBase sensor = null;
if (SimulatorManager.InstanceAvailable)
{
sensor = SimulatorManager.Instance.Sensors.GetSensor(uid);
}
if (sensor != null)
{
var isStart = args["is_start"].AsBool;
var filename = args["filename"].Value;
var sensorType = sensor.GetType().GetCustomAttribute <SensorType>();
if (sensorType.Name == "Video Recording")
{
bool result;
if (isStart)
{
result = (bool)sensor.GetType().GetMethod("StartRecording").Invoke(sensor, new object[] { filename });
}
else
{
result = (bool)sensor.GetType().GetMethod("StopRecording").Invoke(sensor, null);
}
api.SendResult(this, result);
}
else
{
api.SendError(this, $"Sensor '{uid}' is not a video recording sensor");
}
}
else
{
api.SendError(this, $"Sensor '{uid}' not found");
}
}
public override void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var api = ApiManager.Instance;
SensorBase sensor = null;
if (SimulatorManager.InstanceAvailable)
{
sensor = SimulatorManager.Instance.Sensors.GetSensor(uid);
}
if (sensor != null)
{
var sensorType = sensor.GetType().GetCustomAttribute <SensorType>();
var path = args["path"].Value;
var quality = args["quality"].AsInt;
var compression = args["compression"].AsInt;
if (sensorType.Name == "Color Camera")
{
bool result = (bool)sensor.GetType().GetMethod("Save").Invoke(sensor, new object[] { path, quality, compression });
api.SendResult(this, result);
}
else if (sensorType.Name == "Segmentation Camera")
{
bool result = (bool)sensor.GetType().GetMethod("Save").Invoke(sensor, new object[] { path, quality, compression });
api.SendResult(this, result);
}
else
{
api.SendError(this, $"Sensor '{uid}' is not a camera sensor");
}
}
else
{
api.SendError(this, $"Sensor '{uid}' not found");
}
}
public override void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var api = ApiManager.Instance;
SensorBase sensor = null;
if (SimulatorManager.InstanceAvailable)
{
sensor = SimulatorManager.Instance.Sensors.GetSensor(uid);
}
if (sensor != null)
{
var sensorType = sensor.GetType().GetCustomAttribute <SensorType>();
if (sensorType.Name == "GPS Device")
{
var data = (GpsData)sensor.GetType().GetMethod("GetData").Invoke(sensor, null);
var result = new JSONObject();
result.Add("latitude", data.Latitude);
result.Add("longitude", data.Longitude);
result.Add("northing", data.Northing);
result.Add("easting", data.Easting);
result.Add("altitude", data.Altitude);
result.Add("orientation", data.Orientation);
api.SendResult(this, result);
}
else
{
api.SendError(this, $"Sensor '{uid}' is not a GPS sensor");
}
}
else
{
api.SendError(this, $"Sensor '{uid}' not found");
}
}
static string GetSensorType(SensorBase sensor)
{
var type = sensor.GetType().GetCustomAttributes(typeof(SensorType), false)[0] as SensorType;
return(type.Name);
}
