/// <summary>
/// Initializes the mmus
/// </summary>
/// <param name="timeout"></param>
/// <param name="initializationProperties"></param>
public bool InitializeMMUs(TimeSpan timeout, string AvatarID, Dictionary <string, string> initializationProperties = null)
{
//Directly return if not loaded
if (!this.IsLoaded)
{
return(false);
}
if (initializationProperties == null)
{
initializationProperties = new Dictionary <string, string>();
}
//Initialize all mmus based on the specified timeout
bool success = Threading.ExecuteTasksParallel(this.MotionModelUnits, (IMotionModelUnitAccess mmu, CancellationTokenSource tcs) =>
{
mmu.Initialize(this.SkeletonAccess.GetAvatarDescription(AvatarID), initializationProperties);
}, timeout);
//Raise the event and set flag if successful
if (success)
{
//Set initialized to true
this.IsInitialized = true;
this.OnInitialized?.Invoke(this, new EventArgs());
}
return(success);
}
/// <summary>
/// Loads the defined MMUs in an async manner
/// </summary>
/// <param name="list"></param>
/// <param name="timeout"></param>
/// <param name="async">Defines whether the operation should be executed asynchonously</param>
public bool LoadMMUs(List <MMUDescription> list, TimeSpan timeout)
{
//Create a concurrent dictionary for storing the createad MMUAccesses
ConcurrentDictionary <IAdapter, List <MotionModelUnitAccess> > adapterMMUAccesses = new ConcurrentDictionary <IAdapter, List <MotionModelUnitAccess> >();
List <Task> tasks = new List <Task>();
//Execute the loading using different tasks
bool allFinished = Threading.ExecuteTasksParallel(this.Adapters, (IAdapter adapter, CancellationTokenSource cts) =>
{
//Load the mmus based on their id
adapter.LoadMMUs(list.Select(s => s.ID).ToList(), this.SessionId);
//Add the created connections to the concurrent dictionary
adapterMMUAccesses.TryAdd(adapter, adapter.CreateMMUConnections(this.SessionId, this.MMUDescriptions));
}, timeout);
//Check if all tasks have been finished
if (allFinished)
{
//Add the MMU connections to the global list
foreach (List <MotionModelUnitAccess> mmuAccesses in adapterMMUAccesses.Values)
{
this.MotionModelUnits.AddRange(mmuAccesses);
}
//raise event
this.OnLoaded?.Invoke(this, new EventArgs());
return(true);
}
else
{
//throw new Exception("Timeout during establishing connections to MMUs");
return(false);
}
}
/// <summary>
/// Connects to the given adapters
/// </summary>
/// <param name="adapterAddresses"></param>
/// <param name="timeout">The timout in milliseconds</param>
public bool Connect(MIPAddress mmiRegisterAddress, TimeSpan timeout, string AvatarID)
{
//Create a list representing the adapter descriptions
List <MAdapterDescription> adapterDescriptions = new List <MAdapterDescription>();
//Create a concurrent dictionary for storing the createad MMUAccesses
ConcurrentDictionary <IAdapter, List <MotionModelUnitAccess> > adapterMMUAccesses = new ConcurrentDictionary <IAdapter, List <MotionModelUnitAccess> >();
//Get all registered adapters -> Execute this task in background with the imposed timeout
bool adapterDescriptionReceived = Threading.ExecuteTask((CancellationTokenSource cls) =>
{
//The actual function which is executed in the background
while (!cls.IsCancellationRequested)
{
try
{
//Get all adapter descriptions and create a client for this purpose
using (MMIRegisterServiceClient client = new MMIRegisterServiceClient(mmiRegisterAddress.Address, mmiRegisterAddress.Port))
{
adapterDescriptions = client.Access.GetRegisteredAdapters(SessionId);
break;
}
}
catch (Exception)
{
Thread.Sleep(100);
}
}
}, timeout);
//Directly return if no adapter description was received
if (!adapterDescriptionReceived)
{
return(false);
}
//Create the service access
this.ServiceAccess = new ServiceAccess(mmiRegisterAddress, SessionId);
//Fetch all adapter descriptions and create a new adapter instance
foreach (MAdapterDescription description in adapterDescriptions)
{
//Skip if adapter is already available
if (this.Adapters.Exists(s => s.Description.Name == description.Name && description.Addresses[0] == description.Addresses[0] && s.Description.Addresses[0].Port == description.Addresses[0].Port))
{
continue;
}
//Add a new remote adapter instance to the list
this.Adapters.Add(new RemoteAdapterAccess(description.Addresses[0].Address, description.Addresses[0].Port, description, this));
}
///Dictionary which contains the connected adapters
ConcurrentDictionary <IAdapter, bool> connectedAdapters = new ConcurrentDictionary <IAdapter, bool>();
//Create the sessions for each adapter in parallel
bool success = Threading.ExecuteTasksParallel(this.Adapters, (IAdapter adapter, CancellationTokenSource cls) =>
{
//Start the adapter
adapter.Start();
//Create the session
adapter.CreateSession(this.SessionId, this.SkeletonAccess.GetAvatarDescription(AvatarID));
//Add flag if finished
connectedAdapters.TryAdd(adapter, true);
}, timeout);
//Remove all adapters not being connected (therfore iterate over all added adapters)
for (int i = this.Adapters.Count - 1; i >= 0; i--)
{
//Remove the adapter if not connected
if (!connectedAdapters.ContainsKey(this.Adapters[i]))
{
//Close the connection
this.Adapters[i].CloseConnection();
this.Adapters.Remove(this.Adapters[i]);
}
}
//Return true if at least one adapter is connected
return(this.Adapters.Count > 0);
}
