public async void OnUbiiInitialized()
{
topicFrequencyCounter = "/" + ubiiNode.GetID() + "/test/pm_frequency_counter";
topicFrequencyCounterTickValue = "/" + ubiiNode.GetID() + "/test/pm_frequency_counter/tick_value";
expectedCounter = 0;
tickValue = 2;
ubiiNode.PublishImmediately(new TopicDataRecord
{
Topic = topicFrequencyCounterTickValue,
Int32 = tickValue
});
//await Task.Delay(2000);
testFailure = false;
await ubiiNode.SubscribeTopic(topicFrequencyCounter, (TopicDataRecord record) =>
{
expectedCounter += tickValue;
testFailure = record.Int32 != expectedCounter;
if (testFailure)
{
Debug.LogError("counter from PM expected to be " + expectedCounter + " but was actually " + record.Int32);
}
});
ubiiSession = new Ubii.Sessions.Session {
Name = "Test Processing Modules Counter"
};
ubiiSession.ProcessingModules.Add(new Ubii.Processing.ProcessingModule
{
Name = TestPMFrequencyCounter.specs.Name
});
Ubii.Sessions.IOMapping ioMapping = new Ubii.Sessions.IOMapping();
ioMapping.ProcessingModuleName = TestPMFrequencyCounter.specs.Name;
ioMapping.InputMappings.Add(new Ubii.Sessions.TopicInputMapping
{
InputName = "counterTick",
Topic = topicFrequencyCounterTickValue
});
ioMapping.OutputMappings.Add(new Ubii.Sessions.TopicOutputMapping
{
OutputName = "outCounter",
Topic = topicFrequencyCounter
});
ubiiSession.IoMappings.Add(ioMapping);
RunTest();
}
private void CreateUbiiSpecs()
{
topicTestPublishSubscribe = "/" + ubiiNode.GetID() + "/test_publish_subscribe/object_movement";
ubiiDevice = new Ubii.Devices.Device {
Name = deviceName, ClientId = ubiiNode.GetID(), DeviceType = Ubii.Devices.Device.Types.DeviceType.Participant
};
ubiiDevice.Components.Add(new Ubii.Devices.Component
{
Name = "Test Object Movement - random Vector3",
IoType = Ubii.Devices.Component.Types.IOType.Publisher,
MessageFormat = "ubii.dataStructure.Vector3",
Topic = topicTestPublishSubscribe
});
}
private void CreateSpecs()
{
this.inputTopic = "/" + ubiiNode.GetID() + "/test-sessions/input/vec3";
this.outputTopic = "/" + ubiiNode.GetID() + "/test-sessions/output/vec3";
this.pmSpecs = new Ubii.Processing.ProcessingModule
{
Name = "Unity3D-Client-TestSessions-PM-01",
OnProcessingStringified = "(inputs, outputs, state) => { outputs.outVec3 = inputs.inVec3; }",
ProcessingMode = new Ubii.Processing.ProcessingMode {
Frequency = new Ubii.Processing.ProcessingMode.Types.Frequency {
Hertz = 10
}
}
};
this.pmSpecs.Inputs.Add(new Ubii.Processing.ModuleIO {
InternalName = "inVec3", MessageFormat = "ubii.dataStructure.Vector3"
});
this.pmSpecs.Outputs.Add(new Ubii.Processing.ModuleIO {
InternalName = "outVec3", MessageFormat = "ubii.dataStructure.Vector3"
});
this.pmSpecs.Authors.Add("Sandro Weber");
this.sessionSpecs = new Ubii.Sessions.Session
{
Name = "Unity3D-Client-TestSessions-Session-01"
};
this.sessionSpecs.Authors.Add("Sandro Weber");
this.sessionSpecs.ProcessingModules.Add(this.pmSpecs);
Ubii.Sessions.IOMapping ioMapping = new Ubii.Sessions.IOMapping
{
ProcessingModuleName = this.pmSpecs.Name
};
ioMapping.InputMappings.Add(new Ubii.Sessions.TopicInputMapping {
InputName = "inVec3", Topic = this.inputTopic
});
ioMapping.OutputMappings.Add(new Ubii.Sessions.TopicOutputMapping {
OutputName = "outVec3", Topic = this.outputTopic
});
this.sessionSpecs.IoMappings.Add(ioMapping);
}
async private void RunTestSubscribePublish()
{
await ubiiNode.WaitForConnection();
string topic = "/" + ubiiNode.GetID() + "/unity3D_client/test/subcribe_publish_simple";
bool success = false;
Action <TopicDataRecord> callback = (TopicDataRecord record) =>
{
success = record.Bool;
};
SubscriptionToken subToken = await ubiiNode.SubscribeTopic(topic, callback);
ubiiNode.Publish(new Ubii.TopicData.TopicDataRecord {
Topic = topic, Bool = true
});
await Task.Delay(1000).ContinueWith(async(Task t) =>
{
bool successUnsubscribe = await ubiiNode.Unsubscribe(subToken);
if (!successUnsubscribe)
{
Debug.LogError("RunTestSubscribePublish Unsubscribe() FAILURE!");
}
if (success)
{
Debug.Log("RunTestSubscribePublish SUCCESS!");
}
else
{
Debug.LogError("RunTestSubscribePublish FAILURE!");
}
});
}
public string GetTopicTargetVelocities()
{
return("/" + ubiiNode.GetID() + TOPIC_SUFFIX_TARGET_VELOCITIES);
}
public string GetTopicCurrentPoseList()
{
return("/" + ubiiNode.GetID() + TOPIC_SUFFIX_CURRENT_POSE_LIST);
}
public string GetTopicIKTargets()
{
return("/" + ubiiNode.GetID() + TOPIC_SUFFIX_IK_TARGETS);
}
