private static Dictionary <string, object> GetTaskResult(Mujin.ControllerClient controllerClient, Options options, string taskPrimaryKey)
{
Dictionary <string, object> task = controllerClient.GetSceneTask(options.ScenePrimaryKey, taskPrimaryKey);
List <object> results = (List <object>)task["binpickingresults"];
if (results.Count == 0)
{
return(null);
}
Dictionary <string, object> result = (Dictionary <string, object>)results[0];
return((Dictionary <string, object>)controllerClient.GetJsonMessage(Mujin.HttpMethod.GET, (string)result["uri"]));
}
private async Task Progress(string scenepk, string taskpk, string jobpk)
{
string controllerurl = controllerurl_input.Text;
string controllerusername = username_input.Text;
string controllerpassword = password_input.Text;
// initialize mujincontrollerclient
Mujin.ControllerClient c = new Mujin.ControllerClient(controllerusername, controllerpassword, controllerurl);
int progress = 0;
bool jobSeen = false;
DateTime startTime = DateTime.Now;
while (true)
{
await Task.Delay(200);
Dictionary <string, object> job = null;
Dictionary <string, object> jobs = c.GetJobs();
foreach (Dictionary <string, object> j in (List <object>)jobs["objects"])
{
if (j["pk"].ToString() == jobpk)
{
job = j;
break;
}
}
if (job == null)
{
// job has been seen before, so must be done now
if (jobSeen)
{
break;
}
// perhaps job finished too quickly
if (DateTime.Now - startTime > TimeSpan.FromSeconds(2))
{
break;
}
// wait a bit more
continue;
}
jobSeen = true;
richTextBox1.Text = job["status_text"].ToString();
double progressRaw = double.Parse(job["progress"].ToString());
progress = Math.Min(100, Math.Max(progress, (int)Math.Round(progressRaw * 100)));
progressBar1.Invoke(new Action(() => {
progressBar1.Value = progress;
}));
}
int objectCount = 0;
Dictionary <string, object> task = c.GetSceneTask(scenepk, taskpk);
List <object> resultsInfoList = (List <object>)task["binpickingresults"];
if (resultsInfoList.Count > 0)
{
Dictionary <string, object> resultInfo = (Dictionary <string, object>)resultsInfoList[0];
Dictionary <string, object> result = c.GetJsonMessage(Mujin.HttpMethod.GET, (string)resultInfo["uri"]);
Console.WriteLine("{0}", JSON.ToNiceJSON(result));
if (result.ContainsKey("output"))
{
Dictionary <string, object> output = (Dictionary <string, object>)result["output"];
if (output.ContainsKey("objects"))
{
List <object> objects = (List <object>)output["objects"];
objectCount = objects.Count;
}
}
}
richTextBox1.Text = String.Format("Backed up {0} objects.", objectCount);
progressBar1.Invoke(new Action(() =>
{
progressBar1.Value = 100;
}));
}