public void TestDoubleSensor()
{
var sensor = new DoubleSensor();
var ex = Assert.Throws<Exception>(() => SensorTypes.GetConfig(sensor));
Assert.True(ex.Message.Contains("Sensor Configuration Error: Simulator.Tests.Web.DoubleSensor"));
}
public void TestEnumSensor()
{
var sensor = new EnumSensor();
var parameterCount = 2;
var typeCount = 1;
var valuesCount = 3;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("Enum", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("car", config.Parameters[0].Name);
Assert.AreEqual("C", config.Parameters[0].DefaultValue);
Assert.AreEqual("enum", config.Parameters[0].Type);
Assert.AreEqual("truck", config.Parameters[1].Name);
Assert.AreEqual("A", config.Parameters[1].DefaultValue);
Assert.AreEqual("enum", config.Parameters[1].Type);
Assert.AreEqual(valuesCount, config.Parameters[0].Values.Length);
Assert.AreEqual("A", config.Parameters[0].Values[0]);
Assert.AreEqual("B", config.Parameters[0].Values[1]);
Assert.AreEqual("C", config.Parameters[0].Values[2]);
Assert.False(config.Parameters.Exists(p => p.Name == "NotPresent"));
}
public void TestMinMaxSensor()
{
var sensor = new MinMaxSensor();
var parameterCount = 3;
var typeCount = 1;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("MinMax", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("length", config.Parameters[0].Name);
Assert.AreEqual(500, config.Parameters[0].DefaultValue);
Assert.AreEqual(1f, config.Parameters[0].Min);
Assert.AreEqual(1920f, config.Parameters[0].Max);
Assert.AreEqual("distance", config.Parameters[1].Name);
Assert.AreEqual(5f, config.Parameters[1].DefaultValue);
Assert.AreEqual(0f, config.Parameters[1].Min);
Assert.AreEqual(9f, config.Parameters[1].Max);
Assert.AreEqual("sad", config.Parameters[2].Name);
Assert.AreEqual(false, config.Parameters[2].DefaultValue);
Assert.AreEqual(null, config.Parameters[2].Min);
Assert.AreEqual(null, config.Parameters[2].Max);
}
public void TestColorSensor()
{
var sensor = new ColorSensor();
var parameterCount = 2;
var typeCount = 1;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("Color", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("picture", config.Parameters[0].Name);
Assert.AreEqual("#FF00FFFF", config.Parameters[0].DefaultValue);
Assert.AreEqual("color", config.Parameters[0].Type);
Assert.AreEqual("space", config.Parameters[1].Name);
Assert.AreEqual("#00000000", config.Parameters[1].DefaultValue);
Assert.AreEqual("color", config.Parameters[1].Type);
Assert.False(config.Parameters.Exists(p => p.Name == "NotPresent"));
}
public void TestBoolSensor()
{
var sensor = new BoolSensor();
var parameterCount = 2;
var typeCount = 1;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("Bool", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("happy", config.Parameters[0].Name);
Assert.AreEqual(true, config.Parameters[0].DefaultValue);
Assert.AreEqual("bool", config.Parameters[0].Type);
Assert.AreEqual("duckie", config.Parameters[1].Name);
Assert.AreEqual(false, config.Parameters[1].DefaultValue);
Assert.AreEqual("bool", config.Parameters[1].Type);
Assert.False(config.Parameters.Exists(p => p.Name == "NotPresent"));
}
public void TestIntSensor()
{
var sensor = new IntSensor();
var parameterCount = 2;
var typeCount = 1;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("Int", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("year", config.Parameters[0].Name);
Assert.AreEqual(2019, config.Parameters[0].DefaultValue);
Assert.AreEqual("int", config.Parameters[0].Type);
Assert.AreEqual("LG", config.Parameters[1].Name);
Assert.AreEqual(0, config.Parameters[1].DefaultValue);
Assert.AreEqual("int", config.Parameters[1].Type);
Assert.False(config.Parameters.Exists(p => p.Name == "NotPresent"));
}
public void TestStringSensor()
{
var sensor = new StringSensor();
var parameterCount = 2;
var typeCount = 1;
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("String", config.Name);
Assert.AreEqual(typeCount, config.Types.Length);
Assert.AreEqual("Simulator.Bridge.Data.ImageData", config.Types[0]);
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("Help", config.Parameters[0].Name);
Assert.AreEqual("helping", config.Parameters[0].DefaultValue);
Assert.AreEqual("string", config.Parameters[0].Type);
Assert.AreEqual("LG", config.Parameters[1].Name);
Assert.AreEqual(null, config.Parameters[1].DefaultValue);
Assert.AreEqual("string", config.Parameters[1].Type);
Assert.False(config.Parameters.Exists(p => p.Name == "NotPresent"));
}
public void TestManyDataSensor()
{
var sensor = new ManyDataSensor();
var parameterCount = 1;
var expectedTypes = new []
{
typeof(ImageData),
typeof(PointCloudData),
typeof(Detected3DObjectArray),
typeof(Detected3DObjectData),
};
var config = SensorTypes.GetConfig(sensor);
Assert.AreEqual("ManyData", config.Name);
Assert.AreEqual(expectedTypes.Length, config.Types.Length);
for (int i=0; i<expectedTypes.Length; i++)
{
Assert.AreEqual(expectedTypes[i].ToString(), config.Types[i], $"Wrong type, expected {expectedTypes[i]}, got {config.Types[i]}");
}
Assert.AreEqual(parameterCount, config.Parameters.Count);
Assert.AreEqual("data", config.Parameters[0].Name);
Assert.AreEqual(2, config.Parameters[0].DefaultValue);
}
public static void LoadSensorPlugin(Manifest manifest, VfsEntry dir)
{
#if UNITY_EDITOR
//if (SensorDebugModeEnabled == true) // TODO Why is this not working?
if (EditorPrefs.GetBool("Simulator/Sensor Debug Mode", false) == true)
{
if (File.Exists(Path.Combine(BundleConfig.ExternalBase, "Sensors", manifest.assetName, $"{manifest.assetName}.prefab")))
{
Debug.Log($"Loading {manifest.assetName} in Sensor Debug Mode. If you wish to use this sensor plugin from WISE, disable Sensor Debug Mode in Simulator->Sensor Debug Mode or remove the sensor from Assets/External/Sensors");
var prefab = (GameObject)AssetDatabase.LoadAssetAtPath(Path.Combine(BundleConfig.ExternalBase, "Sensors", manifest.assetName, $"{manifest.assetName}.prefab"), typeof(GameObject));
SensorPrefabs.Add(prefab.GetComponent <SensorBase>());
Sensors.Add(SensorTypes.GetConfig(prefab.GetComponent <SensorBase>()));
if (!SensorTypeLookup.ContainsKey(manifest.assetGuid))
{
SensorTypeLookup.Add(manifest.assetGuid, prefab.GetComponent <SensorBase>());
}
var pluginType = prefab.GetComponent <SensorBase>().GetDataBridgePlugin();
if (pluginType != null)
{
var sensorBridgePlugin = Activator.CreateInstance(pluginType) as ISensorBridgePlugin;
foreach (var kv in BridgePlugins.All)
{
sensorBridgePlugin.Register(kv.Value);
}
}
return;
}
}
#endif
if (SensorTypeLookup.ContainsKey(manifest.assetGuid))
{
return;
}
if (manifest.assetFormat != BundleConfig.Versions[BundleConfig.BundleTypes.Sensor])
{
throw new Exception($"Manifest version mismatch, expected {BundleConfig.Versions[BundleConfig.BundleTypes.Sensor]}, got {manifest.assetFormat}");
}
if (Sensors.FirstOrDefault(s => s.Guid == manifest.assetGuid) != null)
{
return;
}
Assembly pluginSource = LoadAssembly(dir, $"{manifest.assetName}.dll");
foreach (Type ty in pluginSource.GetTypes())
{
if (typeof(ISensorBridgePlugin).IsAssignableFrom(ty))
{
var sensorBridgePlugin = Activator.CreateInstance(ty) as ISensorBridgePlugin;
foreach (var kv in BridgePlugins.All)
{
sensorBridgePlugin.Register(kv.Value);
}
}
}
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows ? "windows" : "linux";
var pluginStream = dir.Find($"{manifest.assetGuid}_sensor_main_{platform}").SeekableStream();
AssetBundle pluginBundle = AssetBundle.LoadFromStream(pluginStream);
var pluginAssets = pluginBundle.GetAllAssetNames();
var texDir = dir.Find($"{manifest.assetGuid}_sensor_textures");
if (texDir != null)
{
var texStream = dir.Find($"{manifest.assetGuid}_sensor_textures").SeekableStream();
var textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
if (!AssetBundle.GetAllLoadedAssetBundles().Contains(textureBundle))
{
textureBundle.LoadAllAssets();
}
}
SensorBase pluginBase = pluginBundle.LoadAsset <GameObject>(pluginAssets[0]).GetComponent <SensorBase>();
SensorConfig config = SensorTypes.GetConfig(pluginBase);
config.Guid = manifest.assetGuid;
Sensors.Add(config);
SensorPrefabs.Add(pluginBase);
if (!SensorTypeLookup.ContainsKey(manifest.assetGuid))
{
SensorTypeLookup.Add(manifest.assetGuid, pluginBase);
}
}
