/// <summary>
/// Initializes a new instance of the <see cref="Tango.UUIDUnityHolder"/> class.
/// </summary>
public UUIDUnityHolder()
{
uuidObject = new UUID();
uuidMetaData = new Metadata();
uuidObject.data = IntPtr.Zero;
uuidName = string.Empty;
}
/// <summary>
/// Save the metadata for this area description.
/// </summary>
/// <returns>Returns <c>true</c> if the metadata was successfully saved, <c>false</c> otherwise.</returns>
/// <param name="metadata">Metadata to save.</param>
public bool SaveMetadata(Metadata metadata)
{
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return false;
}
bool anyErrors = false;
if (!_MetadataSetString(rawMetadata, "name", metadata.m_name))
{
anyErrors = true;
}
if (!_MetadataSetInt64(rawMetadata, "date_ms_since_epoch",
(metadata.m_dateTime.Ticks - METADATA_EPOCH.Ticks) / DATETIME_TICKS_PER_MS))
{
anyErrors = true;
}
double[] tform = new double[7];
tform[0] = metadata.m_transformationPosition[0];
tform[1] = metadata.m_transformationPosition[1];
tform[2] = metadata.m_transformationPosition[2];
tform[3] = metadata.m_transformationRotation[0];
tform[4] = metadata.m_transformationRotation[1];
tform[5] = metadata.m_transformationRotation[2];
tform[6] = metadata.m_transformationRotation[3];
if (!_MetadataSetDoubleArray(rawMetadata, "transformation", tform))
{
anyErrors = true;
}
if (!anyErrors)
{
int returnValue = AreaDescriptionAPI.TangoService_saveAreaDescriptionMetadata(m_uuid, rawMetadata);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save metadata values.\n" + Environment.StackTrace);
anyErrors = true;
}
}
_FreeMetadataPtr(rawMetadata);
return !anyErrors;
}
/// <summary>
/// Get the metadata for the Area Description.
///
/// If you want to create a metadata for a not yet saved Area Description, you should instead use the default
/// constructor.
/// </summary>
/// <returns>The metadata, or <c>null</c> if that Area Description does not exist.</returns>
public Metadata GetMetadata()
{
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return null;
}
Metadata newData = new Metadata();
if (!_MetadataGetString(rawMetadata, "name", out newData.m_name))
{
newData.m_name = string.Empty;
}
Int64 dateMSSinceEpoch;
if (!_MetadataGetInt64(rawMetadata, "date_ms_since_epoch", out dateMSSinceEpoch))
{
dateMSSinceEpoch = 0;
}
newData.m_dateTime = new DateTime(METADATA_EPOCH.Ticks + (dateMSSinceEpoch * DATETIME_TICKS_PER_MS));
double[] tform;
if (!_MetadataGetDoubleArray(rawMetadata, "transformation", 7, out tform))
{
tform[0] = tform[1] = tform[2] = tform[3] = tform[4] = tform[5] = 0;
tform[6] = 1;
}
newData.m_transformationPosition = new double[3] { tform[0], tform[1], tform[2] };
newData.m_transformationRotation = new double[4] { tform[3], tform[4], tform[5], tform[6] };
_FreeMetadataPtr(rawMetadata);
return newData;
}
/// <summary>
/// Save the metadata for this area description.
/// </summary>
/// <returns>Returns <c>true</c> if the metadata was successfully saved, <c>false</c> otherwise.</returns>
/// <param name="metadata">Metadata to save.</param>
public bool SaveMetadata(Metadata metadata)
{
#if UNITY_EDITOR
try
{
using (StreamWriter streamWriter =
new StreamWriter(File.Open(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION,
FileMode.Create)))
{
metadataXmlSerializer.Serialize(streamWriter, metadata);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
return false;
}
return true;
#else
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return false;
}
bool anyErrors = false;
if (!_MetadataSetString(rawMetadata, "name", metadata.m_name))
{
anyErrors = true;
}
if (!_MetadataSetInt64(rawMetadata, "date_ms_since_epoch",
(metadata.m_dateTime.Ticks - METADATA_EPOCH.Ticks) / DATETIME_TICKS_PER_MS))
{
anyErrors = true;
}
double[] tform = new double[7];
tform[0] = metadata.m_transformationPosition[0];
tform[1] = metadata.m_transformationPosition[1];
tform[2] = metadata.m_transformationPosition[2];
tform[3] = metadata.m_transformationRotation[0];
tform[4] = metadata.m_transformationRotation[1];
tform[5] = metadata.m_transformationRotation[2];
tform[6] = metadata.m_transformationRotation[3];
if (!_MetadataSetDoubleArray(rawMetadata, "transformation", tform))
{
anyErrors = true;
}
if (!anyErrors)
{
int returnValue = AreaDescriptionAPI.TangoService_saveAreaDescriptionMetadata(m_uuid, rawMetadata);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save metadata values.\n" + Environment.StackTrace);
anyErrors = true;
}
}
_FreeMetadataPtr(rawMetadata);
return !anyErrors;
#endif
}
/// <summary>
/// Get the metadata for the Area Description.
///
/// If you want to create a metadata for a not yet saved Area Description, you should instead use the default
/// constructor.
/// </summary>
/// <returns>The metadata, or <c>null</c> if that Area Description does not exist.</returns>
public Metadata GetMetadata()
{
#if UNITY_EDITOR
Metadata metadata = new Metadata();
try
{
if (!File.Exists(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION))
{
return null;
}
using (StreamReader streamReader =
new StreamReader(File.OpenRead(EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION)))
{
metadata = (Metadata)metadataXmlSerializer.Deserialize(streamReader);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
return null;
}
catch (System.Xml.XmlException xmlException)
{
Debug.LogError("XML error in Area Description save/load emulation"
+ " (corrupt file contents?); returning blank metadata (for file: "
+ EMULATED_ADF_SAVE_PATH + m_uuid + EMULATED_ADF_EXTENSION + ")\n"
+ "Error: " + xmlException.Message);
}
// Make sure there are no fields left atypically uninitialized
// in emulation even if some fields are missing from or corrupted in XML:
if (metadata.m_name == null)
{
metadata.m_name = string.Empty;
}
if (metadata.m_transformationPosition == null)
{
metadata.m_transformationPosition = new double[3];
}
if (metadata.m_transformationRotation == null)
{
metadata.m_transformationRotation = new double[] { 0, 0, 0, 1 };
}
return metadata;
#else
IntPtr rawMetadata = _GetMetadataPtr();
if (rawMetadata == IntPtr.Zero)
{
return null;
}
Metadata newData = new Metadata();
if (!_MetadataGetString(rawMetadata, "name", out newData.m_name))
{
newData.m_name = string.Empty;
}
Int64 dateMSSinceEpoch;
if (!_MetadataGetInt64(rawMetadata, "date_ms_since_epoch", out dateMSSinceEpoch))
{
dateMSSinceEpoch = 0;
}
newData.m_dateTime = new DateTime(METADATA_EPOCH.Ticks + (dateMSSinceEpoch * DATETIME_TICKS_PER_MS));
double[] tform;
if (!_MetadataGetDoubleArray(rawMetadata, "transformation", 7, out tform))
{
tform[0] = tform[1] = tform[2] = tform[3] = tform[4] = tform[5] = 0;
tform[6] = 1;
}
newData.m_transformationPosition = new double[3] { tform[0], tform[1], tform[2] };
newData.m_transformationRotation = new double[4] { tform[3], tform[4], tform[5], tform[6] };
_FreeMetadataPtr(rawMetadata);
return newData;
#endif
}
/// <summary>
/// Saves the current area description, returning the area description saved.
///
/// You can only save an area description while connected to the Tango Service and if you have enabled Area
/// Learning mode. If you loaded an area description before connecting, then calling this method appends any
/// new learned areas to that area description and returns an area description with the same UUID. If you did
/// not load an area description, this method creates a new area description and a new UUID for that area
/// description.
/// </summary>
/// <returns>
/// AreaDescription instance for the newly saved area description if saved successfully, <c>null</c> otherwise.
///
/// See logcat for details of why a saved failed.
/// </returns>
public static AreaDescription SaveCurrent()
{
#if UNITY_EDITOR
if (!EmulatedAreaDescriptionHelper.m_usingEmulatedDescriptionFrames)
{
Debug.LogError("Error in Area Description save emulation:\nNo current emulated area description.");
return null;
}
// If we don't have an existing UUID, this is a 'new' Area Description, so we'll have to create it.
if (string.IsNullOrEmpty(EmulatedAreaDescriptionHelper.m_currentUUID))
{
// Just use a .net GUID for the UUID.
string uuid = Guid.NewGuid().ToString();
EmulatedAreaDescriptionHelper.m_currentUUID = uuid;
try
{
Directory.CreateDirectory(EMULATED_ADF_SAVE_PATH);
using (StreamWriter streamWriter =
new StreamWriter(File.Open(EMULATED_ADF_SAVE_PATH + uuid + EMULATED_ADF_EXTENSION,
FileMode.Create)))
{
Metadata metadata = new Metadata();
metadata.m_name = "Unnamed";
metadata.m_dateTime = DateTime.Now;
metadata.m_transformationPosition = new double[3];
metadata.m_transformationRotation = new double[] { 0, 0, 0, 1 };
metadataXmlSerializer.Serialize(streamWriter, metadata);
}
}
catch (IOException ioException)
{
Debug.LogError("IO error in Area Description save/load emulation:\n"
+ ioException.Message);
return null;
}
return AreaDescription.ForUUID(uuid);
}
else
{
// Since we don't actually save any description of the area in emulation,
// if we're using an existing UUID, we don't have to do anything but return it.
return AreaDescription.ForUUID(EmulatedAreaDescriptionHelper.m_currentUUID);
}
#else
byte[] rawUUID = new byte[Common.UUID_LENGTH];
if (AreaDescriptionAPI.TangoService_saveAreaDescription(rawUUID) != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Could not save area description.\n" + Environment.StackTrace);
return null;
}
// Don't want to include the null terminator in the C# string.
string uuid = Encoding.UTF8.GetString(rawUUID, 0, Common.UUID_LENGTH - 1);
return AreaDescription.ForUUID(uuid);
#endif
}
