private Task AddContactDeviceAsync()
{
var deviceId = ContactDeviceId;
var trace = new ContactDescriptor(deviceId, DateTime.UtcNow);
ContactDeviceId = string.Empty;
DeviceProcessorProvider.GetInstance().Process(trace);
return(Task.CompletedTask);
}
/// <summary>
/// Consolidates the given contact with its surrounding contacts.
/// </summary>
/// <param name="contacts"></param>
/// <param name="start"></param>
/// <returns></returns>
private void ConsolidateContacts(List <ContactDescriptor> contacts, ContactDescriptor start)
{
contacts.Remove(start);
List <ContactDescriptor> removedContacts = new List <ContactDescriptor>();
BulletSharp.Math.Vector3 lastPoint = start.Position;
int startIndex = contactPoints.IndexOf(contacts);
int lowerBound = startIndex;
for (; lowerBound >= 0; lowerBound--)
{
List <ContactDescriptor> lc = GetValidContacts(lowerBound, lastPoint, ref start);
int numContacts = lc.Count;
if (numContacts == 0)
{
if (lowerBound == startIndex)
{
continue;
}
break;
}
lastPoint = BulletSharp.Math.Vector3.Zero;
foreach (ContactDescriptor c in lc)
{
lastPoint += c.Position;
removedContacts.Add(c);
}
lastPoint /= numContacts;
}
for (int i = startIndex; i >= lowerBound; i--)
{
List <ContactDescriptor> currentContacts = contactPoints[i];
if (currentContacts == null)
{
continue;
}
currentContacts.RemoveAll((x) => removedContacts.Contains(x));
}
contacts.Add(start);
}
public void Process(ContactDescriptor contact)
{
_logger.LogDebug(
$"DeviceProcessor - processing deviceId: {contact.DeviceToken}.");
var trace = new Trace()
{
ContactTimestamp = contact.ContactTimestamp,
ContactToken = contact.DeviceToken
};
_tracesStorage.AddAsync(trace);
InvokeCleanupIfNeeded();
}
public void HandleDeviceCommunicationDiscoveredCharacteristicRead(DeviceDescriptor descriptor, byte[] payload, Action <DeviceDescriptor> onNext = null)
{
try
{
if (_discoveredDevices.TryGetValue(descriptor.Identifier, out var deviceDescriptor))
{
try
{
if (PayloadFormatter.TryGetValue(payload, out var packageData))
{
_logger.LogDebug(
$"DeviceManager - Characteristic read - processing. id: {descriptor.Identifier}.");
deviceDescriptor.Context = descriptor.Context;
var contact = new ContactDescriptor(packageData.DeviceId, DateTime.UtcNow);
DeviceProcessorProvider.GetInstance().Process(contact);
Monitor.Enter(deviceDescriptor.ProcessingLock);
try
{
deviceDescriptor.Processed = true;
}
finally
{
Monitor.Exit(deviceDescriptor.ProcessingLock);
}
}
}
catch (Exception ex)
{
_logger.LogError(ex, $"DeviceManager - Characteristic read - Processing failed. id: {deviceDescriptor.Identifier}.");
}
// Disconnect peripheral
onNext?.Invoke(deviceDescriptor);
}
}
catch (Exception ex)
{
_logger.LogError(ex,
$"DeviceManager - Characteristic read - Processing failed. id: {descriptor.Identifier}. Reason: {ex.Message}.");
}
}
/// <summary>
/// Loads the replay from the given replay file name.
/// </summary>
/// <param name="name"></param>
void LoadReplay(string name)
{
List <FixedQueue <StateDescriptor> > fieldStates;
List <KeyValuePair <string, List <FixedQueue <StateDescriptor> > > > robotStates;
Dictionary <string, List <FixedQueue <StateDescriptor> > > gamePieceStates;
List <List <KeyValuePair <ContactDescriptor, int> > > contacts;
string fieldDirectory;
ReplayImporter.Read(name, out fieldDirectory, out fieldStates, out robotStates, out gamePieceStates, out contacts);
if (!LoadField(fieldDirectory))
{
AppModel.ErrorToMenu("Could not load field: " + fieldDirectory + "\nHas it been moved or deleted?");
return;
}
foreach (KeyValuePair <string, List <FixedQueue <StateDescriptor> > > rs in robotStates)
{
if (!LoadRobot(rs.Key, false))
{
AppModel.ErrorToMenu("Could not load robot: " + rs.Key + "\nHas it been moved or deleted?");
return;
}
int j = 0;
foreach (Tracker t in SpawnedRobots.Last().GetComponentsInChildren <Tracker>())
{
t.States = rs.Value[j];
j++;
}
}
Tracker[] fieldTrackers = fieldObject.GetComponentsInChildren <Tracker>();
int i = 0;
foreach (Tracker t in fieldTrackers)
{
t.States = fieldStates[i];
i++;
}
foreach (KeyValuePair <string, List <FixedQueue <StateDescriptor> > > k in gamePieceStates)
{
GameObject referenceObject = GameObject.Find(k.Key);
if (referenceObject == null)
{
continue;
}
foreach (FixedQueue <StateDescriptor> f in k.Value)
{
GameObject currentPiece = UnityEngine.Object.Instantiate(referenceObject);
currentPiece.name = k.Key + "(Clone)";
currentPiece.GetComponent <Tracker>().States = f;
}
}
foreach (var c in contacts)
{
if (c != null)
{
List <ContactDescriptor> currentContacts = new List <ContactDescriptor>();
foreach (var d in c)
{
ContactDescriptor currentContact = d.Key;
currentContact.RobotBody = ActiveRobot.transform.GetChild(d.Value).GetComponent <BRigidBody>();
currentContacts.Add(currentContact);
}
CollisionTracker.ContactPoints.Add(currentContacts);
}
else
{
CollisionTracker.ContactPoints.Add(null);
}
}
}
void LoadReplay(string name)
{
List <FixedQueue <StateDescriptor> > fieldStates;
List <FixedQueue <StateDescriptor> > robotStates;
Dictionary <string, List <FixedQueue <StateDescriptor> > > gamePieceStates;
List <List <KeyValuePair <ContactDescriptor, int> > > contacts;
string simSelectedField;
string simSelectedRobot;
ReplayImporter.Read(name, out simSelectedField, out simSelectedRobot, out fieldStates, out robotStates, out gamePieceStates, out contacts);
LoadField(simSelectedField);
LoadRobot(simSelectedRobot);
List <Tracker> robotTrackers = Trackers.Where(x => x.transform.parent.name.Equals("Robot")).ToList();
List <Tracker> fieldTrackers = Trackers.Except(robotTrackers).ToList();
int i = 0;
foreach (Tracker t in fieldTrackers)
{
t.States = fieldStates[i];
i++;
}
i = 0;
foreach (Tracker t in robotTrackers)
{
t.States = robotStates[i];
i++;
}
foreach (KeyValuePair <string, List <FixedQueue <StateDescriptor> > > k in gamePieceStates)
{
GameObject referenceObject = GameObject.Find(k.Key);
if (referenceObject == null)
{
continue;
}
foreach (FixedQueue <StateDescriptor> f in k.Value)
{
GameObject currentPiece = UnityEngine.Object.Instantiate(referenceObject);
currentPiece.name = "clone_" + k.Key;
currentPiece.GetComponent <Tracker>().States = f;
}
}
foreach (var c in contacts)
{
if (c != null)
{
List <ContactDescriptor> currentContacts = new List <ContactDescriptor>();
foreach (var d in c)
{
ContactDescriptor currentContact = d.Key;
currentContact.RobotBody = robotTrackers[d.Value].GetComponent <BRigidBody>();
currentContacts.Add(currentContact);
}
contactPoints.Add(currentContacts);
}
else
{
contactPoints.Add(null);
}
}
}
/// <summary>
/// Finds all nearby contacts within the consolidation epsilon.
/// </summary>
/// <param name="index"></param>
/// <param name="point"></param>
/// <param name="contact"></param>
/// <returns></returns>
private List <ContactDescriptor> GetValidContacts(int index, BulletSharp.Math.Vector3 point, ref ContactDescriptor contact)
{
List <ContactDescriptor> currentContacts = contactPoints[index];
List <ContactDescriptor> validContacts = new List <ContactDescriptor>();
if (currentContacts == null)
{
return(validContacts);
}
foreach (ContactDescriptor c in currentContacts)
{
if (c.RobotBody != contact.RobotBody || c.Equals(contact) || (c.Position - point).Length > ConsolidationEpsilon)
{
continue;
}
contact.AppliedImpulse += c.AppliedImpulse;
validContacts.Add(c);
}
return(validContacts);
}
/// <summary>
/// Renders the GUI.
/// </summary>
public override void OnGUI()
{
Rect controlRect = new Rect(helpMenu.activeSelf ? ControlButtonMargin + 200 : ControlButtonMargin, Screen.height - (SliderBottomMargin + SliderThickness + SliderThickness / 2),
ButtonSize, ButtonSize);
if (UnityEngine.GUI.Button(controlRect, string.Empty, rewindStyle))
{
if (rewindTime == Tracker.Lifetime)
{
rewindTime = 0f;
}
playbackMode = PlaybackMode.Rewind;
}
controlRect.x += ButtonSize + ControlButtonMargin;
if (UnityEngine.GUI.Button(controlRect, string.Empty, stopStyle))
{
playbackMode = PlaybackMode.Paused;
}
controlRect.x += ButtonSize + ControlButtonMargin;
if (UnityEngine.GUI.Button(controlRect, string.Empty, playStyle))
{
if (rewindTime == 0f)
{
rewindTime = Tracker.Lifetime;
}
playbackMode = PlaybackMode.Play;
}
controlRect.x = Screen.width - SliderRightMargin + EditButtonMargin;
if (UnityEngine.GUI.Button(controlRect, string.Empty, collisionStyle))
{
editMode = editMode == EditMode.Threshold ? EditMode.None : EditMode.Threshold;
}
Rect collisionSliderRect = new Rect(controlRect.x + (ButtonSize - SliderThickness) / 2,
controlRect.y - CollisionSliderMargin - CollisionSliderHeight, SliderThickness, CollisionSliderHeight);
if (editMode == EditMode.Threshold)
{
contactThreshold = UnityEngine.GUI.VerticalSlider(collisionSliderRect, contactThreshold, Mathf.Sqrt(CollisionSliderTopValue), 0f, windowStyle, thumbStyle);
Rect collisionLabelRect = new Rect(controlRect.x + controlRect.width, controlRect.y - controlRect.height - CollisionSliderMargin,
Screen.width - (controlRect.x + controlRect.width), controlRect.height);
UnityEngine.GUI.Label(collisionLabelRect, "Impulse Threshold:\n" + AdjustedContactThreshold.ToString("F2") + " Newtons", windowStyle);
}
controlRect.x += ButtonSize + EditButtonMargin;
bool consolidatePressed = editMode == EditMode.Consolidate ? UnityEngine.GUI.Button(controlRect, consolidateStyle.hover.background, GUIStyle.none) :
UnityEngine.GUI.Button(controlRect, string.Empty, consolidateStyle);
if (consolidatePressed)
{
editMode = editMode == EditMode.Consolidate ? EditMode.None : EditMode.Consolidate;
}
if (editMode == EditMode.Consolidate)
{
UnityEngine.GUI.Label(new Rect(Screen.width - SliderLeftMargin, controlRect.y - InfoBoxHeight - CollisionSliderMargin,
Screen.width - SliderLeftMargin, InfoBoxHeight), "Select a collision to consolidate.", windowStyle);
}
Rect sliderRect = new Rect(helpMenu.activeSelf ? SliderLeftMargin + 200 : SliderLeftMargin, Screen.height - (SliderBottomMargin + SliderThickness),
helpMenu.activeSelf ? Screen.width - (SliderRightMargin + SliderLeftMargin + 200) : Screen.width - (SliderRightMargin + SliderLeftMargin), SliderThickness);
rewindTime = UnityEngine.GUI.HorizontalSlider(sliderRect, rewindTime, Tracker.Lifetime, 0.0f, windowStyle, thumbStyle);
Rect guiRect = new Rect(0, Screen.height - (SliderBottomMargin + SliderThickness + KeyframeHeight),
Screen.width, SliderBottomMargin + SliderThickness + KeyframeHeight);
if (!active && (guiRect.Contains(Event.current.mousePosition) ||
(editMode == EditMode.Threshold && collisionSliderRect.Contains(Event.current.mousePosition))) &&
UnityEngine.Input.GetMouseButton(0))
{
DynamicCamera.ControlEnabled = false;
active = true;
playbackMode = PlaybackMode.Paused;
}
else if (active && !UnityEngine.Input.GetMouseButton(0))
{
DynamicCamera.ControlEnabled = true;
active = false;
}
bool circleHovered = false;
int i = Tracker.Length - 1;
foreach (List <ContactDescriptor> l in contactPoints)
{
if (l != null)
{
ContactDescriptor lastContact = default(ContactDescriptor);
for (int j = 0; j < l.Count; j++)
{
ContactDescriptor currentContact = l[j];
if (currentContact.AppliedImpulse >= AdjustedContactThreshold)
{
float keyframeTime = Tracker.Lifetime - (float)i / (Tracker.Length - 1) * Tracker.Lifetime;
if (!lastContact.Equals(currentContact))
{
lastContact = currentContact;
float pixelsPerValue = (sliderRect.width - KeyframeWidth - ThumbWidth / 2) / Tracker.Lifetime;
Rect keyframeRect = new Rect(
(Tracker.Lifetime - keyframeTime) * pixelsPerValue + sliderRect.x + (ThumbWidth - KeyframeWidth) / 2,
sliderRect.y - KeyframeHeight,
KeyframeWidth,
sliderRect.height);
if (UnityEngine.GUI.Button(keyframeRect, keyframeTexture, GUIStyle.none))
{
rewindTime = keyframeTime;
playbackMode = PlaybackMode.Paused;
}
}
Vector3 collisionPoint = camera != null?camera.WorldToScreenPoint(currentContact.Position.ToUnity()) : Vector3.zero;
if (collisionPoint.z > 0.0f)
{
Rect circleRect = new Rect(collisionPoint.x - CircleRadius, Screen.height - (collisionPoint.y + CircleRadius),
CircleRadius * 2, CircleRadius * 2);
bool shouldActivate = false;
if (circleRect.Contains(MousePosition) && !circleHovered)
{
UnityEngine.GUI.color = Color.white;
SelectedBody = currentContact.RobotBody;
shouldActivate = true;
}
else
{
UnityEngine.GUI.color = new Color(1f, 1f, 1f, Math.Max((CircleRenderDistance -
Math.Abs(Tracker.Length - 1 - i - RewindFrame)) / CircleRenderDistance, 0.1f));
}
if (UnityEngine.GUI.Button(circleRect, circleTexture, GUIStyle.none) && Event.current.button == 0 && shouldActivate)
{
if (editMode == EditMode.Consolidate)
{
ConsolidateContacts(l, currentContact);
editMode = EditMode.None;
break;
}
else
{
rewindTime = keyframeTime;
playbackMode = PlaybackMode.Paused;
}
}
if (circleRect.Contains(MousePosition) && shouldActivate)
{
UnityEngine.GUI.Label(new Rect(MousePosition.x, MousePosition.y - InfoBoxHeight,
InfoBoxWidth, InfoBoxHeight), "Impulse: " + currentContact.AppliedImpulse.ToString("F2") + " N", windowStyle);
}
UnityEngine.GUI.color = Color.white;
circleHovered = circleHovered || shouldActivate;
}
}
}
}
i--;
}
if (!circleHovered)
{
SelectedBody = null;
}
}