public void SetUp()
{
_mockedPointsContainer = new Mock <IConnectableObjectsContainer <SlamPoint> >();
_mockedObservationsContainer = new Mock <IConnectableObjectsContainer <SlamObservation> >();
_mockedTrackedObjectsContainer = new Mock <IContainer <SlamTrackedObject> >();
_mockedLinesContainer = new Mock <IContainer <SlamLine> >();
_mockedInfinitePlanesContainer = new Mock <IContainer <SlamInfinitePlane> >();
_retranslator = new ProtobufRetranslator
{
Settings = new AddressesSettingsBag {
Addresses = $"{Address}:{Port}"
}
};
_retranslator.Start();
var logger = new TestsLogger();
var pointsMapManager = new PointsMapManager(_mockedPointsContainer.Object, null);
var observationsMapManager = new ObservationsMapManager(_mockedObservationsContainer.Object, null);
var trackedObjsMapManager = new TrackedObjsMapManager(_mockedTrackedObjectsContainer.Object, null);
var linesMapManager = new LinesMapManager(_mockedLinesContainer.Object, null);
var infinitePlanesMapManager = new InfinitePlanesMapManager(_mockedInfinitePlanesContainer.Object, null);
pointsMapManager.Logger = logger;
observationsMapManager.Logger = logger;
trackedObjsMapManager.Logger = logger;
linesMapManager.Logger = logger;
infinitePlanesMapManager.Logger = logger;
var servicesChain = new IChainable <MapsManagerPb.MapsManagerPbBase>[]
{
pointsMapManager, observationsMapManager, trackedObjsMapManager, linesMapManager,
infinitePlanesMapManager
}.BuildChain();
GrpcEnvironment.SetLogger(new TestsLogger());
_grpcServer = new Server
{
Services =
{
MapsManagerPb.BindService(servicesChain),
},
Ports =
{
new ServerPort(Address, Port, ServerCredentials.Insecure),
},
};
_grpcServer.Start();
}
public override void Start()
{
AppContext.SetSwitch("System.Net.Http.SocketsHttpHandler.Http2UnencryptedSupport", true);
AppContext.SetSwitch("System.Net.Http.SocketsHttpHandler.Http2Support", true);
GrpcEnvironment.SetLogger(new UnityLogger());
Converter?.SetInitTRS(Vector3.zero, Quaternion.identity);
var servicesChain = new IChainable <MapsManagerPb.MapsManagerPbBase>[]
{
new PointsMapManager(_containerTree.Points, Converter),
new ObservationsMapManager(_containerTree.Observations, Converter),
new TrackedObjsMapManager(_containerTree.TrackedObjs, Converter),
new LinesMapManager(_containerTree.Lines, Converter),
new InfinitePlanesMapManager(_containerTree.InfinitePlanes, Converter)
}.BuildChain();
_containerTree.DisplayName = $"From gRPC at port {TypedSettings.Port}";
#if UNITY_EDITOR || UNITY_STANDALONE
Debug.Log($"{TypedSettings.IPAddress}:{TypedSettings.Port}");
#endif
_server = new GrpcServer()
{
Services =
{
MapsManagerPb.BindService(servicesChain),
SceneManagerPb.BindService(new SceneManager(_containerTree)),
ImageManagerPb.BindService(new ImageManager((RawImagePresenter)_containerTree.Image))
},
Ports =
{
new ServerPort("0.0.0.0", TypedSettings.Port, ServerCredentials.Insecure),
},
};
StartServer();
}
