/// <summary>
/// Create a shape message.
/// </summary>
/// <param name="id_">Shape id</param>
/// <param name="vertices">Vertices that make up the shape</param>
/// <param name="indices">Indices indicating in which order to draw the vertices</param>
/// <returns>The created shape</returns>
public static Shape_ CreateShape_(Int32 id_, ICollection <Vector3> vertices,
ICollection <UInt32> indices, UnityEngine.Transform transform = null)
{
if (vertices == null)
{
throw new ArgumentNullException("vertices");
}
if (indices == null)
{
throw new ArgumentNullException("indices");
}
if (vertices.Count < 3)
{
Debug.LogWarning("Creating a shape with less than 3 vertices.");
}
if (indices.Count < 3)
{
Debug.LogWarning("Creating a shape with less than 3 indices.");
}
Shape_ result = new Shape_
{
id = id_,
};
foreach (var uVertex in vertices)
{
result.vertices.Add(UnityMessageBuilder.CreateVector(uVertex));
}
foreach (UInt32 index in indices)
{
result.indices.Add(index);
}
if (transform != null)
{
result.transform = CreateTransform_(transform);
}
return(result);
}
// Затем напишем метод, который работает с любыми Shape'ами и выдает площадь фигуры.
// В данном методе происходит проверка на тип переданной фигуры и в зависимости от него используется
// та или иная формула.
//
// Подобные методы довольно часто встречаются, когда мы не хотим заносить сложные зависимости в наши
// классы и пользоваться полиморфизмом. Например, данный метод может обращаться к серверу для расчета площади и т.п.
// Не хотелось бы усложнять класс Shape и его наследников лишними подробностями.
public double GetArea_(Shape_ shape)
{
var rectangle = shape as Rectangle_;
if (rectangle != null)
{
return(rectangle.Height * rectangle.Width);
}
var circle = shape as Circle_;
if (circle != null)
{
return(Math.PI * Math.Pow(circle.Radius, 2));
}
throw new NotSupportedException(shape.GetType().Name);
}
public static void CreateShape_()
{
int id = 42;
List <Vector3> vecs = new List <Vector3>();
vecs.Add(new Vector3(1, 1, 1));
vecs.Add(new Vector3(2, 2, 2));
vecs.Add(new Vector3(3, 3, 3));
List <UInt32> indices = new List <UInt32>();
indices.Add(1);
indices.Add(0);
indices.Add(2);
Shape_ result = UnityMessageBuilder.CreateShape_(id, vecs, indices);
Assert.AreEqual(result.id, id);
Assert.AreEqual(result.vertices.Count, vecs.Count);
for (int i = 0; i < result.vertices.Count; i++)
{
var protoVec = result.vertices[i];
var unityVec = vecs[i];
Assert.AreEqual(unityVec, protoVec.ToUnityVector());
}
Assert.AreEqual(indices.Count, result.indices.Count);
for (int i = 0; i < result.indices.Count; i++)
{
Assert.AreEqual(indices[i], result.indices[i]);
}
result.vertices.RemoveAt(0);
Assert.AreEqual(vecs.Count - 1, result.vertices.Count);
Assert.AreEqual(vecs[1], result.vertices[0].ToUnityVector());
result.indices.RemoveAt(0);
Assert.AreEqual(indices.Count - 1, result.indices.Count);
Assert.AreEqual(indices[1], result.indices[0]);
}
public static void SetShapeUpdateInfo()
{
List <Vector3> vert1 = new List <Vector3>();
List <Vector3> vert2 = new List <Vector3>();
List <Vector3> vert3 = new List <Vector3>();
List <Vector3> vert4 = new List <Vector3>();
vert1.Add(new Vector3(1, 1, 1));
vert1.Add(new Vector3(1, 2, 2));
vert1.Add(new Vector3(1, 3, 3));
vert2.Add(new Vector3(2, 1, 1));
vert2.Add(new Vector3(2, 2, 2));
vert2.Add(new Vector3(2, 3, 3));
vert3.Add(new Vector3(3, 1, 1));
vert3.Add(new Vector3(3, 2, 2));
vert3.Add(new Vector3(3, 3, 3));
vert4.Add(new Vector3(4, 1, 1));
vert4.Add(new Vector3(4, 2, 2));
vert4.Add(new Vector3(4, 3, 3));
List <UInt32> indices = new List <UInt32>();
indices.Add(0);
indices.Add(1);
indices.Add(2);
Shape_ shape1 = UnityMessageBuilder.CreateShape_(1, vert1, indices);
Shape_ shape2 = UnityMessageBuilder.CreateShape_(2, vert2, indices);
Shape_ shape3 = UnityMessageBuilder.CreateShape_(3, vert3, indices);
Shape_ shape4 = UnityMessageBuilder.CreateShape_(4, vert3, indices);
List <Shape_> changedShapes = new List <Shape_>();
List <Shape_> newShapes = new List <Shape_>();
changedShapes.Add(shape1);
changedShapes.Add(shape2);
newShapes.Add(shape3);
newShapes.Add(shape4);
Message result = new Message();
result.SetShapeUpdateInfo(changedShapes, newShapes);
Assert.AreEqual(changedShapes.Count, result.shapeUpdateInfo.changedShapes.Count);
Assert.AreEqual(newShapes.Count, result.shapeUpdateInfo.newShapes.Count);
for (int i = 0; i < changedShapes.Count; i++)
{
Assert.AreEqual(changedShapes[i].id, result.shapeUpdateInfo.changedShapes[i].id);
Assert.AreEqual(changedShapes[i].vertices.Count, result.shapeUpdateInfo.changedShapes[i].vertices.Count);
for (int j = 0; j < changedShapes[i].vertices.Count; j++)
{
Assert.AreEqual(changedShapes[i].vertices[j].ToUnityVector(),
result.shapeUpdateInfo.changedShapes[i].vertices[j].ToUnityVector());
}
}
for (int i = 0; i < newShapes.Count; i++)
{
Assert.AreEqual(newShapes[i].id, result.shapeUpdateInfo.newShapes[i].id);
Assert.AreEqual(newShapes[i].vertices.Count, result.shapeUpdateInfo.newShapes[i].vertices.Count);
for (int j = 0; j < newShapes[i].vertices.Count; j++)
{
Assert.AreEqual(newShapes[i].vertices[j].ToUnityVector(),
result.shapeUpdateInfo.newShapes[i].vertices[j].ToUnityVector());
}
}
}
public void AcceptConnection()
{
if (EditorPrefs.GetBool("test_tcp_asio") == false)
{
Debug.LogWarning("[TEST_TCPAsioConnection.AcceptConnection] Test is disabled, you can enable this test via the menu option \"Testing\"");
Assert.That(true);
return;
}
Debug.LogWarning("[TEST_TCPAsioConnection.AcceptConnection] This test will only pass when a tcp client is manually connected to the listener started in this test.");
_subscriber = new TestIncomingDataLinkSubscriberCopy();
_listener = new TCPDataLinkListener <ProtoBufPresentation>(_subscriber);
//use public IP address not localhost/127.0.0.1
//use eduroam(same network)
try
{
Assert.True(_listener.Start("145.93.45.16", 1234));
}
catch (SocketException ex)
{
Assert.That(false, "Invalid ip address\n" + ex.Message);
}
int sleepCount = 0;
while (!_subscriber.Connected)
{
if (sleepCount > 500)
{
Assert.True(false, "Failed to connect within timeout.");
break;
}
Thread.Sleep(20);
sleepCount++;
}
Debug.Log("Actually connected");
//Thread.Sleep(8000);
Assert.IsTrue(_subscriber.Connected);
Assert.NotNull(_subscriber.DataLink);
Assert.IsTrue(_subscriber.DataLink.Connected());
if (_subscriber.Connected)
{
Thread.Sleep(3000);
Communicator comm = new Communicator(_subscriber.DataLink, new ProtoBufPresentation());
Communication.Message m = new Message
{
messageType = Communication.MessageType_.ShapeUpdate,
messageTarget = Communication.MessageTarget_.Robot,
id = 5
};
Shape_ sh = new Shape_();
sh.id = 15;
Vector3_ v = new Vector3_
{
x = 3.0f,
y = 3.0f,
z = 4.0f
};
Vector3_ v1 = new Vector3_
{
x = -1.0f,
y = -3.0f,
z = -5.5f
};
sh.vertices.Add(v);
sh.vertices.Add(v1);
Shape_ sh2 = new Shape_();
sh2.id = 2;
Vector3_ v2 = new Vector3_
{
x = 3.4f,
y = 3.1f,
z = 4.7f
};
sh2.vertices.Add(v2);
m.shapeUpdateInfo = new ShapeUpdateInfo_();
//m.shapeUpdateInfo.changedShapes = new List<Shape_>();
m.shapeUpdateInfo.changedShapes.Add(sh);
m.shapeUpdateInfo.changedShapes.Add(sh2);
m.customMessage = new CustomMessage_();
m.customMessage.key = "asdf";
m.customMessage.data = "asdf data";
Assert.IsTrue(comm.SendCommand(m));
}
}
