public override void InitData(SimulatorData data)
{
base.InitData(data);
// Create ODE world.
//world = new World();
world = Tao.Ode.Ode.dWorldCreate();
// Set default gravity.
Gravity = Defaults.Gravity;
// Create the root ODE space.
if (data.UseOctreeInsteadHash)
{
//space = new QuadTreeSpace(data.worldCenter, data.worldSize, data.octreeDepth);
space = Tao.Ode.Ode.dQuadTreeSpaceCreate(IntPtr.Zero, OdeHelper.ToOdeVector3(data.WorldCenter), OdeHelper.ToOdeVector3(data.WorldSize), data.OctreeDepth);
}
else
{
space = Tao.Ode.Ode.dHashSpaceCreate(IntPtr.Zero);
Tao.Ode.Ode.dHashSpaceSetLevels(space, data.HashMinLevel, data.HashMaxLevel); // (KleMiX) ...
}
//space.Collider = OdeHelper.CollisionCallback;
rootSpace = new OdeSpace(space);
// Create the ODE contact joint group.
//contactJointGroup = new ODE.Joints.JointGroup();
contactJointGroup = Tao.Ode.Ode.dJointGroupCreate(0);
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
//dWorldSetCFM( mWorldID, Defaults.Ode.globalCFM );
//world.CFM = Defaults.Ode.globalCFM;
Tao.Ode.Ode.dWorldSetCFM(world, Defaults.Ode.GlobalCFM);
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
//dWorldSetERP( mWorldID, ( real ) 0.5 * ( defaults::ode::maxERP +defaults::ode::minERP ) );
//world.ERP = 0.5f * (Defaults.Ode.maxERP + Defaults.Ode.minERP);
Tao.Ode.Ode.dWorldSetERP(world, 0.5f * (Defaults.Ode.MaxERP + Defaults.Ode.MinERP));
Tao.Ode.Ode.dWorldSetContactSurfaceLayer(world, Defaults.Ode.SurfaceLayer);
SolverAccuracy = Defaults.SolverAccuracy;
collisionCount = 0;
// "mRaycastResult" is initialized in its own constructor.
sensorSolid = null;
rayContactGroup = Defaults.Shape.ContactGroup;
}
public async Task Run()
{
// runs loop to send telemetry
// set up a callback for connection status change
_client.SetConnectionStatusChangesHandler(ConnectionStatusChangeHandler);
// set up callback for Desired Property update (Settings/Properties in IoT Central)
await _client.SetDesiredPropertyUpdateCallbackAsync(OnDesiredPropertyChangedAsync, null).ConfigureAwait(false);
// set up callback for Methond (Command in IoT Central)
await _client.SetMethodHandlerAsync("displayMessage", DisplayMessage, null).ConfigureAwait(false);
Twin twin = await _client.GetTwinAsync().ConfigureAwait(false);
Console.WriteLine("\r\nDevice Twin received:");
Console.WriteLine($"{twin.ToJson(Newtonsoft.Json.Formatting.Indented)}");
// Properties in IoT Central looks like this
// "properties": {
// "desired": {
// "isCelsius": {
// "value": true
// },
// "$version": 2
// },
if (twin.Properties.Desired.Contains("isCelsius") && twin.Properties.Desired["isCelsius"]["value"] != null)
{
_bCelsius = twin.Properties.Desired["isCelsius"]["value"];
// update reported properties to keep UI and device state in synch
TwinCollection twinValue = new TwinCollection();
twinValue["desiredVersion"] = twin.Properties.Desired["$version"];
twinValue["statusCode"] = 200;
twinValue["value"] = _bCelsius;
TwinCollection reportedProperties = new TwinCollection();
reportedProperties["isCelsius"] = twinValue;
await _client.UpdateReportedPropertiesAsync(reportedProperties).ConfigureAwait(false);
}
if (_hasSenseHat)
{
// read sensor data from SenseHat
using (var settings = RTIMUSettings.CreateDefault())
using (var imu = settings.CreateIMU())
using (var humidity = settings.CreateHumidity())
using (var pressure = settings.CreatePressure())
{
while (true)
{
var imuData = imu.GetData();
var humidityReadResult = humidity.Read();
if (humidityReadResult.HumidityValid && humidityReadResult.TemperatureValid)
{
string buffer;
// format telemetry based on settings from Cloud
if (_bCelsius)
{
buffer = $"{{\"humidity\":{humidityReadResult.Humidity:F2},\"tempC\":{humidityReadResult.Temperatur:F2}}}";
}
else
{
double fahrenheit = (humidityReadResult.Temperatur * 9 / 5) + 32;
buffer = $"{{\"humidity\":{humidityReadResult.Humidity:F2},\"tempF\":{fahrenheit:F2}}}";
}
using (var telemetryMessage = new Message(Encoding.UTF8.GetBytes(buffer)))
{
Console.WriteLine($"Message Out : {buffer}");
await _client.SendEventAsync(telemetryMessage).ConfigureAwait(false);
}
}
else
{
Console.WriteLine("Err : Sensor data not valid");
}
await Task.Delay(3 * 1000);
}
}
}
else
{
// simulate sensor date
string buffer;
var simulatorData = new SimulatorData
{
TempCMax = 36,
HumidityMax = 100,
TempC = 30,
Humidity = 40,
};
while (true)
{
if (simulatorData.TempC > simulatorData.TempCMax)
{
simulatorData.TempC += Rnd.NextDouble() - 0.5; // add value between [-0.5..0.5]
}
else
{
simulatorData.TempC += -0.25 + (Rnd.NextDouble() * 1.5); // add value between [-0.25..1.25] - average +0.5
}
if (simulatorData.Humidity > simulatorData.HumidityMax)
{
simulatorData.Humidity += Rnd.NextDouble() - 0.5; // add value between [-0.5..0.5]
}
else
{
simulatorData.Humidity += -0.25 + (Rnd.NextDouble() * 1.5); // add value between [-0.25..1.25] - average +0.5
}
// format telemetry based on settings from Cloud
if (_bCelsius)
{
buffer = $"{{\"humidity\":{simulatorData.Humidity:F2},\"tempC\":{simulatorData.TempC:F2}}}";
}
else
{
double fahrenheit = (simulatorData.TempC * 9 / 5) + 32;
buffer = $"{{\"humidity\":{simulatorData.Humidity:F2},\"tempF\":{fahrenheit:F2}}}";
}
using (var telemetryMessage = new Message(Encoding.UTF8.GetBytes(buffer)))
{
Console.WriteLine($"Message Out : {buffer}");
await _client.SendEventAsync(telemetryMessage).ConfigureAwait(false);
}
await Task.Delay(3 * 1000);
}
}
}
void FindSimulator()
{
string simulator_devicetype;
string simulator_runtime;
switch (Harness.Target)
{
case "ios-simulator-32":
simulator_devicetype = "com.apple.CoreSimulator.SimDeviceType.iPhone-5";
simulator_runtime = "com.apple.CoreSimulator.SimRuntime.iOS-" + Xamarin.SdkVersions.iOS.Replace('.', '-');
break;
case "ios-simulator-64":
simulator_devicetype = "com.apple.CoreSimulator.SimDeviceType.iPhone-5s";
simulator_runtime = "com.apple.CoreSimulator.SimRuntime.iOS-" + Xamarin.SdkVersions.iOS.Replace('.', '-');
break;
case "ios-simulator":
simulator_devicetype = "com.apple.CoreSimulator.SimDeviceType.iPhone-4s";
simulator_runtime = "com.apple.CoreSimulator.SimRuntime.iOS-" + Xamarin.SdkVersions.iOS.Replace('.', '-');
break;
case "tvos-simulator":
simulator_devicetype = "com.apple.CoreSimulator.SimDeviceType.Apple-TV-1080p";
simulator_runtime = "com.apple.CoreSimulator.SimRuntime.tvOS-" + Xamarin.SdkVersions.TVOS.Replace('.', '-');
break;
case "watchos-simulator":
simulator_devicetype = "com.apple.CoreSimulator.SimDeviceType.Apple-Watch-38mm";
simulator_runtime = "com.apple.CoreSimulator.SimRuntime.watchOS-" + Xamarin.SdkVersions.WatchOS.Replace('.', '-');
break;
default:
throw new Exception(string.Format("Unknown simulator target: {0}", Harness.Target));
}
var tmpfile = Path.GetTempFileName();
try {
ExecuteCommand(Harness.MlaunchPath, string.Format("--sdkroot {0} --listsim {1}", Harness.XcodeRoot, tmpfile), output_verbosity_level: 1);
simulator_data = new XmlDocument();
simulator_data.LoadWithoutNetworkAccess(tmpfile);
SimulatorData candidate = null;
simulators = null;
foreach (XmlNode sim in simulator_data.SelectNodes("/MTouch/Simulator/AvailableDevices/SimDevice"))
{
var data = new SimulatorData {
Node = sim
};
if (data.runtime == simulator_runtime && data.devicetype == simulator_devicetype)
{
var udid = data.udid;
var secondaryData = (SimulatorData)null;
var nodeCompanion = simulator_data.SelectSingleNode("/MTouch/Simulator/AvailableDevicePairs/SimDevicePair/Companion[text() = '" + udid + "']");
var nodeGizmo = simulator_data.SelectSingleNode("/MTouch/Simulator/AvailableDevicePairs/SimDevicePair/Gizmo[text() = '" + udid + "']");
if (nodeCompanion != null)
{
var gizmo_udid = nodeCompanion.ParentNode.SelectSingleNode("Gizmo").InnerText;
var node = simulator_data.SelectSingleNode("/MTouch/Simulator/AvailableDevices/SimDevice[@UDID = '" + gizmo_udid + "']");
secondaryData = new SimulatorData()
{
Node = node
};
}
else if (nodeGizmo != null)
{
var companion_udid = nodeGizmo.ParentNode.SelectSingleNode("Companion").InnerText;
var node = simulator_data.SelectSingleNode("/MTouch/Simulator/AvailableDevices/SimDevice[@UDID = '" + companion_udid + "']");
secondaryData = new SimulatorData()
{
Node = node
};
}
if (secondaryData != null)
{
simulators = new SimulatorData[] { data, secondaryData };
break;
}
else
{
candidate = data;
}
}
}
if (simulators == null)
{
simulators = new SimulatorData[] { candidate }
}
;
} finally {
File.Delete(tmpfile);
}
if (simulators == null)
{
throw new Exception("Could not find simulator");
}
Harness.Log(1, "Found simulator: {0} {1}", simulators [0].name, simulators [0].udid);
if (simulators.Length > 1)
{
Harness.Log(1, "Found companion simulator: {0} {1}", simulators [1].name, simulators [1].udid);
}
}
