// Create a new task with incorrect port number
public static void CTUC00400_CTUC00500()
{
// Make sure by browser that no task is present.
SceneResource scene = CTUB00100();
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = 9999;
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport);
try
{
task.GetJointValues();
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("Controller port number is not correct"))
{
throw new Exception("Test case CTUC00400_CTUC00500 failed");
}
}
}
public SceneDatabase()
{
mAllGeoms = new SceneResource<RTGeometry>();
mAllMaterials = new SceneResource<RTMaterial>();
mAllTextures = new SceneResource<RTTexture>();
mAllLights = new SceneResource<RTLight>();
// the default material: index of 0
RTMaterial m = new RTMaterial();
mAllMaterials.AddResource(m);
}
static void Main(string[] args)
{
string hostname = "controller65";
string username = "******";
string password = "******";
string scenepk = "knowledgepicking1.mujin.dae";
ControllerClient controllerClient = new ControllerClient(username, password, "http://" + hostname);
SceneResource scene = controllerClient.GetScene(scenepk);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName("test_task_1", "binpicking");
// slave request id for the target slave, usually hostname + "_slave0"
task.SlaveRequestID = hostname + "_slave0";
// remove objects in the scene whose names have this prefix, optional
string prefix = "detected_sourcecontainer_";
// list of objects and their poses to be updated in the scene
List <Dictionary <string, object> > envstate = new List <Dictionary <string, object> >()
{
new Dictionary <string, object>()
{
{ "name", prefix + "1" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 0, 300
} },
{ "object_uri", "mujin:/work1.mujin.dae" },
},
new Dictionary <string, object>()
{
{ "name", prefix + "2" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 100, 400
} },
{ "object_uri", "mujin:/work2_b.mujin.dae" },
}
};
task.UpdateObjects(envstate, prefix);
}
// Create a new task and get the task
public static BinPickingTask CTUC00100()
{
// Make sure by browser that no task is present.
SceneResource scene = CTUB00100();
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport);
return((BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport));
}
internal void AddRTScene(RayTracer_552.RTCamera c, RayTracer_552.SceneDatabase rtScene)
{
UWB_Primitive prim;
NewSceneDatabase();
SceneResource <RTGeometry> allGeom = rtScene.GetAllGeom();
for (int i = 0; i < allGeom.Count; i++)
{
RTGeometry g = (RTGeometry)allGeom.ResourceLookup(i);
switch (g.GeomType())
{
case RTGeometry.RTGeometryType.Sphere:
RTSphere s = (RTSphere)g;
prim = CreateSphereMesh();
SetMeshMaterial(prim, rtScene.GetMaterial(s.GetMaterialIndex()));
float scale = s.Radius / 2f;
CreateNode(s.Center, scale, scale, scale, prim);
break;
case RTGeometry.RTGeometryType.Rectangle:
RTRectangle r = (RTRectangle)g;
prim = CreateRectangle(r);
SetMeshMaterial(prim, rtScene.GetMaterial(r.GetMaterialIndex()));
UWB_SceneNode node = CreateNode(r.GetCenter(), r.GetUSize() / 2f, 1f, r.GetVSize() / 2f, prim);
// now rotate the y-vector of node to point towards r.Normal;
float dot = (float)Math.Abs(Vector3.Dot(Vector3.UnitY, r.GetNormal()));
if (dot < 0.9999f)
{
float angle = (float)Math.Acos(dot);
Vector3 axis = Vector3.Cross(Vector3.UnitY, r.GetNormal());
axis.Normalize();
Quaternion q = Quaternion.CreateFromAxisAngle(axis, angle);
UWB_XFormInfo xf = node.getXFormInfo();
xf.SetRotationQuat(q);
node.setXFormInfo(xf);
}
break;
case RTGeometry.RTGeometryType.Triangle:
RTTriangle t = (RTTriangle)g;
Vector3[] v = t.GetVertices();
prim = new UWB_PrimitiveTriangle(v[0], v[1], v[2]);
prim.EnableLighting(true);
prim.EnableTexturing(false);
SetMeshMaterial(prim, rtScene.GetMaterial(t.GetMaterialIndex()));
CreateNode(Vector3.Zero, 1f, 1f, 1f, prim);
break;
}
}
AddCamera(c);
AddLights(rtScene);
// to show ray list
mShownRayX = mShownRayY = 0;
mRaysToShow = new UWB_PrimitiveList();
mDebugInfo = new UWB_SceneNode();
mDebugInfo.setPrimitive(mRaysToShow);
mDebugInfo.insertChildNode(mPixelsToShow.GetAllPixels());
mDebugInfo.insertChildNode(mPixelInWorld.GetAllPixels());
}
public ResourceReference Save(IResource resource, ResourceOperationContext context)
{
if (context.CurrentUser == null)
{
throw new InvalidOperationException("User not found");
}
Data.Resource dbResource = null;
//check if the resource already exist in the database
if (resource.Id > 0)
{
dbResource = _dbContext.Resources.Find(resource.Id);
}
if (dbResource != null)
{
//Update the Resource and Content
dbResource.Name = resource.Name;
dbResource.LastUpdateDate = DateTime.Now;
dbResource.UpdateUserId = context.CurrentUser.UserId;
}
else
{
//Else this is a new resource that was created or was delete from the respository.
//So create the Resource ,the Content Store and add the resource to the ResourceManager's cache
var resourceType = GetResourceType(resource);
var folder = GetFolder(resourceType);
dbResource = _dbContext.Resources.Create();
dbResource.CreateUserId = context.CurrentUser.UserId;
dbResource.UpdateUserId = context.CurrentUser.UserId;
dbResource.LastUpdateDate = DateTime.Now;
dbResource.Name = resource.Name;
dbResource.ResourceTypeId = resourceType != null ? (int?)resourceType.ResourceTypeId : null;
dbResource.FolderId = folder.FolderId;
dbResource = _dbContext.Resources.Add(dbResource);
_dbContext.SaveChanges();
resource.Id = dbResource.Id;
//The resoures does'n has an Id until it was saved.
//Then initialize the reference counter
_resourceManager.Add(resource);
}
//mark as saved
context.SetIsSaved(resource, true);
//Check if the resource is saved with a context Scene
if (context.Scene != null && !context.Scene.IsDesignOnly)
{
//IF true then link the resource to the context Scene
if (!_dbContext.SceneResources.Any(x => x.ResourceId == dbResource.Id &&
x.SceneId == context.Scene.Id))
{
//create the SceneResource
SceneResource sceneResource = new SceneResource()
{
ResourceId = dbResource.Id,
SceneId = context.Scene.Id,
};
_dbContext.SceneResources.Add(sceneResource);
}
}
//Creates the Reference
ResourceReference reference;
if (!_references.TryGetValue(dbResource.Id, out reference))
{
reference = new ResourceReference(dbResource.Id);
_references.Add(dbResource.Id, reference);
}
if (dbResource.Content == null)
{
//Creates the resource content
dbResource.Content = new Content();
}
//write the resource content data
var data = CreateAsset(resource, context);
Debug.Assert(data != null, "Invalid Resource " + resource.Name);
dbResource.Content.Data = data;
_dbContext.SaveChanges();
return(reference);
}
string SceneName(SceneResource target_scene)
{
return(Enum.GetName(typeof(SceneResource), target_scene));
}
public void ToScene(SceneResource target_scene)
{
next_scene = SceneName(target_scene);
SceneManager.LoadScene("loading");
}
static void Main(string[] args)
{
if (true)
{
ControllerClient controllerClient2 = new ControllerClient("testuser", "mytestpass", "http://controller13");
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
//SceneResource scene2 = controllerClient2.GetScene("test.mujin.dae");
// JSON creation
//Dictionary<string, object> jsonMessage = controllerClient2.GetJsonMessage(HttpMethod.POST, "scene/?format=json", "{\"name\":\"newname\", \"reference_uri\":\"mujin:/plasticnut-center.mujin.dae\"}");
// XML creation
Dictionary <string, object> xmlMessage = controllerClient2.GetXMLMessage(HttpMethod.POST, "scene/?format=xml", "<request><name>newname3</name><reference_uri>mujin:/plasticnut-center.mujin.dae</reference_uri></request>");
}
// Default XML path:
// string xmlFilepath = AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "..\\..\\samples\\getsceneinfo\\config\\connection.xml";
// Custom XML path;
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("username")[0].InnerText;
string password = document.GetElementsByTagName("password")[0].InnerText;
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
SceneResource scene = controllerClient.GetScene(scenePrimaryKey);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(taskName, taskType, controllerip, controllerport);
// Test1: GetJointValues
RobotState robotState = task.GetJointValues();
/*
* // Test2: MoveJoints
* robotState.jointValues[1] += 30;
* robotState.jointValues[3] -= 30;
* List<double> jointValues = new List<double>() { robotState.jointValues[1], robotState.jointValues[3] };
* List<int> jointIndices = new List<int>(){1, 3};
* task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
*/
List <double> jointValues = new List <double>()
{
45
};
List <int> jointIndices = new List <int>()
{
6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
jointValues = new List <double>()
{
0, 0, 0, 0, 0, 0, 0
};
jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
/*
* // Test3: MoveToHandPosition
* double[] basepos = robotState.tools["1Base"];
* basepos[1] += 50;
* basepos[3] -= 50;
* task.MoveToHandPosition(new List<double>(basepos), GoalType.transform6d, "1Base", 0.2);
*/
// Test4: PickAndMove
//task.PickAndMove("container3", "camera3", "1Base", GoalType.translationdirection5d, new List<double>() { 1900, 240, 700, 0, 0, 1 }, 0.2);
}
