async void OnUbiiNodeInitialized()
{
ubiiSpecs = new Ubii.Devices.Component
{
Name = NAME,
Description = DESCRIPTION,
MessageFormat = MESSAGE_FORMAT,
IoType = Ubii.Devices.Component.Types.IOType.Subscriber,
Topic = GetTopicTargetVelocities()
};
ubiiSpecs.Tags.AddRange(TAGS);
tokenTargetVelocities = await ubiiNode.SubscribeTopic(this.ubiiSpecs.Topic, (Ubii.TopicData.TopicDataRecord record) =>
{
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string boneString = record.Object3DList.Elements[i].Id;
HumanBodyBones bone;
if (HumanBodyBones.TryParse(boneString, out bone))
{
Ubii.DataStructure.Pose3D pose = record.Object3DList.Elements[i].Pose;
Vector3 linear = new Vector3((float)pose.Position.X, (float)pose.Position.Y, (float)pose.Position.Z);
Vector3 angular = new Vector3((float)pose.Euler.X, (float)pose.Euler.Y, (float)pose.Euler.Z);
SetTargetVelocity(bone, linear, angular);
}
}
});
ubiiReady = true;
}
private async void StartTest()
{
if (ubiiNode == null)
{
Debug.LogError("UbiiClient not found!");
return;
}
await ubiiNode.WaitForConnection();
CreateUbiiSpecs();
Ubii.Services.ServiceReply deviceRegistrationReply = await ubiiNode.RegisterDevice(ubiiDevice);
if (deviceRegistrationReply.Device != null)
{
ubiiDevice = deviceRegistrationReply.Device;
}
this.subToken = await ubiiNode.SubscribeTopic(topicTestPublishSubscribe,
(Ubii.TopicData.TopicDataRecord record) =>
{
testPosition.Set((float)record.Vector3.X, (float)record.Vector3.Y, (float)record.Vector3.Z);
});
testRunning = true;
}
async void InitCurrentPoseListTopic()
{
tokenCurrentPoseList = await ubiiNode.SubscribeTopic(ubiiComponentAvatarCurrentPose.GetTopicCurrentPoseList(), (Ubii.TopicData.TopicDataRecord record) =>
{
Google.Protobuf.Collections.RepeatedField <Ubii.DataStructure.Object3D> objects = record.Object3DList.Elements;
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string boneString = record.Object3DList.Elements[i].Id;
HumanBodyBones bone;
if (HumanBodyBones.TryParse(boneString, out bone))
{
Ubii.DataStructure.Pose3D pose = record.Object3DList.Elements[i].Pose;
UbiiPose3D newMapPose = new UbiiPose3D
{
position = new Vector3((float)pose.Position.X, (float)pose.Position.Y, (float)pose.Position.Z),
rotation = new Quaternion((float)pose.Quaternion.X, (float)pose.Quaternion.Y, (float)pose.Quaternion.Z, (float)pose.Quaternion.W)
};
if (mapBone2CurrentPose.ContainsKey(bone))
{
mapBone2CurrentPose[bone] = newMapPose;
}
else
{
mapBone2CurrentPose.Add(bone, newMapPose);
}
}
}
});
}
public async void OnUbiiInitialized()
{
topicFrequencyCounter = "/" + ubiiNode.GetID() + "/test/pm_frequency_counter";
topicFrequencyCounterTickValue = "/" + ubiiNode.GetID() + "/test/pm_frequency_counter/tick_value";
expectedCounter = 0;
tickValue = 2;
ubiiNode.PublishImmediately(new TopicDataRecord
{
Topic = topicFrequencyCounterTickValue,
Int32 = tickValue
});
//await Task.Delay(2000);
testFailure = false;
await ubiiNode.SubscribeTopic(topicFrequencyCounter, (TopicDataRecord record) =>
{
expectedCounter += tickValue;
testFailure = record.Int32 != expectedCounter;
if (testFailure)
{
Debug.LogError("counter from PM expected to be " + expectedCounter + " but was actually " + record.Int32);
}
});
ubiiSession = new Ubii.Sessions.Session {
Name = "Test Processing Modules Counter"
};
ubiiSession.ProcessingModules.Add(new Ubii.Processing.ProcessingModule
{
Name = TestPMFrequencyCounter.specs.Name
});
Ubii.Sessions.IOMapping ioMapping = new Ubii.Sessions.IOMapping();
ioMapping.ProcessingModuleName = TestPMFrequencyCounter.specs.Name;
ioMapping.InputMappings.Add(new Ubii.Sessions.TopicInputMapping
{
InputName = "counterTick",
Topic = topicFrequencyCounterTickValue
});
ioMapping.OutputMappings.Add(new Ubii.Sessions.TopicOutputMapping
{
OutputName = "outCounter",
Topic = topicFrequencyCounter
});
ubiiSession.IoMappings.Add(ioMapping);
RunTest();
}
async void InitIKTopics()
{
foreach (IK_TARGET ikTarget in Enum.GetValues(typeof(IK_TARGET)))
{
GameObject ikTargetObject = new GameObject("IK-Target PoseEstimator " + ikTarget.ToString());
mapIKTargetTransforms.Add(ikTarget, ikTargetObject.transform);
mapIKTarget2UbiiPose.Add(ikTarget, new UbiiPose3D
{
position = new Vector3(),
rotation = new Quaternion()
});
}
tokenIkTargetPose = await ubiiNode.SubscribeTopic(ubiiComponentIkTargets.GetTopicIKTargets(), (Ubii.TopicData.TopicDataRecord record) =>
{
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string ikTargetString = record.Object3DList.Elements[i].Id;
Ubii.DataStructure.Pose3D pose3D = record.Object3DList.Elements[i].Pose;
IK_TARGET ikTarget;
if (IK_TARGET.TryParse(ikTargetString, out ikTarget))
{
UbiiPose3D pose = mapIKTarget2UbiiPose[ikTarget];
pose.position.Set(
(float)pose3D.Position.X,
(float)pose3D.Position.Y,
(float)pose3D.Position.Z);
pose.rotation.Set(
(float)pose3D.Quaternion.X,
(float)pose3D.Quaternion.Y,
(float)pose3D.Quaternion.Z,
(float)pose3D.Quaternion.W);
mapIKTarget2UbiiPose[ikTarget] = pose;
}
}
});
initialized = true;
}
async private void RunTestSubscribePublish()
{
await ubiiNode.WaitForConnection();
string topic = "/" + ubiiNode.GetID() + "/unity3D_client/test/subcribe_publish_simple";
bool success = false;
Action <TopicDataRecord> callback = (TopicDataRecord record) =>
{
success = record.Bool;
};
SubscriptionToken subToken = await ubiiNode.SubscribeTopic(topic, callback);
ubiiNode.Publish(new Ubii.TopicData.TopicDataRecord {
Topic = topic, Bool = true
});
await Task.Delay(1000).ContinueWith(async(Task t) =>
{
bool successUnsubscribe = await ubiiNode.Unsubscribe(subToken);
if (!successUnsubscribe)
{
Debug.LogError("RunTestSubscribePublish Unsubscribe() FAILURE!");
}
if (success)
{
Debug.Log("RunTestSubscribePublish SUCCESS!");
}
else
{
Debug.LogError("RunTestSubscribePublish FAILURE!");
}
});
}
