/// <summary>
/// Map ARM metadata schema to the AzureEnvironment object.
/// </summary>
/// <param name="armMetadata">ARM cloud metadata</param>
/// <returns></returns>
private static AzureEnvironment MapArmToAzureEnvironment(ArmMetadata armMetadata)
{
var azureEnvironment = new AzureEnvironment
{
Name = armMetadata.Name,
PublishSettingsFileUrl = GetPublishSettingsFileUrl(armMetadata.Name),
ServiceManagementUrl = armMetadata.Authentication.Audiences[0],
ResourceManagerUrl = armMetadata.ResourceManager,
ManagementPortalUrl = armMetadata.Portal,
ActiveDirectoryAuthority = armMetadata.Authentication.LoginEndpoint,
ActiveDirectoryServiceEndpointResourceId = armMetadata.Authentication.Audiences[0],
StorageEndpointSuffix = armMetadata.Suffixes.Storage,
GalleryUrl = armMetadata.Gallery,
SqlDatabaseDnsSuffix = armMetadata.Suffixes.SqlServerHostname,
GraphUrl = armMetadata.Graph,
TrafficManagerDnsSuffix = GetTrafficManagerDnsSuffix(armMetadata.Name),
AzureKeyVaultDnsSuffix = armMetadata.Suffixes.KeyVaultDns,
AzureKeyVaultServiceEndpointResourceId = GetKeyVaultServiceEndpointResourceId(armMetadata.Name),
AzureDataLakeAnalyticsCatalogAndJobEndpointSuffix = armMetadata.Suffixes.AzureDataLakeAnalyticsCatalogAndJob,
AzureDataLakeStoreFileSystemEndpointSuffix = armMetadata.Suffixes.AzureDataLakeStoreFileSystem,
DataLakeEndpointResourceId = armMetadata.ActiveDirectoryDataLake,
GraphEndpointResourceId = armMetadata.Graph,
BatchEndpointResourceId = armMetadata.Batch,
AdTenant = armMetadata.Authentication.Tenant
};
return(azureEnvironment);
}
/// <summary>
/// Serializes the object to JSON.
/// </summary>
/// <param name="writer">The <see cref="T: Newtonsoft.Json.JsonWriter" /> to write to.</param>
/// <param name="obj">The object to serialize to JSON.</param>
internal static void Serialize(JsonWriter writer, ArmMetadata obj)
{
// Required properties are always serialized, optional properties are serialized when not null.
writer.WriteStartObject();
if (obj.ArmResourceId != null)
{
writer.WriteProperty(obj.ArmResourceId, "ArmResourceId", JsonWriterExtensions.WriteStringValue);
}
writer.WriteEndObject();
}
/// <summary>
/// Map ARM metadata schema to the AzureEnvironment object.
/// </summary>
/// <param name="armMetadata">ARM cloud metadata</param>
/// <returns></returns>
private static AzureEnvironment MapArmToAzureEnvironment(ArmMetadata armMetadata)
{
var azureEnvironment = new AzureEnvironment
{
Name = armMetadata.Name,
PublishSettingsFileUrl = GetPublishSettingsFileUrl(armMetadata.Name),
ServiceManagementUrl = armMetadata.Authentication.Audiences[0],
ResourceManagerUrl = armMetadata.ResourceManager,
ManagementPortalUrl = armMetadata.Portal,
ActiveDirectoryAuthority = armMetadata.Authentication.LoginEndpoint,
ActiveDirectoryServiceEndpointResourceId = armMetadata.Authentication.Audiences[0],
StorageEndpointSuffix = armMetadata.Suffixes.Storage,
GalleryUrl = armMetadata.Gallery,
SqlDatabaseDnsSuffix = armMetadata.Suffixes.SqlServerHostname,
GraphUrl = armMetadata.Graph,
//TODO, ARM endpoint doesn't have TrafficManagerDnsSuffix
TrafficManagerDnsSuffix = GetTrafficManagerDnsSuffix(armMetadata.Name),
AzureKeyVaultDnsSuffix = armMetadata.Suffixes.KeyVaultDns,
//Default ARM endpoint doens't provide KeyVault service resource id. Keep it here just in case.
AzureKeyVaultServiceEndpointResourceId = GetKeyVaultServiceEndpointResourceId(armMetadata.Name),
AzureDataLakeAnalyticsCatalogAndJobEndpointSuffix = armMetadata.Suffixes.AzureDataLakeAnalyticsCatalogAndJob,
AzureDataLakeStoreFileSystemEndpointSuffix = armMetadata.Suffixes.AzureDataLakeStoreFileSystem,
DataLakeEndpointResourceId = armMetadata.ActiveDirectoryDataLake,
GraphEndpointResourceId = armMetadata.Graph,
BatchEndpointResourceId = armMetadata.Batch,
AdTenant = armMetadata.Authentication.Tenant,
ContainerRegistryEndpointSuffix = armMetadata.Suffixes.AcrLoginServer
};
//We reuse the value of KeyVaultDns
if (string.IsNullOrEmpty(azureEnvironment.AzureKeyVaultServiceEndpointResourceId))
{
azureEnvironment.AzureKeyVaultServiceEndpointResourceId = $"https://{azureEnvironment.AzureKeyVaultDnsSuffix}";
}
// There are mismatches between metadata built in Azure PowerShell/CLI and from ARM endpoint.
// Considering compatibility, below hard coded logic accommodates those mismatches
// SqlDatabaseDnsSuffix requires value leading with period
// ServiceManagementUrl as audience needs to end with slash
if (azureEnvironment.SqlDatabaseDnsSuffix != null && !azureEnvironment.SqlDatabaseDnsSuffix.StartsWith("."))
{
azureEnvironment.SqlDatabaseDnsSuffix = "." + azureEnvironment.SqlDatabaseDnsSuffix;
}
if (azureEnvironment.ServiceManagementUrl != null && !azureEnvironment.ServiceManagementUrl.EndsWith("/"))
{
azureEnvironment.ServiceManagementUrl += "/";
}
return(azureEnvironment);
}
/// <inheritdoc/>
protected override void ProcessRecordInternal()
{
var armMetadata = new ArmMetadata(
armResourceId: this.ArmResourceId);
this.ServiceFabricClient.ApplicationTypes.UpdateApplicationArmMetadataAsync(
applicationId: this.ApplicationId,
applicationArmMetadataUpdateDescription: armMetadata,
serverTimeout: this.ServerTimeout,
force: this.Force,
cancellationToken: this.CancellationToken).GetAwaiter().GetResult();
Console.WriteLine("Success!");
}
/// <inheritdoc />
public Task UpdateApplicationTypeArmMetadataAsync(
string applicationTypeName,
string applicationTypeVersion,
ArmMetadata applicationTypeArmMetadataUpdateDescription,
long?serverTimeout = 60,
bool?force = default(bool?),
CancellationToken cancellationToken = default(CancellationToken))
{
applicationTypeName.ThrowIfNull(nameof(applicationTypeName));
applicationTypeVersion.ThrowIfNull(nameof(applicationTypeVersion));
applicationTypeArmMetadataUpdateDescription.ThrowIfNull(nameof(applicationTypeArmMetadataUpdateDescription));
serverTimeout?.ThrowIfOutOfInclusiveRange("serverTimeout", 1, 4294967295);
var requestId = Guid.NewGuid().ToString();
var url = "ApplicationTypes/{applicationTypeName}/$/UpdateArmMetadata";
url = url.Replace("{applicationTypeName}", Uri.EscapeDataString(applicationTypeName));
var queryParams = new List <string>();
// Append to queryParams if not null.
applicationTypeVersion?.AddToQueryParameters(queryParams, $"ApplicationTypeVersion={applicationTypeVersion}");
serverTimeout?.AddToQueryParameters(queryParams, $"timeout={serverTimeout}");
force?.AddToQueryParameters(queryParams, $"Force={force}");
queryParams.Add("api-version=9.0");
url += "?" + string.Join("&", queryParams);
string content;
using (var sw = new StringWriter())
{
ArmMetadataConverter.Serialize(new JsonTextWriter(sw), applicationTypeArmMetadataUpdateDescription);
content = sw.ToString();
}
HttpRequestMessage RequestFunc()
{
var request = new HttpRequestMessage()
{
Method = HttpMethod.Post,
Content = new StringContent(content, Encoding.UTF8),
};
request.Content.Headers.ContentType = System.Net.Http.Headers.MediaTypeHeaderValue.Parse("application/json; charset=utf-8");
return(request);
}
return(this.httpClient.SendAsync(RequestFunc, url, requestId, cancellationToken));
}
Vector3 Follow(HingeJoint joint, Vector3 target)
{
Vector3 a = Vector3.up, b = joint.connectedBody.transform.InverseTransformPoint(target);
float err = Vector3.Angle(a, b) * Mathf.Sign(Vector3.Cross(a, b).x);
// print (string.Format("a:{0} b:{1}, err:{2}", a, b, err));
this.OnRobotArmAction(gameObject, err);
JointSpring s = joint.spring;
s.targetPosition -= Mathf.Rad2Deg * OddErp(Mathf.Deg2Rad * 0.75f * err, Mathf.PI);
joint.spring = s;
ArmMetadata connectedMetadata = joint.connectedBody.GetComponent <ArmMetadata> ();
if (connectedMetadata == null)
{
throw new MissingComponentException("ArmMetadata not found");
}
return(target - joint.connectedBody.transform.TransformVector(b.normalized * connectedMetadata.Length));
}
public ArmMetadata GenerateMetadata()
{
ArmMetadata meta = new ArmMetadata();
// meta.handTarget = armTarget.position;
Transform joint = transform;
List <JointMetadata> joints = new List <JointMetadata>();
// Declare variables used for processing metadata
Transform parentJoint;
float angleRot;
Vector3 vectorRot;
Quaternion currentRotation;
// Assign joint metadata to remaining joints, which all have identical hierarchies
for (int i = 1; i <= 4; i++)
{
joint = joint.Find("robot_arm_" + i + "_jnt");
JointMetadata jointMeta = new JointMetadata();
// JOINT NAME
jointMeta.name = joint.name;
// WORLD RELATIVE POSITION
jointMeta.position = joint.position;
// ROOT-JOINT RELATIVE POSITION
// Parent-relative position of joint is meaningless because it never changes relative to its parent joint, so we use rootRelative instead
jointMeta.rootRelativePosition = FirstJoint.InverseTransformPoint(joint.position);
// WORLD RELATIVE ROTATION
// GetChild grabs angler since that is what actually changes the geometry angle
currentRotation = joint.GetChild(0).rotation;
// Check that world-relative rotation is angle-axis-notation-compatible
if (currentRotation != new Quaternion(0, 0, 0, -1))
{
currentRotation.ToAngleAxis(angle: out angleRot, axis: out vectorRot);
// Debug.Log(joint.name + "'s euler-angles of " + joint.GetChild(0).eulerAngles + " resulted in Quaternion " + Quaternion.Euler(joint.GetChild(0).eulerAngles) + " which should either be the same as or a corrected version of " + joint.GetChild(0).rotation);
jointMeta.rotation = new Vector4(vectorRot.x, vectorRot.y, vectorRot.z, angleRot);
}
else
{
// Debug.Log(joint.name + "'s world-rotation of " + currentRotation + " is EVILLLLL!");
jointMeta.rotation = new Vector4(1, 0, 0, 0);
}
// ROOT-JOINT RELATIVE ROTATION
// Root-forward and agent-forward are always the same
// GetChild grabs angler since that is what actually changes the geometry angle
currentRotation = Quaternion.Euler(FirstJoint.InverseTransformDirection(joint.GetChild(0).eulerAngles));
// Check that root-relative rotation is angle-axis-notation-compatible
if (currentRotation != new Quaternion(0, 0, 0, -1))
{
currentRotation.ToAngleAxis(angle: out angleRot, axis: out vectorRot);
jointMeta.rootRelativeRotation = new Vector4(vectorRot.x, vectorRot.y, vectorRot.z, angleRot);
}
else
{
// Debug.Log(joint.name + "'s root-rotation of " + currentRotation + " is EVILLLLL!");
jointMeta.rootRelativeRotation = new Vector4(1, 0, 0, 0);
}
// PARENT-JOINT RELATIVE ROTATION
if (i != 1)
{
parentJoint = joint.parent;
// Grab rotation of current joint's angler relative to parent joint's angler, and convert it to a quaternion
currentRotation = Quaternion.Euler(
parentJoint.GetChild(0).InverseTransformDirection(
joint.GetChild(0).eulerAngles
)
);
// Check that parent-relative rotation is angle-axis-notation-compatible
if (currentRotation != new Quaternion(0, 0, 0, -1))
{
// Convert parent-relative rotation to angle-axis notation
currentRotation.ToAngleAxis(angle: out angleRot, axis: out vectorRot);
jointMeta.localRotation = new Vector4(vectorRot.x, vectorRot.y, vectorRot.z, angleRot);
}
else
{
// Debug.Log(joint.name + "'s parent-rotation of " + currentRotation + " is EVILLLLL!");
jointMeta.localRotation = new Vector4(1, 0, 0, 0);
}
}
else
{
// Special case for robot_arm_1_jnt because it has no parent-joint
jointMeta.localRotation = jointMeta.rootRelativeRotation;
}
joints.Add(jointMeta);
}
meta.joints = joints.ToArray();
// metadata for any objects currently held by the hand on the arm
// note this is different from objects intersecting the hand's sphere,
// there could be a case where an object is inside the sphere but not picked up by the hand
List <string> heldObjectIDs = new List <string>();
if (heldObjects != null)
{
foreach (KeyValuePair <SimObjPhysics, List <Collider> > sop in heldObjects)
{
heldObjectIDs.Add(sop.Key.objectID);
}
}
meta.heldObjects = heldObjectIDs;
meta.handSphereCenter = transform.TransformPoint(magnetSphere.center);
meta.handSphereRadius = magnetSphere.radius;
meta.pickupableObjects = WhatObjectsAreInsideMagnetSphereAsObjectID();
return(meta);
}
