/// <summary>
/// Scans the roboy_worlds repository and stores the worlds in a dictionary.
/// </summary>
public void Scan()
{
string[] scanArguments = { "python", UpdaterUtility.PathToScanScript, Github_Repository + @"tree/" + Branch };
CommandlineUtility.RunCommandLine(scanArguments);
// to do whether scan file exists and is right
// check whether file exists
string pathToScanFile = UpdaterUtility.ProjectFolder + @"/tempModelURLs.txt";
if (!File.Exists(pathToScanFile))
{
Debug.LogWarning("Scan file not found! Check whether it exists or if python script is working!");
return;
}
// get file content of format title;url
string[] scanContent = File.ReadAllLines(pathToScanFile);
File.Delete(pathToScanFile);
Dictionary <string, string> tempURLDic = new Dictionary <string, string>();
foreach (var line in scanContent)
{
// split at ":"
string[] titleURL = line.Split(';');
// check if there is exactly one ";" meaning only two elements
if (titleURL.Length != 2)
{
Debug.Log("In line:\n" + line + "\nthe format does not match title;URL");
continue;
}
// ignore link if it is not in the github repo
if (!titleURL[1].Contains(Github_Repository))
{
Debug.Log("Link does not have the github repository!");
continue;
}
if (titleURL[0] != "models")
{
tempURLDic.Add(titleURL[0], titleURL[1]);
}
else
{
m_PathToModelsFolder = titleURL[1];
}
}
// clear all old links and add the new links
m_URLDictionary.Clear();
m_URLDictionary = tempURLDic;
WorldChoiceDictionary.Clear();
Debug.Log(m_PathToModelsFolder);
//this will be used to select the models to download
foreach (var urlDicEntry in m_URLDictionary)
{
WorldChoiceDictionary.Add(urlDicEntry.Key, false);
}
WorldsCurrentState = UpdaterUtility.State.Scanned;
}
/// <summary>
/// Downloads the models from the scan dictionary which were selected by the user.
/// </summary>
public void UpdateModels()
{
string pathToOriginModels = UpdaterUtility.ProjectFolder + @"/SimulationModels/";
//var processInfo = new ProcessStartInfo("cmd.exe", "/C" + "start \"\" \"" + m_PathToBlender + "\" -P \"" + m_PathToDownloadScript + "\" \"" + pathToMeshes + "\" \"" + m_pathToProjectModels + "\" \"\"");
//UnityEngine.Debug.Log("Run not implemented yet!");
// get a list of all entries which the user wants to update
List <KeyValuePair <string, bool> > tempURLList = ModelChoiceDictionary.Where(entry => entry.Value == true).ToList();
foreach (var urlEntry in tempURLList)
{
string[] scanArguments = { "python", UpdaterUtility.PathToScanScript, m_URLDictionary[urlEntry.Key] };
CommandlineUtility.RunCommandLine(scanArguments);
//Debug.Log(m_URLDictionary[urlEntry.Key]);
string pathToScanFile = UpdaterUtility.ProjectFolder + @"/tempModelURLs.txt";
if (!File.Exists(pathToScanFile))
{
Debug.LogWarning("Scan file not found! Check whether it exists or if python script is working!");
return;
}
// get file content of format title:url
string[] scanContent = File.ReadAllLines(pathToScanFile);
File.Delete(pathToScanFile);
foreach (var line in scanContent)
{
string[] titleURL = line.Split(';');
// check if there is exactly one ";" meaning only two elements
if (titleURL.Length != 2)
{
Debug.Log("In line:\n" + line + "\nthe format does not match title;URL");
continue;
}
// ignore link if it is not in the github repo
if (!titleURL[1].Contains(Github_Repository))
{
Debug.Log("Link does not have the github repository!");
continue;
}
//replace "tree" with "raw" in URL
var regex = new Regex(Regex.Escape("tree"));
titleURL[1] = regex.Replace(titleURL[1], "raw", 1);
//replace "tree" with "raw" in URL
var regex1 = new Regex(Regex.Escape("tree"));
string tempModelURL = regex.Replace(m_URLDictionary[urlEntry.Key], "raw", 1);
//start modeldownloader.py for visual
string[] updateArgumentsXML = { "start \"\" \"" + UpdaterUtility.PathToBlender + "\" -P", UpdaterUtility.PathToDownloadScript, tempModelURL + @"/", UpdaterUtility.ProjectFolder + @"/SimulationModels/" + urlEntry.Key + @"/OriginModels", "" };
CommandlineUtility.RunCommandLine(updateArgumentsXML);
//start modeldownloader.py for visual
string[] updateArgumentsVis = { "start \"\" \"" + UpdaterUtility.PathToBlender + "\" -P", UpdaterUtility.PathToDownloadScript, titleURL[1] + @"/visual/", UpdaterUtility.ProjectFolder + @"/SimulationModels/" + urlEntry.Key + @"/OriginModels/visual", "" };
CommandlineUtility.RunCommandLine(updateArgumentsVis);
//start modeldownloader.py for collision
string[] updateArgumentsCol = { "start \"\" \"" + UpdaterUtility.PathToBlender + "\" -P", UpdaterUtility.PathToDownloadScript, titleURL[1] + @"/collision/", UpdaterUtility.ProjectFolder + @"/SimulationModels/" + urlEntry.Key + @"/OriginModels/collision", "" };
CommandlineUtility.RunCommandLine(updateArgumentsCol);
if (!m_ModelNames.Contains(urlEntry.Key))
{
m_ModelNames.Add(urlEntry.Key);
}
}
if (File.Exists(pathToOriginModels + urlEntry.Key + @"/OriginModels/model.sdf"))
{
Debug.Log("model.sdf found!");
// read .sdf file
string[] argumentsSDFreader = { "python \"" + UpdaterUtility.PathToSDFreader + "\"", pathToOriginModels + urlEntry.Key + @"/OriginModels/model.sdf" };
CommandlineUtility.RunCommandLine(argumentsSDFreader);
}
else
{
Debug.LogWarning("model.sdf not found!");
}
ModelsCurrentState = UpdaterUtility.State.Downloaded;
}
}
/// <summary>
/// Downloads models given in the .world files and saves their pose in a struct.
/// </summary>
public void Magic()
{
List <KeyValuePair <string, bool> > tempURLList = WorldChoiceDictionary.Where(entry => entry.Value == true).ToList();
foreach (var urlEntry in tempURLList)
{
if (File.Exists(UpdaterUtility.ProjectFolder + @"/SimulationWorlds/" + urlEntry.Key + @"/" + urlEntry.Key + ".world"))
{
Debug.Log(".world file found!");
// read .world file
string[] argumentsSDFreader = { "python \"" + UpdaterUtility.PathToWorldReader + "\" \"" + UpdaterUtility.ProjectFolder + @"/SimulationWorlds/" + urlEntry.Key + @"/" + urlEntry.Key + ".world\"" };
CommandlineUtility.RunCommandLine(argumentsSDFreader);
}
else
{
Debug.LogWarning(".world file not found!");
}
string pathToWorldFile = UpdaterUtility.ProjectFolder + @"/temp" + urlEntry.Key + @"World.txt";
if (!File.Exists(pathToWorldFile))
{
Debug.LogWarning("Scan file not found! Check whether it exists or if python script is working!");
return;
}
//save content of temp file
string[] WorldContent = File.ReadAllLines(pathToWorldFile);
//delete temp file
File.Delete(pathToWorldFile);
List <string[]> modelList = new List <string[]>();
foreach (string line in WorldContent)
{
//each line contains of a model link with pose, scale, model_link
string[] SDFline = line.Split(';');
modelList.Add(SDFline);
}
string worldName = null;
for (int i = 0; i < modelList.Count; i++)
{
if (modelList[i][0] == "world_name")
{
//get world name
worldName = modelList[i][1];
modelList.Remove(modelList[i]);
}
}
foreach (string[] line in modelList)
{
//each model will be saved in a struct, so we can apply pose and scale later on
ModelTransformation testModel = new ModelTransformation();
testModel.worldname = worldName;
//check which attributes are set by the .world file and set them in the struct
for (int j = 0; j < line.Length; j++)
{
testModel.link = new LinkTransformation();
string[] pose = null;
if (line[j] == "model_pose")
{ //saving model_pose
pose = line[j + 1].Split(' ');
testModel.position = GazeboUtility.GazeboPositionToUnity(new Vector3(float.Parse(pose[0], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(pose[1], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(pose[2], CultureInfo.InvariantCulture.NumberFormat)));
testModel.rotation = GazeboUtility.GazeboPositionToUnity(new Vector3(Mathf.Rad2Deg * float.Parse(pose[3], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(pose[4], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(pose[5], CultureInfo.InvariantCulture.NumberFormat)));
}
if (line[j] == "model_link")
{ //saving model_link name
testModel.link.name = line[j + 1];
}
if (line[j] == "VIS_mesh_uri")
{ // saving VIS_mesh_link and model.name
testModel.link.VIS_meshName = line[j + 1];
string name1 = Regex.Replace(line[j + 1], ".*?//", "");
string name2 = Regex.Replace(name1, "/.*", "");
testModel.name = name2;
Debug.Log(testModel.link.VIS_meshName);
}
//saving COL_mesh_link
if (line[j] == "COL_mesh_uri")
{
testModel.link.COL_meshName = line[j + 1];
}
string[] VIS_Scale = null;
if (line[j] == "VIS_mesh_scale")
{
//saving model scale
VIS_Scale = line[j + 1].Split(' ');
}
if (VIS_Scale != null)
{ //converting model scale
testModel.link.VIS_scale = GazeboUtility.GazeboPositionToUnity(new Vector3(100 * float.Parse(VIS_Scale[0], CultureInfo.InvariantCulture.NumberFormat),
100 * float.Parse(VIS_Scale[1], CultureInfo.InvariantCulture.NumberFormat),
100 * float.Parse(VIS_Scale[2], CultureInfo.InvariantCulture.NumberFormat)));
}
string[] linkpose = null;
if (line[j] == "link_pose")
{
pose = line[j + 1].Split(' ');
}
if (linkpose != null)
{
testModel.position = GazeboUtility.GazeboPositionToUnity(new Vector3(float.Parse(linkpose[0], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(linkpose[1], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(linkpose[2], CultureInfo.InvariantCulture.NumberFormat)));
testModel.rotation = GazeboUtility.GazeboPositionToUnity(new Vector3(Mathf.Rad2Deg * float.Parse(linkpose[3], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(linkpose[4], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(linkpose[5], CultureInfo.InvariantCulture.NumberFormat)));
}
}
modellist.Add(testModel);
//}
}
WorldsCurrentState = UpdaterUtility.State.Downloaded;
}
List <string> names = new List <string>();
foreach (ModelTransformation model in modellist)
{
if (!names.Contains(model.name))
{
names.Add(model.name);
//Debug.Log(model.name);
}
}
foreach (string name in names)
{
//replace "tree" with "raw" in URL
var regex = new Regex(Regex.Escape("tree"));
m_PathToModelsFolder = regex.Replace(m_PathToModelsFolder, "raw", 1);
//start modeldownloader.py for visual
string[] updateArgumentsWorld = { "start \"\" \"" + UpdaterUtility.PathToBlender + "\" -P", UpdaterUtility.PathToDownloadScript, m_PathToModelsFolder + @"/" + name + @"/meshes/", UpdaterUtility.ProjectFolder + @"/SimulationWorlds/Models/" + name + "/meshes", "" };
CommandlineUtility.RunCommandLine(updateArgumentsWorld);
}
}