/// <summary>
/// Adds a custom update loop.
/// </summary>
/// <param name="updateLoop">The custom update loop implementation.</param>
/// <param name="parentLoop">Which Unity update loop should this be run under?</param>
/// <param name="priority">A priority that decides whether this update loop runs before or after other custom update loops.</param>
public static void AddCustomUpdateLoop(ICustomUpdateLoop updateLoop, UpdateLoop parentLoop = UpdateLoop.Update, int priority = 0)
{
if (_idToUpdateLoop == null)
{
_idToUpdateLoop = new Dictionary <int, ICustomUpdateLoop>(4);
_idToUnityUpdateLoop = new Dictionary <int, UpdateLoop>(4);
_customUpdateLoops = new Dictionary <int, PrioritizedList <ICustomUpdateLoop> >(3);
}
PrioritizedList <ICustomUpdateLoop> customLoops;
if (!_customUpdateLoops.TryGetValue((int)parentLoop, out customLoops))
{
_customUpdateLoops[(int)parentLoop] = customLoops = new PrioritizedList <ICustomUpdateLoop>(4);
}
var id = updateLoop.Event.Id;
if (_idToUpdateLoop.ContainsKey(id))
{
Debug.LogErrorFormat("An update loop with ID '{0}' is already registered.", id);
return;
}
_idToUpdateLoop[id] = updateLoop;
_idToUnityUpdateLoop[id] = parentLoop;
customLoops.Add(updateLoop, priority);
}
private static void Fill(PrioritizedList <object> list, int startPriority, int endPriority)
{
for (var priority = startPriority; priority <= endPriority; priority++)
{
list.Add(new object(), priority);
}
}
public void Remove_Empty_NoErrors()
{
var item = new object();
var list = new PrioritizedList <object>();
Assert.DoesNotThrow(() => list.Remove(item));
}
public void Add_ItemIsAdded()
{
var item = new object();
var list = new PrioritizedList <object>();
list.Add(item);
Assert.IsTrue(list.Contains(item));
}
public void Clear_EverythingIsRemoved()
{
var list = new PrioritizedList <object>();
Fill(list, -5, 5);
list.Clear();
Assert.AreEqual(0, list.Count);
}
public void Contains_False()
{
var item = new object();
var list = new PrioritizedList <object>();
Fill(list, -5, 5);
Assert.IsFalse(list.Contains(item));
}
public void Add_Descending_SamePriority_IsAddedAfterOthers()
{
var item = new object();
var list = new PrioritizedList <object>(ListSortDirection.Descending);
Fill(list, -5, 5);
list.Add(item, list[3].Priority);
Assert.AreSame(item, list[4].Item);
}
public void Add_Descending_HighestPriority_IsAddedFirst()
{
var item = new object();
var list = new PrioritizedList <object>(ListSortDirection.Descending);
Fill(list, -5, 5);
list.Add(item, 100);
Assert.AreSame(item, list[0].Item);
}
public void Add_Descending_LowestPriority_IsAddedLast()
{
var item = new object();
var list = new PrioritizedList <object>(ListSortDirection.Descending);
Fill(list, -5, 5);
list.Add(item, -100);
Assert.AreSame(item, list[list.Count - 1].Item);
}
public void IndexOf_FindsItem()
{
var item = new object();
var list = new PrioritizedList <object>();
Fill(list, -5, 5);
list.Add(item, list[4].Priority);
var index = list.IndexOf(item);
Assert.AreEqual(5, index);
}
public void Remove_TargetIsRemoved()
{
var item = new object();
var list = new PrioritizedList <object> {
item
};
Fill(list, -5, 5);
list.Remove(item);
Assert.IsFalse(list.Contains(item));
}
public static void RegisterTypeVisualizer(string rosMessageName, IVisualFactory visualFactory, int priority = 0, MessageSubtopic subtopic = MessageSubtopic.Default)
{
Dictionary <string, PrioritizedList <IVisualFactory> > factoriesTable = (subtopic != MessageSubtopic.Response) ? s_TypeVisualFactories : s_TypeResponseVisualFactories;
PrioritizedList <IVisualFactory> currentEntry;
if (!factoriesTable.TryGetValue(rosMessageName, out currentEntry))
{
currentEntry = new PrioritizedList <IVisualFactory>();
currentEntry.Add(s_DefaultVisualFactory, int.MinValue);
factoriesTable[rosMessageName] = currentEntry;
}
currentEntry.Add(visualFactory, priority);
}
public static void RegisterTopicVisualizer(string topic, IVisualFactory visualFactory, int priority = 0, MessageSubtopic subtopic = MessageSubtopic.Default)
{
if (topic == null)
{
Debug.Log("Registered null topic!");
}
Dictionary <string, PrioritizedList <IVisualFactory> > factoriesTable = (subtopic != MessageSubtopic.Response) ? s_TopicVisualFactories : s_TopicResponseVisualFactories;
PrioritizedList <IVisualFactory> currentEntry;
if (!factoriesTable.TryGetValue(topic, out currentEntry))
{
currentEntry = new PrioritizedList <IVisualFactory>();
factoriesTable[topic] = currentEntry;
}
currentEntry.Add(visualFactory, priority);
}
public List <T> Sort(List <T> input)
{
PrioritizedList list = new PrioritizedList(input);
foreach (T handle in input)
{
if (handle.Dependencies.Count > 0)
{
foreach (string parent in handle.Dependencies)
{
list.Increment(handle, list.GetRise(parent));
}
}
}
return(list.Convert());
}
public void Reload()
{
if (_isLoaded)
{
Unload();
Context = new PluginLoadContext();
}
_isLoaded = true;
bool reloadAfter = false;
List <PluginDomain> domainCache = new List <PluginDomain>();
foreach (string pluginPath in Directory.GetFiles(Bridge.PluginsPath))
{
if (!Path.GetExtension(pluginPath).ToLower().Contains("dll"))
{
continue;
}
PluginDomain domain = new PluginDomain(this, pluginPath);
domain.Initialize();
if (domain.Plugin.State == PluginState.Failed)
{
continue;
}
if (domain.UpdatingData != null)
{
if (!Bridge.Config.KeepPluginsUpdated)
{
Bridge.Logger.Warn("There is an update available for {PLUGIN} ({OLD} -> {NEW})!",
domain.Plugin.Display, domain.Plugin.Meta.Version, domain.UpdatingData.Version);
}
else
{
Bridge.Logger.Warn("There is an update available for {PLUGIN} ({OLD} -> {NEW})! Starting updater...",
domain.Plugin.Display, domain.Plugin.Meta.Version, domain.UpdatingData.Version);
AutoUpdater updater = new AutoUpdater(domain);
updater.Start();
reloadAfter = true;
}
}
if (domain.PackageProvider != null)
{
domain.Plugin.Logger.Info("Found a package provider! Exporting package...");
domain.PackageProvider.Export(Path.Combine(Bridge.PackagePath, domain.PackageProvider.Name));
AddPackage(domain.PackageProvider.Name);
domain.Plugin.Logger.Info("Package {NAME} successfully provided!", domain.PackageProvider.Name);
}
domainCache.Add(domain);
}
if (reloadAfter)
{
Reload();
return;
}
File.WriteAllText(Path.Combine(Bridge.ServerPath, "server_config.json"),
Bridge.ServerConfig.ToString(Formatting.Indented));
PrioritizedList list = new PrioritizedList(domainCache);
foreach (PluginDomain handle in domainCache)
{
if (handle.Plugin.Meta.Dependencies.Length > 0)
{
foreach (string parent in handle.Plugin.Meta.Dependencies)
{
list.Increment(handle, list.GetRise(parent));
}
}
}
domainCache = list.Convert();
Domains = new List <PluginDomain>();
foreach (PluginDomain domain in domainCache)
{
if (domain.Plugin.Meta.Id == "_global" || domain.Plugin.Meta.Name == "_global")
{
Bridge.Logger.Fatal(
"Could not load plugin {ID} on path \"{PATH}\" because either the id or the name has is a blacklisted word!",
domain.Plugin.Meta.Id, domain.Path);
return;
}
Plugin otherPlugin = GetPlugin(domain.Plugin.Meta.Id);
if (otherPlugin != null)
{
Bridge.Logger.Warn(
"Could not loading plugin {ID} on path \"{PATH}\" because the id is already occupied by the plugin {ID2} on the path {PATH2}!",
domain.Plugin.Meta.Id, domain.Path, otherPlugin.Meta.Id, otherPlugin.FilePath);
continue;
}
Domains.Add(domain);
domain.Start();
}
}
