private async void TryConnectToController()
{
if (controllerClient != null)
{
textToaster.Toast("A controller is already connected.");
return;
}
if (!ConnectWindowVisibility)
{
textToaster.Toast("Cannot try connecting to more than one remote machine.");
return;
}
ConnectWindowVisibility = false;
var random = new System.Random();
int userId = random.Next();
var tcpSocket = new TcpSocket(new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp));
if (await tcpSocket.ConnectAsync(IPAddress.Loopback, ControllerMessages.PORT))
{
textToaster.Toast("connected");
controllerClient = new ControllerClient(userId, tcpSocket);
}
else
{
textToaster.Toast("not connected");
}
ConnectWindowVisibility = true;
}
// Create ControllerClient instance and try login - Invalid password
private static void CTUA00300()
{
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("password")[0].InnerText;
string password = "******";
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
try
{
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("Confirm username and password"))
{
throw new Exception("Test case CTUA00300 failed");
}
}
}
public ConfigurationTabVM(ControllerClient controllerClient, UnhandledExceptionPresenter unhandledExceptionPresenter)
{
if (controllerClient == null)
{
throw new ArgumentNullException(nameof(controllerClient));
}
if (unhandledExceptionPresenter == null)
{
throw new ArgumentNullException(nameof(unhandledExceptionPresenter));
}
_controllerClient = controllerClient;
_unhandledExceptionPresenter = unhandledExceptionPresenter;
Areas = new SelectableObservableCollection <AreaItemVM>();
RefreshCommand = new AsyncDelegateCommand(RefreshAsync);
SaveCommand = new AsyncDelegateCommand(SaveAsync);
MoveAreaUpCommand = new DelegateCommand(MoveAreaUp);
MoveAreaDownCommand = new DelegateCommand(MoveAreaDown);
MoveActuatorUpCommand = new DelegateCommand(MoveActuatorUp);
MoveActuatorDownCommand = new DelegateCommand(MoveActuatorDown);
}
public FormListClients(ControllerClient service, ControllerSelection serviceR, ControllerService serviceS, ControllerValidation serviceV)
{
InitializeComponent();
this.service = service;
this.serviceR = serviceR;
this.serviceS = serviceS;
this.serviceV = serviceV;
}
public FormFillingContracts(ControllerDirection serviceD, ControllerClient serviceC, ControllerContractClient serviceCC,
ContractAgent serviceCA, ControllerService serviceS, ControllerPrinting serviceP, ControllerValidation validation)
{
InitializeComponent();
this.serviceD = serviceD;
this.serviceCC = serviceCC;
this.serviceC = serviceC;
this.serviceS = serviceS;
this.serviceCA = serviceCA;
this.validation = validation;
this.serviceP = serviceP;
}
static void Main(string[] args)
{
string hostname = "controller65";
string username = "******";
string password = "******";
string scenepk = "knowledgepicking1.mujin.dae";
ControllerClient controllerClient = new ControllerClient(username, password, "http://" + hostname);
SceneResource scene = controllerClient.GetScene(scenepk);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName("test_task_1", "binpicking");
// slave request id for the target slave, usually hostname + "_slave0"
task.SlaveRequestID = hostname + "_slave0";
// remove objects in the scene whose names have this prefix, optional
string prefix = "detected_sourcecontainer_";
// list of objects and their poses to be updated in the scene
List <Dictionary <string, object> > envstate = new List <Dictionary <string, object> >()
{
new Dictionary <string, object>()
{
{ "name", prefix + "1" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 0, 300
} },
{ "object_uri", "mujin:/work1.mujin.dae" },
},
new Dictionary <string, object>()
{
{ "name", prefix + "2" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 100, 400
} },
{ "object_uri", "mujin:/work2_b.mujin.dae" },
}
};
task.UpdateObjects(envstate, prefix);
}
public void ChangeItemTests_null() //Вещь изменяется несуществующим игроком
{
ModelClient model = new ModelClient();
ControllerClient controler = new ControllerClient(model);
model.threadStart = true;
Thread threadClient = new Thread(new ThreadStart(serverStart));
threadClient.Start();
bool expected = false;
bool actual = controler.ChangeItem(1);
Assert.AreEqual(expected, actual);
}
public void TestConnect_null() //Подключение к нулевому адресу
{
//arrange
ModelClient model = new ModelClient();
ControllerClient controler = new ControllerClient(model);
bool expected = false;
Thread threadClient = new Thread(new ThreadStart(serverStart));
threadClient.Start();
//act
//assert
Assert.ThrowsException <NullReferenceException>(() => controler.Connect(null));
}
public void TestConnect_192168125() //Подключение к несуществующему адресу
{
//arrange
ModelClient model = new ModelClient();
ControllerClient controler = new ControllerClient(model);
bool expected = false;
Thread threadClient = new Thread(new ThreadStart(serverStart));
threadClient.Start();
//act
//assert
Assert.ThrowsException <NullReferenceException>(() => controler.Connect("192.168.1.25"));
}
public WeatherStationTabVM(ControllerClient controllerClient)
{
if (controllerClient == null)
{
throw new ArgumentNullException(nameof(controllerClient));
}
_controllerClient = controllerClient;
ApiKey = new PropertyVM <string>(string.Empty);
Latitude = new PropertyVM <string>(string.Empty);
Longitude = new PropertyVM <string>(string.Empty);
RefreshCommand = new AsyncDelegateCommand(Refresh);
SaveCommand = new AsyncDelegateCommand(Save);
}
// Get scene resource- Invalid primary key
public static void CTUB00200()
{
ControllerClient controllerClient = CTUA00100();
try
{
controllerClient.GetScene("irex2013.mujin.hogehoge.dae");
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("invalid scene primary key"))
{
throw new Exception("Test case CTUB00200 failed");
}
}
}
public void TestConnect_127001() //Подключение к существующему серверу
{
//arrange
ModelClient model = new ModelClient();
ControllerClient controler = new ControllerClient(model);
bool expected = true;
Thread threadClient = new Thread(new ThreadStart(serverStart));
threadClient.Start();
//act
bool actual = controler.Connect("127.0.0.1");
//assert
Assert.AreEqual(expected, actual);
}
public HomeTabVM(ControllerClient controllerClient)
{
if (controllerClient == null)
{
throw new ArgumentNullException(nameof(controllerClient));
}
_controllerClient = controllerClient;
OpenHomepageCommand = new OpenLinkCommand("http://www.HA4IoT.de");
OpenTwitterCommand = new OpenLinkCommand("https://twitter.com/chkratky");
OpenRepositoryCommand = new OpenLinkCommand("https://github.com/chkr1011/CK.HomeAutomation");
OpenDocumentationCommand = new OpenLinkCommand(
"https://www.hackster.io/cyborg-titanium-14/home-automation-with-raspberry-pi-2-and-windows-10-iot-784235");
OpenAppCommand = new DelegateCommand(OpenApp);
}
public Form1()
{
InitializeComponent();
emergencyTicks = 0;
emergencyPlane = null;
this.flightstatus = new string[3];
for (int i = 0; i < flightstatus.Length; i++)
{
flightstatus[i] = "";
}
this.context = new InstanceContext(this);
this.proxy = new ControllerClient(context);
Switch = false;
this.timer1.Interval = 2000;
this.timer2.Interval = 1000;
this.proxy.SubscribeEvent();
this.lbAirportName.Text = proxy.GetAirportName();
CancelTokenSource = new CancellationTokenSource();
Token = CancelTokenSource.Token;
listOfPlanes = this.proxy.GetAirplaneList().ToList();
timer1.Start();
timer2.Start();
//set starting points of planes for animation
startR1 = new Point(50, 50);
startR2 = new Point(50, 100);
startR3 = new Point(50, 190);
startR4 = new Point(50, 315);
// hide all planes and labels
hidePlanes();
lblR1.Hide(); lblR2.Hide(); lblR3.Hide(); lblR4.Hide();
//only one item can be selected from the listView (for command pusposes), it returns an array of selected items so the one we look for is on index 0
listView_flight.MultiSelect = false;
//all runways are free
prepareRunway("R1");
prepareRunway("R2");
prepareRunway("R3");
statusDict = proxy.GetStatusDictionaryController();
commandDict = proxy.GetCommandDictionary();
}
// Create ControllerClient instance and try login
private static ControllerClient CTUA00100()
{
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("username")[0].InnerText;
string password = document.GetElementsByTagName("password")[0].InnerText;
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
return(controllerClient);
}
public HealthTabVM(ControllerClient controllerClient)
{
if (controllerClient == null)
{
throw new ArgumentNullException(nameof(controllerClient));
}
TraceItems = new SelectableObservableCollection <TraceItem>();
_controllerClient = controllerClient;
_traceItemReceiverClient = new TraceItemReceiverClient();
_traceItemReceiverClient.TraceItemReceived += EnlistTraceItem;
_traceItemReceiverClient.Start();
ClearCommand = new DelegateCommand(Clear);
AutoScroll = new PropertyVM <bool>(true);
ShowVerboseMessages = new PropertyVM <bool>(true);
ShowInformations = new PropertyVM <bool>(true);
ShowWarnings = new PropertyVM <bool>(true);
ShowErrors = new PropertyVM <bool>(true);
}
// Start is called before the first frame update
async void Start()
{
if (!Application.isPlaying)
{
return;
}
var options = new ControllerClientOptions
{
BrokerAddress = ip,
BrokerPort = port,
EnableConsoleLogging = true,
Identifier = "gruppo-4",
ReconnectDelay = TimeSpan.FromSeconds(5),
QualityOfService = MqttQualityOfServiceLevel.AtLeastOnce,
LastWillTopic = $"{teamId}/features/lifecycle/simulator/ondisconnect"
};
Client = new ControllerClient(options);
Debug.Log("Connecting to broker");
await Client.StartAsync();
var publishOnConnectTask = Client.PublishAsync($"{teamId}/features/lifecycle/simulator/onconnect", string.Empty);
var subscribeOnConnectTask = Client.SubscribeAsync(
$"{teamId}/features/lifecycle/controller/onconnect",
message => Debug.Log("Received on connect from controller")
);
var subscribeOnDisconnectTask = Client.SubscribeAsync(
$"{teamId}/features/lifecycle/controller/ondisconnect",
message => Debug.Log("Received on disconnect from controller")
);
await Task.WhenAll(publishOnConnectTask, subscribeOnConnectTask, subscribeOnDisconnectTask);
Debug.Log("Connected");
}
private void timer2_Tick(object sender, EventArgs e)
{
try
{
TcpClient tcp = new TcpClient(proxy.Endpoint.Address.Uri.Host, Convert.ToInt32(proxy.Endpoint.Address.Uri.OriginalString.TrimStart('h', 't', 't', 'p', '/', '/', 'l', 'o', 'c', 'a', 'l', 'h', 'o', 's', 't', ':').Split('/')[0]));
lbl_serverStatus.Text = " I ";
lbl_serverStatus.BackColor = Color.Green;
if (Switch == true)
{
this.context = new InstanceContext(this);
this.proxy = new ControllerClient(context);
proxy.SubscribeEvent();
CancelTokenSource = new CancellationTokenSource();
Token = CancelTokenSource.Token;
timer1.Start();
Switch = false;
}
}
catch (Exception)
{
CancelTokenSource.Cancel();
lbl_serverStatus.Text = "O";
lbl_serverStatus.BackColor = Color.Red;
if (Switch == false)
{
timer1.Stop();
Switch = true;
}
}
// timer1.Stop();
// IPAddress ip = Dns.GetHostAddresses(proxy.Endpoint.Address.Uri.Host)[0];
//PingReply reply = ping.Send(ip);
// pining = reply.Status == IPStatus.Success;
// MessageBox.Show(pining.ToString());
// timer1.Start();
}
public FormClient()
{
InitializeComponent();
controller = new ControllerClient(dgv, bn);
controller.FillColumns();
}
private void Awake()
{
Application.runInBackground = true;
renderServer = RendererServer.Instance;
ctrlClient = ControllerClient.Instance;
}
// Get scene resource
public static SceneResource CTUB00100()
{
ControllerClient controllerClient = CTUA00100();
return(controllerClient.GetScene("irex2013.mujin.dae"));
}
public ParserSystem(string UrlController, string WebServerUrl)
{
this.ControllerClient = new ControllerClient(UrlController);
this.WebServerClient = new WebServerClient(WebServerUrl);
}
public PublishCommand(ControllerClient client)
{
_client = client;
}
void Update()
{
// Sends virtual keyboards strokes to the TextMeshes for the IP address and the port.
AbsorbInput();
if (Input.GetKeyDown(KeyCode.Tab))
{
if (connectionWindow.ConnectionTarget == ConnectionTarget.Controller)
{
connectionWindow.ConnectionTarget = ConnectionTarget.Kinect;
}
else
{
connectionWindow.ConnectionTarget = ConnectionTarget.Controller;
}
}
if (Input.GetKeyDown(KeyCode.Return) || Input.GetKeyDown(KeyCode.KeypadEnter))
{
if (connectionWindow.ConnectionTarget == ConnectionTarget.Controller)
{
TryConnectToController();
}
else
{
StartCoroutine(TryConnectToKinect());
}
}
// Gives the information of the camera position and floor level.
if (Input.GetKeyDown(KeyCode.Space))
{
sharedSpaceAnchor.UpdateTransform(cameraTransform.position, cameraTransform.rotation);
}
if (Input.GetKeyDown(KeyCode.D))
{
sharedSpaceAnchor.DebugVisibility = !sharedSpaceAnchor.DebugVisibility;
}
if (controllerClient != null)
{
var receiverStates = new List <ReceiverState>();
if (kinectReceiver != null)
{
var receiverState = new ReceiverState(kinectReceiver.SenderEndPoint.Address.ToString(),
kinectReceiver.SenderEndPoint.Port,
kinectReceiver.ReceiverSessionId);
receiverStates.Add(receiverState);
}
try
{
controllerClient.SendViewerState(receiverStates);
}
catch (TcpSocketException e)
{
print($"TcpSocketException while connecting: {e}");
controllerClient = null;
}
}
if (kinectReceiver != null)
{
var senderPacketSet = SenderPacketReceiver.Receive(udpSocket);
if (!kinectReceiver.UpdateFrame(udpSocket, senderPacketSet))
{
kinectReceiver = null;
ConnectWindowVisibility = true;
}
}
}
static void Main(string[] args)
{
if (true)
{
ControllerClient controllerClient2 = new ControllerClient("testuser", "mytestpass", "http://controller13");
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
//SceneResource scene2 = controllerClient2.GetScene("test.mujin.dae");
// JSON creation
//Dictionary<string, object> jsonMessage = controllerClient2.GetJsonMessage(HttpMethod.POST, "scene/?format=json", "{\"name\":\"newname\", \"reference_uri\":\"mujin:/plasticnut-center.mujin.dae\"}");
// XML creation
Dictionary <string, object> xmlMessage = controllerClient2.GetXMLMessage(HttpMethod.POST, "scene/?format=xml", "<request><name>newname3</name><reference_uri>mujin:/plasticnut-center.mujin.dae</reference_uri></request>");
}
// Default XML path:
// string xmlFilepath = AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "..\\..\\samples\\getsceneinfo\\config\\connection.xml";
// Custom XML path;
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("username")[0].InnerText;
string password = document.GetElementsByTagName("password")[0].InnerText;
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
SceneResource scene = controllerClient.GetScene(scenePrimaryKey);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(taskName, taskType, controllerip, controllerport);
// Test1: GetJointValues
RobotState robotState = task.GetJointValues();
/*
* // Test2: MoveJoints
* robotState.jointValues[1] += 30;
* robotState.jointValues[3] -= 30;
* List<double> jointValues = new List<double>() { robotState.jointValues[1], robotState.jointValues[3] };
* List<int> jointIndices = new List<int>(){1, 3};
* task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
*/
List <double> jointValues = new List <double>()
{
45
};
List <int> jointIndices = new List <int>()
{
6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
jointValues = new List <double>()
{
0, 0, 0, 0, 0, 0, 0
};
jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
/*
* // Test3: MoveToHandPosition
* double[] basepos = robotState.tools["1Base"];
* basepos[1] += 50;
* basepos[3] -= 50;
* task.MoveToHandPosition(new List<double>(basepos), GoalType.transform6d, "1Base", 0.2);
*/
// Test4: PickAndMove
//task.PickAndMove("container3", "camera3", "1Base", GoalType.translationdirection5d, new List<double>() { 1900, 240, 700, 0, 0, 1 }, 0.2);
}
public SubscribeCommand(ControllerClient client)
{
_client = client;
}
