public virtual List <MConstraint> GetBoundaryConstraints(MInstruction instruction, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(new List <MConstraint>());
}
sessionContent.UpdateLastAccessTime();
return(avatarContent.MMUs[mmuID].GetBoundaryConstraints(instruction));
}
public virtual List <MMUDescription> GetMMus(string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(new List <MMUDescription>());
}
sessionContent.UpdateLastAccessTime();
return(SessionData.MMUDescriptions.Where(s => avatarContent.MMUs.Keys.Contains(s.ID)).ToList());
}
public virtual MBoolResponse Dispose(string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(sessionResult);
}
sessionContent.UpdateLastAccessTime();
//Call the dispose method of the respective MMU
return(avatarContent.MMUs[mmuID].Dispose(new Dictionary <string, string>()));
}
public virtual MBoolResponse Abort(string instructionId, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(sessionResult);
}
sessionContent.UpdateLastAccessTime();
//Abort the respective MMU
return(avatarContent.MMUs[mmuID].Abort(instructionId));
}
/// <summary>
/// Returns the session content given the current session id
/// </summary>
/// <param name="sessionId"></param>
/// <returns></returns>
public SessionContent CreateSessionContent(string sessionId)
{
if (sessionId == null)
{
Logger.Log(Log_level.L_ERROR, "Warning: Session id is null!");
return(null);
}
//Get the ids
string sceneId = null;
string avatarId = null;
SessionID.GetSplittedIDs(sessionId, out sceneId, out avatarId);
//Create a new session content
SessionContent sessionContent = null;
//Session already avilable
if (SessionContents.TryGetValue(sceneId, out sessionContent))
{
//Check avatar content -> If not available add it
if (!sessionContent.AvatarContent.ContainsKey(avatarId))
{
AvatarContent avatarContent = new AvatarContent(avatarId);
sessionContent.AvatarContent.TryAdd(avatarId, avatarContent);
}
}
//Session not available -> Create new
else
{
Logger.Log(Log_level.L_INFO, $"Create new session id: {sessionId})");
//Create new session content
sessionContent = new SessionContent(this, sceneId);
AvatarContent avatarContent = new AvatarContent(avatarId);
sessionContent.AvatarContent.TryAdd(avatarId, avatarContent);
SessionContents.TryAdd(sceneId, sessionContent);
}
return(sessionContent);
}
/// <summary>
/// Basic initialization of a MMMU
/// </summary>
/// <param name="mmuID"></param>
/// <param name="sessionID"></param>
public virtual MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
this.skeletonAccess = new IntermediateSkeleton();
this.skeletonAccess.InitializeAnthropometry(avatarDescription);
//Skip if invalid session result
if (!sessionResult.Successful)
{
return(sessionResult);
}
try
{
//Update the access time
sessionContent.UpdateLastAccessTime();
//Get the corresponding MMU
IMotionModelUnitDev mmu = avatarContent.MMUs[mmuID];
Logger.Log(Log_level.L_INFO, "MMU initialized: " + mmu.Name + " " + sessionID);
//Call the respective MMU
return(avatarContent.MMUs[mmuID].Initialize(avatarDescription, properties));
}
catch (Exception e)
{
Logger.Log(Log_level.L_ERROR, $"Problem at initializing MMU: {mmuID}, message: {e.Message}");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
e.Message,
e.StackTrace,
e.InnerException.ToString(),
e.StackTrace
}
});
}
}
public virtual MBoolResponse CheckPrerequisites(MInstruction instruction, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(sessionResult);
}
sessionContent.UpdateLastAccessTime();
//Execute the method of the MMU
return(avatarContent.MMUs[mmuID].CheckPrerequisites(instruction));
}
/// <summary>
/// Basic do step routine which triggers the simulation update of the repsective MMU
/// </summary>
/// <param name="time"></param>
/// <param name="simulationState"></param>
/// <param name="mmuID"></param>
/// <param name="sessionID"></param>
/// <returns></returns>
public virtual MSimulationResult DoStep(double time, MSimulationState simulationState, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
//Skip if invalid session result
if (!sessionResult.Successful)
{
return(null);
}
sessionContent.UpdateLastAccessTime();
//Execute the do step of the respective MMU
return(avatarContent.MMUs[mmuID].DoStep(time, simulationState));
}
public Dictionary <string, string> ExecuteFunction(string name, Dictionary <string, string> parameters, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(null);
}
sessionContent.UpdateLastAccessTime();
Logger.Log(Log_level.L_DEBUG, $"Ecexute function {name} of {mmuID}");
return(avatarContent.MMUs[mmuID].ExecuteFunction(name, parameters));
}
public virtual MBoolResponse RestoreCheckpoint(string mmuID, string sessionID, byte[] checkpointData)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(sessionResult);
}
sessionContent.UpdateLastAccessTime();
Logger.Log(Log_level.L_INFO, $"Restore checkpoint of {mmuID}");
return(avatarContent.MMUs[mmuID].RestoreCheckpoint(checkpointData));
}
/// <summary>
/// Creates a checkpoint for all specified MMUs.
/// The checkpoint contains the internal state of each MMU whoch can be later used to restore the state.
/// </summary>
/// <param name="mmuIDs"></param>
/// <param name="sessionID"></param>
/// <param name="checkpointID"></param>
public virtual byte[] CreateCheckpoint(string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
if (!sessionResult.Successful)
{
return(null);
}
sessionContent.UpdateLastAccessTime();
//Add method to interface
byte[] checkpointData = avatarContent.MMUs[mmuID].CreateCheckpoint();
Logger.Log(Log_level.L_INFO, $"Checkpoint of {mmuID} sucessfully created ({checkpointData.Length} bytes)");
return(checkpointData);
}
/// <summary>
/// Execute command of a MMU
/// </summary>
/// <param name="instruction"></param>
/// <param name="simulationState"></param>
/// <param name="hierarchy"></param>
/// <param name="mmuID"></param>
/// <param name="sessionID"></param>
public virtual MBoolResponse AssignInstruction(MInstruction instruction, MSimulationState simulationState, string mmuID, string sessionID)
{
SessionContent sessionContent = null;
AvatarContent avatarContent = null;
MBoolResponse sessionResult = SessionData.GetContents(sessionID, out sessionContent, out avatarContent);
//Directly return if not successfull
if (!sessionResult.Successful)
{
return(sessionResult);
}
sessionContent.UpdateLastAccessTime();
Logger.Log(Log_level.L_DEBUG, $"Execute instruction {instruction.Name}, {mmuID}");
//Directly assign the instruction
return(avatarContent.MMUs[mmuID].AssignInstruction(instruction, simulationState));
}
/// <summary>
///
/// </summary>
/// <param name="mmus"></param>
/// <param name="sessionID"></param>
/// <returns>A mapping from MMUID to a specific instance id</returns>
public virtual Dictionary <string, string> LoadMMUs(List <string> mmus, string sessionID)
{
SessionContent sessionContent = null;
SessionID idContainer = new SessionID(sessionID);
//Get the session content for the id
MBoolResponse sessionResult = SessionData.GetSessionContent(sessionID, out sessionContent);
//Skip if invalid session result
if (!sessionResult.Successful)
{
Logger.Log(Log_level.L_ERROR, "Cannot generate session content");
return(new Dictionary <string, string>());
}
//Set the last access time
sessionContent.UpdateLastAccessTime();
Dictionary <string, string> mmuInstanceMapping = new Dictionary <string, string>();
//Iterate over each desired MMU
foreach (string mmuID in mmus)
{
MMULoadingProperty mmuLoadingProperty = null;
//Skip MMU is not contained in adapter
if (!SessionData.MMULoadingProperties.TryGetValue(mmuID, out mmuLoadingProperty))
{
continue;
}
IMotionModelUnitDev mmu = null;
//Instantiate MMU
try
{
mmu = this.mmuInstantiator.InstantiateMMU(mmuLoadingProperty);
}
catch (Exception e)
{
Logger.Log(Log_level.L_ERROR, $"Problem at loading MMU {mmuLoadingProperty.Description.Name}, Exception: {e.Message}, {e.StackTrace}");
return(new Dictionary <string, string>());
}
//Assign the service access
mmu.ServiceAccess = sessionContent.ServiceAccess;
//Assign the scene
mmu.SceneAccess = sessionContent.SceneBuffer;
//Assign a new instance of the skeleton access
mmu.SkeletonAccess = this.skeletonAccess;//new SkeletonAccess();
//Set the instance as the adapter
mmu.AdapterEndpoint = new AdapterEndpoint()
{
Instance = SessionData.AdapterInstance,
Description = SessionData.AdapterDescription,
MMIRegisterAddress = SessionData.MMIRegisterAddress
};
Logger.Log(Log_level.L_INFO, $"Loaded MMU: {mmuLoadingProperty.Description.Name} for session: {sessionID}");
//Add to the specific avatar content
AvatarContent avatarContent = null;
if (!sessionContent.AvatarContent.TryGetValue(idContainer.AvatarID, out avatarContent))
{
avatarContent = new AvatarContent(idContainer.AvatarID);
sessionContent.AvatarContent.TryAdd(idContainer.AvatarID, avatarContent);
}
//Add the mmu
avatarContent.MMUs.Add(mmuLoadingProperty.Description.ID, mmu);
//To do -> create a unique instance ID
mmuInstanceMapping.Add(mmuLoadingProperty.Description.ID, "tbd");
}
return(mmuInstanceMapping);
}
/// <summary>
/// Returns the contents of the respective sessionID (if available).
/// Otherwise false is returned, whereas the specific message is provided in the LogData.
/// </summary>
/// <param name="sessionID"></param>
/// <param name="sessionContent"></param>
/// <param name="avatarContent"></param>
/// <returns></returns>
public MBoolResponse GetContents(string sessionID, out SessionContent sessionContent, out AvatarContent avatarContent)
{
sessionContent = null;
avatarContent = null;
MBoolResponse sessionResult = GetSessionContent(sessionID, out sessionContent);
if (!sessionResult.Successful)
{
return(sessionResult);
}
SessionID idContainer = new SessionID(sessionID);
if (!sessionContent.AvatarContent.TryGetValue(idContainer.AvatarID, out avatarContent))
{
//Session content not available
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Avatar content not available " + sessionID + ", avatarId: " + idContainer.AvatarID
}
});
}
return(new MBoolResponse(true));
}
