/// <summary>
/// Callback for the initialization of the MMUs
/// </summary>
/// <param name="initialized"></param>
protected virtual void InitializingCallback(bool initialized)
{
if (initialized)
{
//Create a new instance of the remote cosimulation class
if (this.UseRemoteCoSimulation)
{
this.CoSimulator = new RemoteCoSimulation(this.MMUAccess.MotionModelUnits.Find(s => s.Name == this.RemoteCoSimulationName), this.MMUAccess.ServiceAccess, this, null);
}
//Create the local co-simulator (directly integrated in Unity)
else
{
this.CoSimulator = new LocalCoSimulation(this.MMUAccess.MotionModelUnits, this.MMUAccess.ServiceAccess, this);
}
if (this.AllowRemoteCoSimulationAccess)
{
if (MainThreadDispatcher.Instance == null)
{
Debug.LogError("Please add a MainTrhead Dispatcher to the scene in order to allow remote co simulation acess");
return;
}
//Must be executed on main thread
MainThreadDispatcher.Instance.ExecuteBlocking(() =>
{
//Get the settings in the parent object
MMISettings settings = this.gameObject.GetComponentInParent <MMISettings>();
if (settings == null)
{
Debug.LogError("Please add the MMI settings to the UnitySceneAccess it is required to access the MMIRegisterAddress");
return;
}
try
{
//Start the remote co-simulation access for the given avatar
this.coSimulationAccess = new CoSimulationAccess(this.CoSimulator, new MIPAddress(this.RemoteCoSimulationAccessAddress, this.RemoteCoSimulationAccessPort), new MIPAddress(settings.MMIRegisterAddress, settings.MMIRegisterPort));
this.coSimulationAccess.Start();
Debug.Log("Started remote co-simulation access");
}
catch (Exception e)
{
Debug.LogError(e.Message);
}
});
}
}
else
{
this.statusText = "Problem at initializing MMUs";
Debug.LogError("Problem at initializing MMUs");
}
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="coSimulator">The instance of the co-simulator</param>
/// <param name="address">The address where the CoSimulationAccess should be hosted</param>
/// <param name="registerAddress">The address of the register</param>
public CoSimulationAccess(MMICoSimulator coSimulator, MIPAddress address, MIPAddress registerAddress)
{
//Assign the co simulator
this.coSimulator = coSimulator;
//Register at on result event
this.coSimulator.OnResult += CoSimulator_OnResult;
//Add the address to the description
this.description.Addresses = new List <MIPAddress>()
{
address
};
//Create a new service controller
this.controller = new ServiceController(this.description, registerAddress, new MCoSimulationAccess.Processor(this));
}
/// <summary>
/// MMU causes problems if initializing multiple times -> To check in future
/// Basic initialization
/// For specifying the priorities of the MMUs /motion types the properties can be specified (e.g. {"walk", 1.0}, {"grasp", 2.0})
/// The listed motion types are also the ones which are loaded. If this porperty is not defined then every MMU is loaded.
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
base.Initialize(avatarDescription, properties);
Console.WriteLine("---------------------------------------------------------");
Console.WriteLine("Initializing co-simulation MMU");
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
AvatarID = avatarDescription.AvatarID,
SceneAccess = this.SceneAccess
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
if (this.mmuAccess.Connect(this.AdapterEndpoint, avatarDescription.AvatarID))
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
//Select the MMUs which should be loaded
loadableMMUs = this.SelectMMUsToLoad(loadableMMUs);
//Create a dictionary for storing the priorities
Dictionary <string, float> priorities = new Dictionary <string, float>();
priorities = this.GetPriorities?.Invoke();
//Select the MMUs to load if explictely specified by the user
if (properties != null && properties.Count > 0)
{
for (int i = loadableMMUs.Count - 1; i >= 0; i--)
{
MMUDescription description = loadableMMUs[i];
float priority = 1;
//If MMU is listed -> add the priority
if (priorities.TryGetValue(description.MotionType, out priority))
{
priorities.Add(description.MotionType, priority);
}
//MMU is not explicetly listed -> remove from loading list
else
{
loadableMMUs.RemoveAt(i);
}
}
}
//No MMU list defined -> Load all MMUs with same priority (despite the own MMU)
else
{
//Remove the own MMU -> Avoid recursively instantiating own MMU (unless explictely forced)
if (loadableMMUs.Exists(s => s.Name == this.Name))
{
MMUDescription ownDescription = loadableMMUs.Find(s => s.Name == this.Name);
loadableMMUs.Remove(ownDescription);
}
}
Console.WriteLine("Got loadable MMUs:");
try
{
//Load the relevant MMUs
bool success = this.mmuAccess.LoadMMUs(loadableMMUs, TimeSpan.FromSeconds(20));
}
catch (Exception e)
{
Console.WriteLine("Error at loading MMUs : " + e.Message + e.StackTrace);
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
e.Message,
e.StackTrace
}
});
}
Console.WriteLine("All MMUs successfully loaded");
foreach (MMUDescription description in loadableMMUs)
{
Console.WriteLine(description.Name);
}
//Initialize all MMUs
bool initialized = this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(20), avatarDescription.AvatarID);
if (!initialized)
{
Console.WriteLine("Problem at initializing MMUs");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Problem at initializing MMUs" }
}
});
}
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
//Set the priorities of the motions
this.coSimulator.SetPriority(priorities);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
/// <summary>
/// Basic initialization method
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
//Call the base class (important for automatic conversion from MSimulationState to SimulationState)
base.Initialize(avatarDescription, properties);
this.SkeletonAccess = new IntermediateSkeleton();
this.SkeletonAccess.InitializeAnthropometry(avatarDescription);
//Create a new session uuid
this.sessionId = Guid.NewGuid().ToString();
//Create a new virtual scene
this.virtualScene = new MMIScene();
//Create a unique id for the new virtual object representing the move target
string moveTargetID = Guid.NewGuid().ToString();
//Create a new virtual object representing the move target
moveTarget = new MSceneObject(moveTargetID, "MoveTarget", new MTransform()
{
ID = moveTargetID,
Position = new MVector3(0, 0, 0),
Rotation = new MQuaternion(0, 0, 0, 1)
});
//Add the virtual move target to the scene
this.virtualScene.Apply(new MSceneUpdate()
{
AddedSceneObjects = new List <MSceneObject>()
{
moveTarget
}
});
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
//IntermediateAvatarDescription = avatarDescription,
SceneAccess = this.virtualScene
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
bool connected = this.mmuAccess.Connect(this.AdapterEndpoint, this.AvatarDescription.AvatarID);
if (connected)
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
MMUDescription moveMMU = loadableMMUs.Find(s => s.MotionType == "move");
Console.WriteLine("Got loadable MMUs:");
//Load the relevant MMUs
bool loaded = this.mmuAccess.LoadMMUs(new List <MMUDescription>()
{
moveMMU
}, TimeSpan.FromSeconds(10));
if (!loaded)
{
Console.WriteLine("Error at loading MMU");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Error at loading mmu" }
}
});
}
//Initialize all MMUs
this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(10), this.AvatarDescription.AvatarID);
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
