void UpdateAliasesLink(int index)
{
string hostname = panel.HostNames[index].Value;
string address = panel.Addresses[index].Value;
if (!string.IsNullOrWhiteSpace(hostname) && !string.IsNullOrWhiteSpace(address))
{
var newHostAlias = new HostAlias(hostname, address);
if (HostAliases[index] == newHostAlias)
{
return;
}
HostAliases[index] = newHostAlias;
Logger.Info($"{this}: Adding pair {hostname} -> {address} to resolver list.");
ConnectionUtils.GlobalResolver[hostname] = address;
ModuleListPanel.UpdateSimpleConfigurationSettings();
}
else if (HostAliases[index] != default)
{
ConnectionUtils.GlobalResolver.Remove(HostAliases[index].Hostname);
Logger.Info($"{this}: Removing {HostAliases[index].Hostname} from resolver list.");
HostAliases[index] = default;
ModuleListPanel.UpdateSimpleConfigurationSettings();
}
}
static async Task RemoveRobotAsync([NotNull] UpdateRobot srv)
{
string id = srv.Request.Id;
if (id.Length == 0)
{
srv.Response.Success = false;
srv.Response.Message = "EE Id field is empty";
return;
}
ModuleData moduleData;
if ((moduleData = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == id)) == null)
{
srv.Response.Success = true;
srv.Response.Message = $"WW There is no node with name '{id}'";
return;
}
if (moduleData.ModuleType != ModuleType.Robot)
{
srv.Response.Success = false;
srv.Response.Message =
$"EE Another module of the same id already exists, but it has type {moduleData.ModuleType}";
return;
}
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
Logger.Info($"ControllerService: Removing robot");
ModuleListPanel.Instance.RemoveModule(moduleData);
}
catch (Exception e)
{
srv.Response.Success = false;
srv.Response.Message = $"EE An exception was raised: {e.Message}";
}
finally
{
signal.Release();
}
});
if (!await signal.WaitAsync(DefaultTimeoutInMs))
{
srv.Response.Success = false;
srv.Response.Message = "EE Request timed out!";
return;
}
if (string.IsNullOrEmpty(srv.Response.Message))
{
srv.Response.Success = true;
}
}
}
public InternalResourceManager()
{
string robotsFile = UnityEngine.Resources.Load <TextAsset>("Package/iviz/resources")?.text;
if (string.IsNullOrEmpty(robotsFile))
{
Logger.Warn($"{this}: Empty resource file!");
robotDescriptions = new Dictionary <string, string>().AsReadOnly();
return;
}
Dictionary <string, string> robots = JsonConvert.DeserializeObject <Dictionary <string, string> >(robotsFile);
Dictionary <string, string> tmpRobotDescriptions = new Dictionary <string, string>();
foreach (var pair in robots)
{
string robotDescription =
UnityEngine.Resources.Load <TextAsset>("Package/iviz/robots/" + pair.Value)?.text;
if (string.IsNullOrEmpty(robotDescription))
{
Logger.Info($"{this}: Empty or null description file {pair.Value}!");
continue;
}
tmpRobotDescriptions[pair.Key] = robotDescription;
}
robotDescriptions = tmpRobotDescriptions.AsReadOnly();
}
public Sender([NotNull] string topic)
{
if (string.IsNullOrWhiteSpace(topic))
{
throw new ArgumentException("Invalid topic!", nameof(topic));
}
Topic = topic;
Type = BuiltIns.GetMessageType(typeof(T));
Logger.Info($"Advertising <b>{topic}</b> <i>[{Type}]</i>.");
GameThread.EverySecond += UpdateStats;
Connection.Advertise(this);
}
void WritePanelToConfiguration()
{
var markers = new List <ARExecutableMarker>();
for (int index = 0; index < panel.Types.Count; index++)
{
var type = (ARMarkerType)panel.Types[index].Index;
if (type == ARMarkerType.Unset)
{
continue;
}
if (!float.TryParse(panel.Sizes[index].Value, out float sizeInMm) || sizeInMm <= 0)
{
Logger.Info($"{this}: Ignoring size for entry {index}, cannot parse '{panel.Sizes[index].Value}' " +
"into a positive number.");
continue;
}
string code = panel.Codes[index].Value.Trim();
if (string.IsNullOrEmpty(code))
{
Logger.Info($"{this}: Ignoring empty code for entry {index}.");
continue;
}
ARExecutableMarker marker = new ARExecutableMarker
{
Type = type,
Action = (ARMarkerAction)panel.Actions[index].Index,
Code = code,
SizeInMm = sizeInMm,
};
markers.Add(marker);
}
Configuration = new ARMarkersConfiguration
{
MaxMarkerDistanceInM = 0.5f,
Markers = markers.ToArray(),
};
if (ARController.Instance != null)
{
ARController.Instance.MarkerExecutor.Configuration = Configuration;
}
ModuleListPanel.UpdateSimpleConfigurationSettings();
}
void PrintListenerStatus()
{
StringBuilder str = new StringBuilder();
var modules = ModuleDatas.OfType <ListenerModuleData>();
foreach (var data in modules)
{
ListenerController controller = (ListenerController)data.Controller;
var listener = controller.Listener;
str.Append(listener.Topic).Append(listener.Subscribed ? " (On): " : " (Off): ")
.Append(listener.NumPublishers).Append(" publishers").AppendLine();
}
Logger.Info(str.ToString());
}
internal static async Task LaunchDialogAsync([NotNull] LaunchDialog srv)
{
if (string.IsNullOrEmpty(srv.Request.Dialog.Id))
{
srv.Response.Success = false;
srv.Response.Message = "Dialog Id is null or empty";
return;
}
if (Math.Abs(srv.Request.Dialog.Scale) < 1e-8)
{
srv.Response.Success = false;
srv.Response.Message = "Cannot launch dialog with scale 0";
return;
}
Feedback feedback = new Feedback();
bool overrideExpired = false;
using (var signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
Logger.Info($"ControllerService: Creating dialog");
/*
* var dialogTimeSpan = srv.Request.Dialog.Lifetime.ToTimeSpan();
* if (srv.Request.Dialog.Lifetime == default || dialogTimeSpan.TotalSeconds > 10)
* {
* srv.Request.Dialog.Lifetime = TimeSpan.FromSeconds(10);
* }
*/
var dialog = GuiDialogListener.DefaultHandler.AddDialog(srv.Request.Dialog);
if (dialog == null)
{
TryRelease(signal);
return;
}
dialog.ButtonClicked += TriggerButton;
dialog.MenuEntryClicked += TriggerMenu;
dialog.Expired += Expired;
void TriggerButton(ARDialog mDialog, int buttonId)
{
mDialog.ButtonClicked -= TriggerButton;
mDialog.MenuEntryClicked -= TriggerMenu;
mDialog.Expired -= Expired;
feedback.VizId = ConnectionManager.MyId ?? "";
feedback.Id = mDialog.Id ?? "";
feedback.FeedbackType = FeedbackType.ButtonClick;
feedback.EntryId = buttonId;
overrideExpired = true;
TryRelease(signal);
}
void TriggerMenu(ARDialog mDialog, int buttonId)
{
mDialog.ButtonClicked -= TriggerButton;
mDialog.MenuEntryClicked -= TriggerMenu;
mDialog.Expired -= Expired;
feedback.VizId = ConnectionManager.MyId ?? "";
feedback.Id = mDialog.Id ?? "";
feedback.FeedbackType = FeedbackType.MenuEntryClick;
feedback.EntryId = buttonId;
overrideExpired = true;
TryRelease(signal);
}
void Expired(ARDialog mDialog)
{
if (overrideExpired)
{
return;
}
mDialog.ButtonClicked -= TriggerButton;
mDialog.MenuEntryClicked -= TriggerMenu;
mDialog.Expired -= Expired;
feedback.VizId = ConnectionManager.MyId ?? "";
feedback.Id = mDialog.Id ?? "";
feedback.FeedbackType = FeedbackType.Expired;
feedback.EntryId = 0;
TryRelease(signal);
}
}
catch (Exception e)
{
srv.Response.Success = false;
srv.Response.Message = $"EE An exception was raised: {e.Message}";
signal.Release();
}
});
/*
* if (!await signal.WaitAsync(10000))
* {
* srv.Response.Success = false;
* srv.Response.Message = "EE Request timed out!";
* return;
* }
*/
await signal.WaitAsync();
if (string.IsNullOrEmpty(srv.Response.Message))
{
srv.Response.Success = true;
srv.Response.Feedback = feedback;
}
}
}
static async ValueTask <(string id, bool success, string message)> TryAddModuleAsync(
[NotNull] string moduleTypeStr,
[NotNull] string requestedId)
{
(string id, bool success, string message)result = default;
if (string.IsNullOrWhiteSpace(moduleTypeStr))
{
result.message = "EE Invalid module type";
return(result);
}
ModuleType moduleType = ModuleTypeFromString(moduleTypeStr);
if (moduleType == ModuleType.Invalid)
{
result.message = "EE Invalid module type";
return(result);
}
if (moduleType != ModuleType.Grid &&
moduleType != ModuleType.DepthCloud &&
moduleType != ModuleType.AugmentedReality &&
moduleType != ModuleType.Joystick &&
moduleType != ModuleType.Robot)
{
result.message = "EE Cannot create module of that type, use AddModuleFromTopic instead";
return(result);
}
ModuleData moduleData;
if (requestedId.Length != 0 &&
(moduleData = ModuleDatas.FirstOrDefault(data => data.Configuration.Id == requestedId)) != null)
{
if (moduleData.ModuleType != moduleType)
{
result.message =
$"EE Another module of the same id already exists, but it has type {moduleData.ModuleType}";
}
else
{
result.success = true;
result.id = requestedId;
result.message = "** Module already exists";
}
return(result);
}
using (SemaphoreSlim signal = new SemaphoreSlim(0))
{
GameThread.Post(() =>
{
try
{
Logger.Info($"Creating module of type {moduleType}");
var newModuleData = ModuleListPanel.Instance.CreateModule(moduleType,
requestedId: requestedId.Length != 0 ? requestedId : null);
result.id = newModuleData.Configuration.Id;
result.success = true;
Logger.Info("Done!");
}
catch (Exception e)
{
result.message = $"EE An exception was raised: {e.Message}";
}
finally
{
signal.Release();
}
});
return(await signal.WaitAsync(DefaultTimeoutInMs) ? result : ("", false, "EE Request timed out!"));
}
}