/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Get inputs.
string inputRobotName = "";
Mesh inputEndeffectorMesh = new Mesh();
int inputRobotID = 0;
Plane inputPlane = this.defaultPlane;
if (!DA.GetData(0, ref inputRobotName))
{
RobotOptionList();
}
DA.GetData(1, ref inputEndeffectorMesh);
DA.GetData(2, ref inputRobotID);
DA.GetData(3, ref inputPlane);
//////////////////////////////////////////////////////
// Process data.
inputEndeffectorMesh.Weld(Math.PI);
EndeffectorData endEffector = new EndeffectorData(MeshUtilities.EncodeMesh(inputEndeffectorMesh));
RobotData robot = new RobotData(inputRobotID, inputRobotName, endEffector, EncodeUtilities.EncodePlane(inputPlane));
UniversalDebug("Robot Object Created.");
//////////////////////////////////////////////////////
// Output.
DA.SetData(0, robot);
#if DEBUG
DA.SetData(1, this.debugMessages[this.debugMessages.Count - 1]);
#endif
}
// Collect environment meshes
public List <byte[]> EncodeEnvironmentMesh(out string currentMessage)
{
currentMessage = string.Empty;
List <byte[]> data = new List <byte[]>();
FindMeshes();
if (this.scannedEnvironment.Count > 0)
{
// Combine meshes
CombineInstance[] combineStructure = new CombineInstance[this.scannedEnvironment.Count];
int i = 0;
foreach (MeshRenderer meshRenderer in this.scannedEnvironment)
{
MeshFilter meshFilter = meshRenderer.gameObject.GetComponent <MeshFilter>();
combineStructure[i].mesh = meshFilter.sharedMesh;
combineStructure[i].transform = meshRenderer.transform.localToWorldMatrix;
i++;
}
Mesh mesh = new Mesh();
mesh.CombineMeshes(combineStructure);
// Encode mesh
MeshData meshData = MeshUtilities.EncodeMesh(mesh);
byte[] localData = EncodeUtilities.EncodeData("ENVIRONMENT", meshData, out string currentLocalMessage);
data.Add(localData);
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Mesh Encoding: " + currentLocalMessage);
#endif
currentMessage = currentLocalMessage;
// // Encode meshes separately
// // {
// // MeshRenderer meshRenderer = this.scannedEnvironment[0];
// foreach (MeshRenderer meshRenderer in this.scannedEnvironment) {
// MeshFilter meshFilter = meshRenderer.gameObject.GetComponent<MeshFilter>();
// MeshData meshData = MeshUtilities.EncodeMesh(meshFilter.sharedMesh);
// byte[] localData = EncodeUtilities.EncodeData("ENVIRONMENT", meshData, out string currentLocalMessage);
// #if DEBUG
// DebugUtilities.UniversalDebug(this.sourceName, "Mesh Encoding: " + currentLocalMessage);
// #endif
// data.Add(localData);
// currentMessage += currentLocalMessage;
// }
}
else
{
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "No meshes found.");
#endif
}
return(data);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
//CheckType();
// Get inputs.
string message;
List <Mesh> inputMeshes = new List <Mesh>();
List <Color> inputColor = new List <Color>();
Connection connect = null;
if (!DA.GetDataList(0, inputMeshes))
{
return;
}
DA.GetDataList(1, inputColor);
if (!DA.GetData(2, ref connect))
{
return;
}
// Check inputs.
if ((inputColor.Count > 1) && (inputColor.Count != inputMeshes.Count))
{
message = (inputColor.Count > inputMeshes.Count) ?
"The number of Colors does not match the number of Mesh objects. Extra colors will be ignored." :
"The number of Colors does not match the number of Mesh objects. The last color will be repeated.";
UniversalDebug(message, GH_RuntimeMessageLevel.Warning);
}
////////////////////////////////////////////////////////////////////
// If connection open start acting.
if (connect.status)
{
// Encode mesh data.
List <MeshData> inputMeshData = new List <MeshData> {
};
for (int i = 0; i < inputMeshes.Count; i++)
{
Color currentColor = inputColor[Math.Min(i, inputColor.Count)];
inputMeshData.Add(MeshUtilities.EncodeMesh(inputMeshes[i], currentColor));
}
// Send mesh data.
byte[] bytes = EncodeUtilities.EncodeData("MESHSTREAMING", inputMeshData, out string currentMessage);
if (this.lastMessage != currentMessage)
{
bool success = false;
if (this.sourceType == SourceType.TCP)
{
connect.tcpSender.Send(bytes);
success = connect.tcpSender.success;
message = connect.tcpSender.debugMessages[connect.tcpSender.debugMessages.Count - 1];
}
else
{
connect.udpSender.Send(bytes);
success = connect.udpSender.success;
message = connect.udpSender.debugMessages[connect.udpSender.debugMessages.Count - 1];
}
if (success)
{
this.lastMessage = currentMessage;
}
UniversalDebug(message, (success) ? GH_RuntimeMessageLevel.Remark : GH_RuntimeMessageLevel.Error);
}
}
else
{
this.lastMessage = string.Empty;
UniversalDebug("Set 'Send' on true in HoloFab 'HoloConnect'", GH_RuntimeMessageLevel.Warning);
}
// Output.
#if DEBUG
DA.SetData(0, this.debugMessages[this.debugMessages.Count - 1]);
#endif
}