/// <summary>
/// Returns all available MMUs
/// </summary>
/// <param name="sessionID"></param>
/// <returns></returns>
public virtual Dictionary <MMUDescription, List <MIPAddress> > GetAvailableMMUs(string sessionID)
{
Dictionary <MMUDescription, List <MIPAddress> > dict = new Dictionary <MMUDescription, List <MIPAddress> >();
//Check all adapters
foreach (RemoteAdapter adapter in RuntimeData.AdapterInstances.Values)
{
//Fetch all loadable MMUs
List <MMUDescription> mmuDescriptions = adapter.GetLoadableMMUs(sessionID);
foreach (MMUDescription description in mmuDescriptions)
{
MMUDescription match = dict.Keys.ToList().Find(s => s.ID == description.ID && s.Name == description.Name);
if (match == null)
{
dict.Add(description, new List <MIPAddress>());
match = description;
}
//mask MMUs that are marked to be disabled
dict[match].Add(new MIPAddress(adapter.Address, adapter.Port));
}
}
return(dict);
}
/// <summary>
/// Instantiates a MMU from file
/// </summary>
/// <param name="folderPath"></param>
/// <param name="mmuDescription"></param>
/// <param name="sessionId"></param>
/// <returns></returns>
private static MMUDescription GetDescriptionFromClass(Type classType)
{
if (classType != null)
{
//Get all defined attributes
List <object> attributes = GetAttributes(classType);
MMUDescriptionAttribute mmuDescriptionAttr = attributes.Find(s => s is MMUDescriptionAttribute) as MMUDescriptionAttribute;
var mParamterAttr = attributes.Where(s => s is MParameterAttribute);
var simEvents = attributes.Where(s => s is MSimulationEventAttribute);
//Create the mmu description
MMUDescription mmuDescription = new MMUDescription()
{
Name = mmuDescriptionAttr.Name,
Author = mmuDescriptionAttr.Author,
Version = mmuDescriptionAttr.Version,
MotionType = mmuDescriptionAttr.MotionType,
LongDescription = mmuDescriptionAttr.LongDescription,
ShortDescription = mmuDescriptionAttr.ShortDescription,
AssemblyName = "debug",
//Language can be automatically set
Language = "C#",
//Auto-generate an ID
ID = Guid.NewGuid().ToString(),
};
//Add all parameters
if (mParamterAttr != null)
{
mmuDescription.Parameters = new System.Collections.Generic.List <MParameter>();
foreach (MParameterAttribute param in mParamterAttr)
{
mmuDescription.Parameters.Add(new MParameter(param.Name, param.Type, param.Description, param.Required));
}
}
//Add all events (if defined)
if (simEvents != null)
{
mmuDescription.Events = new System.Collections.Generic.List <string>();
foreach (MSimulationEventAttribute param in simEvents)
{
mmuDescription.Events.Add(param.Type);
}
}
//Return the created MMU Description
return(mmuDescription);
}
return(null);
}
/// <summary>
/// Tries to add/read the respective MMU
/// </summary>
/// <param name="zipFilePath">The filepath of the zip archive</param>
/// <returns></returns>
private bool TryAddMMU(string zipFilePath)
{
//Check whether a description is available
MMUDescription mmuDescription = this.GetMMUDescription(zipFilePath);
//Only continue if description is not null
if (mmuDescription != null)
{
//Check if the MMU supports the specified language
if (!this.supportedLanguages.Contains(mmuDescription.Language))
{
return(false);
}
//Check if already available -> skip
if (this.sessionData.MMULoadingProperties.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Skip if already registered
if (this.availableMMUs.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Create the new loading properties for the MMU
MMULoadingProperty loadingProperties = new MMULoadingProperty()
{
//Assign the description
Description = mmuDescription,
//Store all the data
Data = GetZipContent(zipFilePath),
//Store the path to the zip file
Path = zipFilePath
};
//Add to available MMUs
this.availableMMUs.Add(mmuDescription.ID, loadingProperties);
Logger.Log(Log_level.L_INFO, $"Successfully added MMU: {mmuDescription.Name} {mmuDescription.AssemblyName}");
//Success return true
return(true);
}
//Problem -> return false
return(false);
}
///// <summary>
///// Returns the available MMUs
///// </summary>
///// <returns></returns>
//public Dictionary<string, MMULoadingProperty> GetAvailableMMUs()
//{
// Dictionary<string, MMULoadingProperty> availableMMUs = new Dictionary<string, MMULoadingProperty>();
// int loaded = 0;
// foreach (string mmuPath in this.mmuPaths)
// {
// foreach (string folderPath in Directory.GetDirectories(mmuPath))
// {
// MMULoadingProperty mmuLoadingProperty = this.ScanFolder(folderPath);
// if (mmuLoadingProperty != null)
// {
// availableMMUs.Add(mmuLoadingProperty.Description.ID, mmuLoadingProperty);
// loaded++;
// }
// }
// }
// Logger.Log(Log_level.L_INFO, $"Scanned for loadable MMUs: {loaded} loadable MMUs found.");
// return availableMMUs;
//}
/// <summary>
/// Checks the respective folder and tracks the properties/ mmu descriptions
/// Returns true if a new MMU has been added
/// </summary>
/// <param name="folderPath"></param>
/// <returns></returns>
private MMULoadingProperty ScanFolder(string folderPath)
{
//Check whether a description is available
MMUDescription mmuDescription = this.GetMMUDescription(folderPath);
//Skip if no description file
if (mmuDescription == null)
{
return(null);
}
//Check if the MMU supports the specified language
if (!this.supportedLanguages.Contains(mmuDescription.Language))
{
return(null);
}
//Check if already available -> skip
if (this.sessionData.MMULoadingProperties.ContainsKey(mmuDescription.ID))
{
return(null);
}
//Determine the mmu file
string mmuFile = Directory.GetFiles(folderPath).ToList().Find(s => s.Contains(mmuDescription.AssemblyName));
//Load the mmu from filesystem and instantiate
if (mmuFile != null)
{
//Add the description to the dictionary
return(new MMULoadingProperty()
{
//Assign the description
Description = mmuDescription,
//Store all the data
Data = GetFolderContent(folderPath),
//Set the path of the MMU file
Path = mmuFile
});
}
else
{
Logger.Log(Log_level.L_ERROR, $"Cannot find corresponding assembly name. {mmuDescription.AssemblyName} of MMU: {mmuDescription.Name}");
}
return(null);
}
public Dictionary <string, MMULoadingProperty> GetAvailableMMUs()
{
//Load the description from path -> Change this line for testing a different MMU
MMUDescription mmuDescription = GetDescriptionFromClass(mmuType);
return(new Dictionary <string, MMULoadingProperty>()
{
{ mmuDescription.ID, new MMULoadingProperty()
{
Description = mmuDescription
} }
});
}
public Dictionary <string, MMULoadingProperty> GetAvailableMMUs()
{
//Load the description from path -> Change this line for testing a different MMU
MMUDescription mmuDescription = MMICSharp.Common.Communication.Serialization.FromJsonString <MMUDescription>(System.IO.File.ReadAllText("../../../CarryMMUConcurrent/bin/Debug/description.json"));
return(new Dictionary <string, MMULoadingProperty>()
{
{ mmuDescription.ID, new MMULoadingProperty()
{
Description = mmuDescription
} }
});
}
/// <summary>
/// Basic constructor instantiating a new AddParameterWindow
/// </summary>
/// <param name="instruction"></param>
/// <param name="description"></param>
public AddParameterWindow(ref MInstruction instruction, MMUDescription description)
{
//Assign the variables
this.description = description;
this.instruction = instruction;
//Get all available parameters
List <string> parameterList = description.Parameters.Select(s => s.Name).ToList();
//Add custom -> for undefined parameter
parameterList.Add("Custom");
//Set the parameter names for the popup list
this.availableParameters = parameterList.ToArray();
}
/// <summary>
/// Basic constructor of a (remote) MMU
/// </summary>
/// <param name="mmuAccess"></param>
/// <param name="adapter"></param>
/// <param name="sessionId"></param>
/// <param name="description"></param>
public MotionModelUnitAccess(MMUAccess mmuAccess, IAdapter adapter, string sessionId, MMUDescription description)
{
this.Adapter = adapter;
//Assign all variables
this.Description = description;
this.sessionId = sessionId;
this.MotionType = description.MotionType;
this.mmuAccess = mmuAccess;
this.Name = description.Name;
this.ID = description.ID;
//Create a new client for the MMU
this.adapterClient = adapter.CreateClient();
}
/// <summary>
/// Returns the MMU description contained in the zip archive (if available)
/// </summary>
/// <param name="folderPath"></param>
/// <returns></returns>
private MMUDescription GetMMUDescription(string folderPath)
{
MMUDescription mmuDescription = null;
try
{
string descriptionFile = Directory.GetFiles(folderPath).ToList().Find(s => s.Contains("description.json"));
mmuDescription = Serialization.FromJsonString <MMUDescription>(File.ReadAllText(descriptionFile));
}
catch (Exception)
{
return(null);
}
return(mmuDescription);
}
/// <summary>
/// Fetches the lodable MMUs from the adapters
/// </summary>
private void UpdateLoadableMMUs()
{
//Create a dictionary which holds the MMU Descriptions and the corresponding addresses
Dictionary <MMUDescription, List <MIPAddress> > availableMMUs = new Dictionary <MMUDescription, List <MIPAddress> >();
//Iterate over each adapter (do use for instead for-each due to possible changes of list)
for (int i = RuntimeData.AdapterInstances.Count - 1; i >= 0; i--)
{
RemoteAdapter adapter = RuntimeData.AdapterInstances.Values.ElementAt(i);
List <MMUDescription> mmuDescriptions = new List <MMUDescription>();
try
{
mmuDescriptions = adapter.GetLoadableMMUs("default");
}
catch (Exception e)
{
Console.WriteLine("Problem receiving loadable MMUs: " + e.Message);
}
//Check if MMU is already available and add to dictionary
foreach (MMUDescription description in mmuDescriptions)
{
MMUDescription match = availableMMUs.Keys.ToList().Find(s => s.ID == description.ID && s.Name == description.Name);
if (match == null)
{
availableMMUs.Add(description, new List <MIPAddress>());
match = description;
}
availableMMUs[match].Add(new MIPAddress(adapter.Address, adapter.Port));
}
}
//Update the MMU descriptions
RuntimeData.MMUDescriptions.Clear();
foreach (MMUDescription description in availableMMUs.Keys)
{
RuntimeData.MMUDescriptions.TryAdd(description.ID, description);
}
//Update the MMU collection in ui thread
UIData.SetMMUDescriptions(availableMMUs.Keys.ToList());
}
/// <summary>
/// Callback for the connection setup
/// </summary>
/// <param name="connected"></param>
protected virtual void ConnectionCallback(bool connected)
{
if (connected)
{
this.statusText = "Loading MMUs";
Debug.Log($"Connections to {this.MMUAccess.AdapterDescriptions.Count} adapters established: " + String.Join(String.Empty, this.MMUAccess.AdapterDescriptions.Select(s => s.Name + " ")));
//Get all loadable mmus
List <MMUDescription> loadableMMUs = this.MMUAccess.GetLoadableMMUs();
//Just load the co-simulator
if (this.UseRemoteCoSimulation)
{
//Find the MMU with the specified co-simulation name
MMUDescription cosim = loadableMMUs.Find(s => s.Name == this.RemoteCoSimulationName);
if (cosim == null)
{
throw new Exception("Remote co-simulator with specified name not available");
}
//Only load the co-simulation
loadableMMUs = new List <MMUDescription>()
{
cosim
};
}
//Load the mmus asynchronously
this.MMUAccess.LoadMMUsAsync(loadableMMUs, TimeSpan.FromSeconds(this.Timeout), this.LoadingCallback);
}
else
{
this.statusText = "Problem at establishing a connection";
Debug.LogError("Problem at establishing a connection");
}
}
public MMUOrderAndDescriptionData(MMUDescription description, UInt32 priority, string folder)
{
//derived properties
this.AssemblyName = description.AssemblyName;
this.Author = description.Author;
this.Dependencies = description.Dependencies;
this.Events = description.Events;
this.ID = description.ID;
this.Language = description.Language;
this.LongDescription = description.LongDescription;
this.MotionType = description.MotionType;
this.Name = description.Name;
this.Parameters = description.Parameters;
this.Prerequisites = description.Prerequisites;
this.Properties = description.Properties;
this.SceneParameters = description.SceneParameters;
this.ShortDescription = description.ShortDescription;
this.Version = description.Version;
this.__isset = description.__isset;
//new properties
this.Priority = priority;
this.FolderPath = folder;
}
static void Main(string[] args)
{
try
{
//Get the desired path
string path = args[0];
string outputPath = System.IO.Path.GetDirectoryName(path) + @"\description.json";
Console.WriteLine($"Loading .dll from filepath: {path}");
Console.WriteLine("Auto-generating MMU description");
//Auto-generate the description based on the dll located at the filepath
MMUDescription mmuDescription = GetDescriptionFromClass(path);
Console.WriteLine("MMU description successfully generated");
try
{
//Save the file to the same folder as the dll
System.IO.File.WriteAllText(outputPath, MMICSharp.Common.Communication.Serialization.ToJsonString(mmuDescription));
}
catch (Exception e)
{
Console.WriteLine("Problem saving file");
}
Console.WriteLine($"Description file successfully stored at {outputPath}");
Console.ReadLine();
}
catch (Exception e)
{
Console.WriteLine("Failed at automatically generating the description file. Exception occured: " + e.Message + e.StackTrace);
}
}
/// <summary>
/// Returns the MMU description contained in the zip archive (if available)
/// </summary>
/// <param name="zipArchivePath"></param>
/// <returns></returns>
private MMUDescription GetMMUDescription(string zipArchivePath)
{
MMUDescription mmuDescription = null;
try
{
using (var file = File.OpenRead(zipArchivePath))
using (var zip = new ZipArchive(file, ZipArchiveMode.Read))
{
//First get the description
ZipArchiveEntry descriptionEntry = zip.Entries.ToList().Find(s => s.Name == "description.json");
string jsonString = System.Text.Encoding.UTF8.GetString(GetByteData(descriptionEntry));
mmuDescription = Serialization.FromJsonString <MMUDescription>(jsonString);
}
}
catch (Exception)
{
return(null);
}
return(mmuDescription);
}
/// <summary>
/// MMU causes problems if initializing multiple times -> To check in future
/// Basic initialization
/// For specifying the priorities of the MMUs /motion types the properties can be specified (e.g. {"walk", 1.0}, {"grasp", 2.0})
/// The listed motion types are also the ones which are loaded. If this porperty is not defined then every MMU is loaded.
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
base.Initialize(avatarDescription, properties);
Console.WriteLine("---------------------------------------------------------");
Console.WriteLine("Initializing co-simulation MMU");
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
AvatarID = avatarDescription.AvatarID,
SceneAccess = this.SceneAccess
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
if (this.mmuAccess.Connect(this.AdapterEndpoint, avatarDescription.AvatarID))
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
//Select the MMUs which should be loaded
loadableMMUs = this.SelectMMUsToLoad(loadableMMUs);
//Create a dictionary for storing the priorities
Dictionary <string, float> priorities = new Dictionary <string, float>();
priorities = this.GetPriorities?.Invoke();
//Select the MMUs to load if explictely specified by the user
if (properties != null && properties.Count > 0)
{
for (int i = loadableMMUs.Count - 1; i >= 0; i--)
{
MMUDescription description = loadableMMUs[i];
float priority = 1;
//If MMU is listed -> add the priority
if (priorities.TryGetValue(description.MotionType, out priority))
{
priorities.Add(description.MotionType, priority);
}
//MMU is not explicetly listed -> remove from loading list
else
{
loadableMMUs.RemoveAt(i);
}
}
}
//No MMU list defined -> Load all MMUs with same priority (despite the own MMU)
else
{
//Remove the own MMU -> Avoid recursively instantiating own MMU (unless explictely forced)
if (loadableMMUs.Exists(s => s.Name == this.Name))
{
MMUDescription ownDescription = loadableMMUs.Find(s => s.Name == this.Name);
loadableMMUs.Remove(ownDescription);
}
}
Console.WriteLine("Got loadable MMUs:");
try
{
//Load the relevant MMUs
bool success = this.mmuAccess.LoadMMUs(loadableMMUs, TimeSpan.FromSeconds(20));
}
catch (Exception e)
{
Console.WriteLine("Error at loading MMUs : " + e.Message + e.StackTrace);
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
e.Message,
e.StackTrace
}
});
}
Console.WriteLine("All MMUs successfully loaded");
foreach (MMUDescription description in loadableMMUs)
{
Console.WriteLine(description.Name);
}
//Initialize all MMUs
bool initialized = this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(20), avatarDescription.AvatarID);
if (!initialized)
{
Console.WriteLine("Problem at initializing MMUs");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Problem at initializing MMUs" }
}
});
}
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
//Set the priorities of the motions
this.coSimulator.SetPriority(priorities);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
/// <summary>
/// Tries to add/read the respective MMU
/// </summary>
/// <param name="zipFilePath">The filepath of the zip archive</param>
/// <returns></returns>
private bool TryAddMMU(string directoryPath)
{
try
{
//Check whether a description is available
MMUDescription mmuDescription = this.GetMMUDescription(directoryPath);
//Only continue if description is not null
if (mmuDescription != null)
{
//Check if the MMU supports the specified language
if (!this.supportedLanguages.Contains(mmuDescription.Language))
{
return(false);
}
//Check if already available -> skip
if (this.sessionData.MMULoadingProperties.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Skip if already registered
if (this.availableMMUs.ContainsKey(mmuDescription.ID))
{
return(false);
}
//Determine the mmu file
string mmuFile = Directory.GetFiles(directoryPath).ToList().Find(s => s.Contains(mmuDescription.AssemblyName));
//Create the new loading properties for the MMU
MMULoadingProperty loadingProperties = new MMULoadingProperty()
{
//Assign the description
Description = mmuDescription,
//Store all the data
Data = GetFolderContent(directoryPath),
//Set the path of the directory
Path = mmuFile //directory path -> in future use directory path in here
};
//Add to available MMUs
this.availableMMUs.Add(mmuDescription.ID, loadingProperties);
Logger.Log(Log_level.L_INFO, $"Successfully added MMU: {mmuDescription.Name} {mmuDescription.AssemblyName}");
//Success return true
return(true);
}
//Problem -> return false
return(false);
}
catch (Exception)
{
return(false);
}
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="mmu"></param>
public MMUContainer(IMotionModelUnitAccess mmu) : this()
{
this.MMU = mmu;
this.Description = mmu.Description;
}
/// <summary>
/// Instantiates a MMU from file
/// </summary>
/// <param name="folderPath"></param>
/// <param name="mmuDescription"></param>
/// <param name="sessionId"></param>
/// <returns></returns>
private static MMUDescription GetDescriptionFromClass(string path)
{
//Load the mmu from filesystem and instantiate
Assembly assembly = Assembly.LoadFrom(path);
//Get the specific type of the class which implementd the IMotionModelUnitDev interface
Type classType = GetMMUClassType(assembly);
if (classType != null)
{
//Get all defined attributes
List <object> attributes = GetAttributes(classType);
MMUDescriptionAttribute mmuDescriptionAttr = attributes.Find(s => s is MMUDescriptionAttribute) as MMUDescriptionAttribute;
var mParamterAttr = attributes.Where(s => s is MParameterAttribute);
var simEvents = attributes.Where(s => s is MSimulationEventAttribute);
//Create the mmu description
MMUDescription mmuDescription = new MMUDescription()
{
Name = mmuDescriptionAttr.Name,
Author = mmuDescriptionAttr.Author,
Version = mmuDescriptionAttr.Version,
MotionType = mmuDescriptionAttr.MotionType,
LongDescription = mmuDescriptionAttr.LongDescription,
ShortDescription = mmuDescriptionAttr.ShortDescription,
//Language can be automatically set
Language = "C#",
//Auto-generate an ID
ID = Guid.NewGuid().ToString(),
//Use the assembly name from the path
AssemblyName = System.IO.Path.GetFileName(path)
};
//Add all parameters
if (mParamterAttr != null)
{
mmuDescription.Parameters = new System.Collections.Generic.List <MParameter>();
foreach (MParameterAttribute param in mParamterAttr)
{
mmuDescription.Parameters.Add(new MParameter(param.Name, param.Type, param.Description, param.Required));
}
}
//Add all events (if defined)
if (simEvents != null)
{
mmuDescription.Events = new System.Collections.Generic.List <string>();
foreach (MSimulationEventAttribute param in simEvents)
{
mmuDescription.Events.Add(param.Type);
}
}
//Return the created MMU Description
return(mmuDescription);
}
return(null);
}
/// <summary>
/// Validates the parameters of a particular instruction
/// </summary>
/// <param name="instruction"></param>
/// <param name="description"></param>
/// <returns></returns>
protected virtual MBoolResponse ValidateParameters(MInstruction instruction, MMUDescription description)
{
foreach (MParameter parameter in description.Parameters)
{
if (parameter.Required)
{
if (!instruction.Properties.ContainsKey(parameter.Name))
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Required parameter: " + parameter.Name + " not set."
}
});
}
}
//Check if parameter is constraint
if (IsConstraintType(parameter.Type))
{
if (instruction.Properties.ContainsKey(parameter.Name))
{
string id = instruction.Properties[parameter.Name];
//Check if a constraint with the given id is available
if (instruction.Constraints == null)
{
return new MBoolResponse(false)
{
LogData = new List <string>()
{
"Constraints are null:" + parameter.Name
}
}
}
;
if (!instruction.Constraints.Exists(s => s.ID == id))
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Constraint with requested id not defined: " + parameter.Name + " " + id
}
});
}
}
}
}
if (instruction.Properties != null)
{
foreach (KeyValuePair <string, string> entry in instruction.Properties)
{
if (entry.Key == null)
{
return new MBoolResponse(false)
{
LogData = new List <string>()
{
"Parameter with key == null existent."
}
}
}
;
if (entry.Value == null)
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
$"Parameter {entry.Key} with value == null existent."
}
});
}
}
}
return(new MBoolResponse(true));
}
void OnGUI()
{
EditorGUILayout.LabelField("Add Instruction:");
instruction.Name = EditorGUILayout.TextField("Name", instruction.Name);
instruction.ID = EditorGUILayout.TextField("ID", instruction.ID);
EditorGUILayout.LabelField("Motion Type:");
motionTypeIndex = EditorGUILayout.Popup(motionTypeIndex, motionTypeOptions);
EditorGUILayout.Separator();
EditorGUILayout.LabelField("Properties:");
foreach (var entry in instruction.Properties)
{
EditorGUILayout.LabelField(entry.Key + " : " + entry.Value);
}
if (GUILayout.Button("Add Parameter"))
{
//Get selected MMUDescription
MMUDescription description = this.mmuDescriptions[this.motionTypeIndex];
AddParameterWindow window = new AddParameterWindow(ref instruction, description);
window.Show();
}
EditorGUILayout.LabelField("Start Condition:");
if (this.instruction.StartCondition != null)
{
EditorGUILayout.LabelField(this.instruction.StartCondition);
}
EditorGUILayout.LabelField("End Condition:");
if (this.instruction.EndCondition != null)
{
EditorGUILayout.LabelField(this.instruction.EndCondition);
}
if (GUILayout.Button("Add Condition"))
{
AddConditionWindow window = new AddConditionWindow(ref this.instruction, ref this.instructionList);
window.Show();
}
if (GUILayout.Button("Add Action"))
{
//Get selected MMUDescription
MMUDescription description = this.mmuDescriptions[this.motionTypeIndex];
AddActionWindow window = new AddActionWindow(ref instruction, ref this.instructionList);
window.Show();
}
if (GUILayout.Button("Ok"))
{
//Finally assign the motion type
this.instruction.MotionType = this.motionTypeOptions[this.motionTypeIndex];
//Check if all required parameters are set
if (this.CheckParameters())
{
this.instructionList.Add(this.instruction);
Close();
}
}
//if (GUILayout.Button("Save"))
//{
// //Finally assign the motion type
// this.instruction.MotionType = this.motionTypeOptions[this.motionTypeIndex];
// string outputPath = EditorUtility.SaveFilePanel("Select the output file", "Instructions/", name, "json");
// System.IO.File.WriteAllText(outputPath, MMICSharp.Common.Communication.Serialization.ToJsonString(this.instruction));
// EditorUtility.DisplayDialog("Instruction list successfully saved.", "The instructions have been successfully exported to your desired output directory.", "Continue");
//}
if (GUILayout.Button("Abort"))
{
Close();
}
}
/// <summary>
/// Basic initialization method
/// </summary>
/// <param name="avatarDescription"></param>
/// <param name="properties"></param>
/// <returns></returns>
public override MBoolResponse Initialize(MAvatarDescription avatarDescription, Dictionary <string, string> properties)
{
//Call the base class (important for automatic conversion from MSimulationState to SimulationState)
base.Initialize(avatarDescription, properties);
this.SkeletonAccess = new IntermediateSkeleton();
this.SkeletonAccess.InitializeAnthropometry(avatarDescription);
//Create a new session uuid
this.sessionId = Guid.NewGuid().ToString();
//Create a new virtual scene
this.virtualScene = new MMIScene();
//Create a unique id for the new virtual object representing the move target
string moveTargetID = Guid.NewGuid().ToString();
//Create a new virtual object representing the move target
moveTarget = new MSceneObject(moveTargetID, "MoveTarget", new MTransform()
{
ID = moveTargetID,
Position = new MVector3(0, 0, 0),
Rotation = new MQuaternion(0, 0, 0, 1)
});
//Add the virtual move target to the scene
this.virtualScene.Apply(new MSceneUpdate()
{
AddedSceneObjects = new List <MSceneObject>()
{
moveTarget
}
});
//Full scene transmission initial required
this.transmitFullScene = true;
//Setup the mmu access
this.mmuAccess = new MMUAccess(this.sessionId)
{
//IntermediateAvatarDescription = avatarDescription,
SceneAccess = this.virtualScene
};
Console.WriteLine("Try to connect to mmu access...");
//Connect to mmu access and load mmus
bool connected = this.mmuAccess.Connect(this.AdapterEndpoint, this.AvatarDescription.AvatarID);
if (connected)
{
//Get all loadable MMUs within the current session
List <MMUDescription> loadableMMUs = this.mmuAccess.GetLoadableMMUs();
MMUDescription moveMMU = loadableMMUs.Find(s => s.MotionType == "move");
Console.WriteLine("Got loadable MMUs:");
//Load the relevant MMUs
bool loaded = this.mmuAccess.LoadMMUs(new List <MMUDescription>()
{
moveMMU
}, TimeSpan.FromSeconds(10));
if (!loaded)
{
Console.WriteLine("Error at loading MMU");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
{ "Error at loading mmu" }
}
});
}
//Initialize all MMUs
this.mmuAccess.InitializeMMUs(TimeSpan.FromSeconds(10), this.AvatarDescription.AvatarID);
//Instantiate the cosimulator
this.coSimulator = new MMICoSimulator(mmuAccess.MotionModelUnits);
return(new MBoolResponse(true));
}
else
{
Console.WriteLine("Connection to MMUAccess/MMIRegister failed");
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Connection to MMUAccess/MMIRegister failed"
}
});
}
}
/// <summary>
/// Removes a MMU
/// </summary>
/// <param name="description"></param>
public void RemoveMMU(MMUDescription description)
{
this.availableMMUs.Remove(description);
this.MMUsChanged?.Invoke(this, new EventArgs());
}
/// <summary>
/// Instantiates a MMU from file
/// </summary>
/// <param name="folderPath"></param>
/// <param name="mmuDescription"></param>
/// <param name="sessionId"></param>
/// <returns></returns>
public IMotionModelUnitDev InstantiateMMU(MMULoadingProperty mmuLoadingProperty)
{
Debug.Log("Calling Unity MMU instantiator " + mmuLoadingProperty.Path);
MMUDescription mmuDescription = mmuLoadingProperty.Description;
string filePath = mmuLoadingProperty.Path;
//Check if the MMU supports the specified language
if (mmuDescription.Language != "UnityC#" && mmuDescription.Language != "Unity")
{
throw new NotSupportedException("MMU is not supported");
}
//Skip if file path invalid
if (filePath == null)
{
throw new NullReferenceException("File path of MMU is null " + mmuDescription.Name);
}
//Skip if the MMU has no dependencies
if (mmuDescription.Dependencies.Count == 0)
{
throw new Exception("No dependencies of MMU specified " + mmuDescription.Name);
}
//Create a variable which hols the mmu
IMotionModelUnitDev mmu = null;
//Get the paths
string folderPath = System.IO.Directory.GetParent(filePath).ToString();
string assetBundlePath = folderPath + "\\" + mmuDescription.Dependencies[0].Name;
//Perform on unity main thread
MainThreadDispatcher.Instance.ExecuteBlocking(delegate
{
//To do in futre -> Create a new scene for each MMU
//Scene scene = SceneManager.CreateScene("Scene" + mmuDescription.Name);
//SceneManager.SetActiveScene(scene);
//First load the resources
AssetBundle mmuAssetBundle = null;
try
{
if (!mmuLoadingProperty.Data.ContainsKey(assetBundlePath))
{
mmuAssetBundle = AssetBundle.LoadFromFile(assetBundlePath);
if (mmuAssetBundle == null)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Failed to load AssetBundle! AssetBundle is null!" + mmuDescription.Name);
return;
}
mmuLoadingProperty.Data.Add(assetBundlePath, mmuAssetBundle);
}
else
{
mmuAssetBundle = mmuLoadingProperty.Data[assetBundlePath] as AssetBundle;
}
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot load asset bundle: " + mmuDescription.Name + " " + e.Message);
return;
}
GameObject prefab = null;
try
{
prefab = mmuAssetBundle.LoadAsset <GameObject>(mmuDescription.Name);
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot load prefab: " + mmuDescription.Name + " " + e.Message);
}
GameObject mmuObj = null;
try
{
mmuObj = GameObject.Instantiate(prefab);
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot instantiate prefab: " + mmuDescription.Name + " " + e.Message);
}
try
{
Assembly assembly = Assembly.LoadFile(filePath);
//Find the class type which implements the IMotionModelInterface
Type classType = assembly.GetTypes().ToList().Find(s => s.GetInterfaces().Contains(typeof(IMotionModelUnitDev)));
if (classType != null)
{
//Add the script to the game object
mmu = mmuObj.AddComponent(classType) as IMotionModelUnitDev;
///Loading and assigning the configuration file
if (mmuObj.GetComponent <UnityMMUBase>() != null)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"MMU {mmuDescription.Name} implements the UnityMMUBase");
//Get the UnityMMUBse interface
UnityMMUBase mmuBase = mmuObj.GetComponent <UnityMMUBase>();
//By default set the configuration file path and define it globally
string avatarConfigFilePath = AppDomain.CurrentDomain.BaseDirectory + "/" + "avatar.mos";
//Check if the MMU has a custom configuration file
if (this.GetLocalAvatarConfigurationFile(folderPath, out string localConfigFilePath))
{
//Setting the local avatar as reference for retargeting
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"Local avatar configuration was found: {mmuDescription.Name} ({avatarConfigFilePath}).");
//Set to the utilized path
avatarConfigFilePath = localConfigFilePath;
}
//Further perform a check whether the file is available at all
if (System.IO.File.Exists(avatarConfigFilePath))
{
mmuBase.ConfigurationFilePath = avatarConfigFilePath;
MMICSharp.Adapter.Logger.Log(Log_level.L_DEBUG, $"Setting the configuration file path for loading the avatar of {mmuDescription.Name} to {avatarConfigFilePath}");
}
//Problem in here -> File is obviously not available
else
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, $"Problem setting the configuration file path for loading the avatar of {mmuDescription.Name} to {avatarConfigFilePath}. File not available.");
}
}
}
else
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Cannot instantiate MMU: " + mmuDescription.Name);
}
}
catch (Exception e)
{
MMICSharp.Adapter.Logger.Log(Log_level.L_ERROR, "Problem at instantiating class of MMU: " + mmuDescription.Name + " " + e.Message + " " + e.StackTrace);
}
//Disable all renderers in the scene
foreach (Renderer renderer in GameObject.FindObjectsOfType <Renderer>())
{
renderer.enabled = false;
}
});
