public static MeshData EncodeMesh(Mesh mesh)
{
MeshData meshData = new MeshData();
foreach (Vector3 point in mesh.vertices)
{
meshData.vertices.Add(EncodeUtilities.EncodeLocation(point));
}
for (int i = 0; i < mesh.triangles.Length; i += 3)
{
meshData.faces.Add(new int[] {
mesh.triangles[i],
mesh.triangles[i + 1],
mesh.triangles[i + 2]
});
}
if ((meshData.colors == null) || (meshData.colors.Count == 0))
{
foreach (Color color in mesh.colors)
{
meshData.colors.Add(EncodeUtilities.EncodeColor(color));
}
}
else
{
foreach (Vector3 point in mesh.vertices)
{
meshData.colors.Add(EncodeUtilities.EncodeColor(Color.red));
}
}
return(meshData);
}
// Constantly check for new messages on given port.
private void ReceiveData()
{
// Open.
this.client = new UdpClient(this.localPort);
IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0);
// Infinite loop.
try {
byte[] data;
string receiveString;
while (true)
{
// Receive Bytes.
data = client.Receive(ref anyIP);
if (data.Length > 0)
{
// If buffer not empty - decode it.
receiveString = EncodeUtilities.DecodeData(data);
// If string not empty and not read yet - react to it.
if (!string.IsNullOrEmpty(receiveString))
{
#if DEBUG2
DebugUtilities.UniversalDebug(this.sourceName, "Total Data found: " + receiveString, ref this.debugMessages);
#endif
if ((this.dataMessages.Count == 0) ||
(this.flagForce || (this.dataMessages[this.dataMessages.Count - 1] != receiveString)))
{
this.dataMessages.Add(receiveString);
this.connectionHistory.Add(anyIP.Address.ToString());
this.flagDataRead = false;
if (OnReceive != null)
{
OnReceive();
}
}
else
{
#if DEBUG2
DebugUtilities.UniversalDebug(this.sourceName, "Message already added.", ref this.debugMessages);
#endif
}
}
}
}
} catch (SocketException exception) {
// SocketException.
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "SocketException: " + exception.ToString(), ref this.debugMessages);
#endif
} catch (Exception exception) {
// Exception.
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "Exception: " + exception.ToString(), ref this.debugMessages);
#endif
} finally {
this.Disconnect();
}
}
//////////////////////////////////////////////////////////////////////////
// React to a value change.
public void OnValueChanged()
{
if (UDPReceiveComponent.flagUICommunicationStarted)
{
#if DEBUG
Debug.Log("ParameterUIMenu: Updating UI values.");
#endif
// Find Objects.
GameObject[] goBooleans = GameObject.FindGameObjectsWithTag(this.tagUIItemBoolean);
GameObject[] goCounters = GameObject.FindGameObjectsWithTag(this.tagUIItemCounter);
GameObject[] goSliders = GameObject.FindGameObjectsWithTag(this.tagUIItemSlider);
#if DEBUG
Debug.Log("ParameterUIMenu: Found items: booleans: " + goBooleans.Length + ", counters: " + goCounters.Length + ", sliders: " + goSliders.Length);
#endif
// Extract data.
List <bool> bools = new List <bool>();
List <int> ints = new List <int>();
List <float> floats = new List <float>();
foreach (GameObject goItem in goBooleans)
{
bools.Add(goItem.GetComponent <BooleanToggle>().value);
}
foreach (GameObject goItem in goCounters)
{
ints.Add(goItem.GetComponent <Counter>().value);
}
foreach (GameObject goItem in goSliders)
{
floats.Add(goItem.GetComponent <FloatSlider>().value);
}
UIData ui = new UIData(bools, ints, floats);
// Encode and if changed - send it.
byte[] data = EncodeUtilities.EncodeData("UIDATA", ui, out string currentMessage);
if (ParameterUIMenu.lastMessage != currentMessage) // TODO: Technically not necessary now since we call directly from UI elements themselves.
{
ParameterUIMenu.lastMessage = currentMessage;
#if DEBUG
Debug.Log("ParameterUIMenu: values changed, sending: " + currentMessage);
#endif
if (ParameterUIMenu.sender == null)
{
ParameterUIMenu.sender = FindObjectOfType <UDPSendComponent>();
}
if (ParameterUIMenu.sender == null)
{
#if DEBUGWARNING
Debug.Log("ParameterUIMenu: No sender Found.");
#endif
return;
}
ParameterUIMenu.sender.SendUI(data);
}
}
}
// Encode a Mesh with a Color.
public static MeshData EncodeMesh(Mesh _mesh, Color _color)
{
MeshData meshData = EncodeMesh(_mesh);
meshData.colors = new List <int[]>()
{
EncodeUtilities.EncodeColor(_color)
};
return(meshData);
}
/////////////////////////////////////////////////////////////////////////////
// A function responsible for decoding and reacting to received UDP data.
private bool InterpreteData(string message)
{
if (!string.IsNullOrEmpty(message))
{
message = EncodeUtilities.StripSplitter(message);
if (this.lastMessage != message)
{
this.lastMessage = message;
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "New message found: " + message);
#endif
string[] messageComponents = message.Split(new string[] { EncodeUtilities.headerSplitter }, 2, StringSplitOptions.RemoveEmptyEntries);
if (messageComponents.Length > 1)
{
string header = messageComponents[0], content = messageComponents[1];
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Header: " + header + ", content: " + content);
#endif
if (header == "MESHSTREAMING")
{
InterpreteMesh(content, SourceType.UDP);
return(true);
}
else if (header == "CONTROLLER")
{
InterpreteRobotController(content);
return(true);
}
else if (header == "HOLOTAG")
{
InterpreteTag(content);
return(true);
}
else if (header == "IPADDRESS")
{
InterpreteIPAddress(content);
return(true);
}
else
{
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "Header Not Recognized");
#endif
}
}
else
{
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "Improper message");
#endif
}
}
}
return(true); // Since we have one interpreter anyway
}
/// <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.
List <RobotData> inputRobots = new List <RobotData>();
Connection connect = null;
if (!DA.GetDataList(0, inputRobots))
{
return;
}
if (!DA.GetData <Connection>(1, ref connect))
{
return;
}
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
// Send robot data.
byte[] bytes = EncodeUtilities.EncodeData("HOLOBOTS", inputRobots.ToArray(), out string currentMessage);
if (this.flagForce || (this.lastMessage != currentMessage))
{
connect.tcpSender.QueueUpData(bytes);
//bool success = connect.tcpSender.flagSuccess;
//string message = connect.tcpSender.debugMessages[connect.tcpSender.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, RobotStreaming.debugMessages[RobotStreaming.debugMessages.Count - 1]);
#endif
// Expire Solution.
if ((connect.status) && (connect.PendingMessages))
{
GH_Document document = this.OnPingDocument();
if (document != null)
{
document.ScheduleSolution(RobotStreaming.expireDelay, ScheduleCallback);
}
}
}
// 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);
}
// - RobotControllers
private void InterpreteRobotController(string data)
{
List <RobotControllerData> controllersData = EncodeUtilities.InterpreteRobotController(data);
RobotProcessor processor = ObjectManager.instance.GetComponent <RobotProcessor>();
foreach (RobotControllerData controllerData in controllersData)
{
if (processor.robotsInstantiated.ContainsKey(controllerData.robotID))
{
processor.robotsInstantiated[controllerData.robotID].GetComponentInChildren <RobotController>().ProcessRobotController(controllerData);
}
}
}
// - IP address
private void InterpreteIPAddress(string data)
{
string remoteIP = EncodeUtilities.InterpreteIPAddress(data);
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Remote IP: " + remoteIP);
#endif
// TODO: Add ip integrity check
// TODO: Should not be stored in udp sender.
UDPSendComponent sender = gameObject.GetComponent <UDPSendComponent>();
sender.remoteIP = remoteIP;
UDPReceiveComponent.flagUICommunicationStarted = true;
// Inform UI Manager.
ParameterUIMenu.instance.OnValueChanged();
}
/// <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.
List <RobotData> inputRobots = new List <RobotData>();
Connection connect = null;
if (!DA.GetDataList(0, inputRobots))
{
return;
}
if (!DA.GetData(1, ref connect))
{
return;
}
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
// Send robot data.
byte[] bytes = EncodeUtilities.EncodeData("HOLOBOTS", inputRobots.ToArray(), out string currentMessage);
if (this.lastMessage != currentMessage)
{
connect.tcpSender.Send(bytes);
bool success = connect.tcpSender.success;
string message = connect.tcpSender.debugMessages[connect.tcpSender.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, RobotStreaming.debugMessages[RobotStreaming.debugMessages.Count - 1]);
#endif
}
private void OnClientFound()
{
this.flagConnectionFound = true;
byte[] buffer = new byte[bufferSize];
// Receive Bytes.
int dataLengthToRead = this.stream.Read(buffer, 0, buffer.Length);
while ((dataLengthToRead != 0) && (!this.currentHistory.Contains(EncodeUtilities.messageSplitter)))
{
this.currentHistory += EncodeUtilities.DecodeData(buffer, 0, dataLengthToRead);
dataLengthToRead = this.stream.Read(buffer, 0, buffer.Length);
}
if (this.currentHistory.Contains(EncodeUtilities.messageSplitter))
{
ReactToMessage();
}
}
// Constantly check for new messages on given port.
private void ReceiveData()
{
IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0);
byte[] data;
string receiveString;
try {
// Receive Bytes.
data = this.client.Receive(ref anyIP);
if (data.Length > 0)
{
// If buffer not empty - decode it.
receiveString = EncodeUtilities.DecodeData(data);
// If string not empty and not read yet - react to it.
if (!string.IsNullOrEmpty(receiveString))
{
#if DEBUG2
DebugUtilities.UniversalDebug(this.sourceName, "Total Data found: " + receiveString, ref this.debugMessages);
#endif
this.dataMessages.Enqueue(receiveString);
this.connectionHistory.Enqueue(anyIP.Address.ToString());
if (OnReceive != null)
{
OnReceive();
}
}
}
} catch (SocketException exception) {
// SocketException.
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "SocketException: " + exception.ToString(), ref this.debugMessages);
#endif
} catch (Exception exception) {
// Exception.
#if DEBUGWARNING
DebugUtilities.UniversalWarning(this.sourceName, "Exception: " + exception.ToString(), ref this.debugMessages);
#endif
}
}
//////////////////////////////////////////////////////////////////////////////
#region RhinoOnly
#if !(UNITY_EDITOR || UNITY_ANDROID || UNITY_IOS || WINDOWS_UWP)
// Encode a Mesh.
public static MeshData EncodeMesh(Mesh _mesh)
{
MeshData meshData = new MeshData();
for (int i = 0; i < _mesh.Vertices.Count; i++)
{
meshData.vertices.Add(EncodeUtilities.EncodeLocation(_mesh.Vertices[i]));
}
for (int i = 0; i < _mesh.Faces.Count; i++)
{
if (!_mesh.Faces[i].IsQuad)
{
meshData.faces.Add(new int[] { 0, _mesh.Faces[i].A, _mesh.Faces[i].B, _mesh.Faces[i].C });
}
else
{
meshData.faces.Add(new int[] { 1, _mesh.Faces[i].A, _mesh.Faces[i].B, _mesh.Faces[i].C, _mesh.Faces[i].D });
}
}
return(meshData);
}
// - IP address
private void InterpreteIPAddress(string data)
{
string remoteIP = EncodeUtilities.InterpreteIPAddress(data);
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Remote IP: " + remoteIP);
#endif
// TODO: Add ip integrity check
// - UDP
// TODO: Should not be stored in udp sender.
UDPSendComponent udpSender = gameObject.GetComponent <UDPSendComponent>();
if (udpSender != null)
{
udpSender.remoteIP = remoteIP;
UDPReceiveComponent.flagUICommunicationStarted = true;
// Inform UI Manager.
ParameterUIMenu.instance.OnValueChanged();
}
// - TCP
TCPSendComponent tcpSender = gameObject.GetComponent <TCPSendComponent>();
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Tcp sender found. Sending mesh to: " + remoteIP);
#endif
if (tcpSender != null)
{
tcpSender.UpdateIP(remoteIP);
// byte[] environmentData = ObjectManager.instance.EnvironmentMesh();
// // Echo Environment Mesh
// if (environmentData != null) {
// tcpSender.remoteIP = remoteIP;
// tcpSender.SendMesh(environmentData);
// UDPReceiveComponent.flagEnvironmentSent = true;
// }
}
}
/// <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.
Connection connect = null;
if (!DA.GetData(0, ref connect))
{
return;
}
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
if (!UIReceiver.flagProcessed)
{
UIReceiver.flagProcessed = true;
// Send local IPAddress for device to communicate back.
byte[] bytes = EncodeUtilities.EncodeData("IPADDRESS", NetworkUtilities.LocalIPAddress(), out string currentMessage);
connect.udpSender.Send(bytes);
bool success = connect.udpSender.success;
UniversalDebug("Sent local IP.");
}
// Prepare to receive UI data.
try {
if (!connect.udpReceiver.flagDataRead)
{
connect.udpReceiver.flagDataRead = true;
UIReceiver.currentInput = connect.udpReceiver.dataMessages[connect.udpReceiver.dataMessages.Count - 1];
if (UIReceiver.lastInputs != currentInput)
{
currentInput = EncodeUtilities.StripSplitter(currentInput);
UIReceiver.lastInputs = currentInput;
UniversalDebug("New Message without Message Splitter removed: " + currentInput);
string[] messageComponents = currentInput.Split(new string[] { EncodeUtilities.headerSplitter }, 2, StringSplitOptions.RemoveEmptyEntries);
if (messageComponents.Length > 1)
{
string header = messageComponents[0], content = messageComponents[1];
UniversalDebug("Header: " + header + ", content: " + content);
if (header == "UIDATA")
{
// If any new data received - process it.
UIData data = JsonConvert.DeserializeObject <UIData>(content);
UIReceiver.currentBools = new List <bool> (data.bools);
UIReceiver.currentInts = new List <int> (data.ints);
UIReceiver.currentFloats = new List <float> (data.floats);
UniversalDebug("Data Received!");
}
else
{
UniversalDebug("Header Not Recognized!", GH_RuntimeMessageLevel.Warning);
}
}
else
{
UniversalDebug("Data not Received!", GH_RuntimeMessageLevel.Warning);
}
}
else
{
UniversalDebug("Improper Message!", GH_RuntimeMessageLevel.Warning);
}
}
else
{
UniversalDebug("No data received.");
}
} catch {
UniversalDebug("Error Processing Data.", GH_RuntimeMessageLevel.Error);
}
}
else
{
// If connection disabled - stop receiving.
UIReceiver.flagProcessed = false;
UIReceiver.lastInputs = string.Empty;
UIReceiver.currentBools = new List <bool>();
UIReceiver.currentInts = new List <int>();
UIReceiver.currentFloats = new List <float>();
UniversalDebug("Set 'Send' on true in HoloFab 'HoloConnect'", GH_RuntimeMessageLevel.Warning);
}
//////////////////////////////////////////////////////
// Output.
DA.SetDataList(0, UIReceiver.currentBools);
DA.SetDataList(1, UIReceiver.currentInts);
DA.SetDataList(2, UIReceiver.currentFloats);
#if DEBUG
DA.SetData(3, this.debugMessages[this.debugMessages.Count - 1]);
#endif
// Expire Solution.
if (connect.status)
{
GH_Document document = this.OnPingDocument();
if (document != null)
{
document.ScheduleSolution(UIReceiver.expireDelay, ScheduleCallback);
}
}
}
/// <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
}
/// <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.
List <string> inputText = new List <string>();
List <Point3d> inputTextLocations = new List <Point3d>();
List <double> inputTextSize = new List <double>();
List <Color> inputTextColor = new List <Color>();
Connection connect = null;
if (!DA.GetDataList(0, inputText))
{
return;
}
if (!DA.GetDataList(1, inputTextLocations))
{
return;
}
DA.GetDataList(2, inputTextSize);
DA.GetDataList(3, inputTextColor);
if (!DA.GetData <Connection>(4, ref connect))
{
return;
}
// Check inputs.
if (inputTextLocations.Count != inputText.Count)
{
UniversalDebug("The number of 'tag locations' and 'tag texts' should be equal.",
GH_RuntimeMessageLevel.Error);
return;
}
if ((inputTextSize.Count > 1) && (inputTextSize.Count != inputText.Count))
{
UniversalDebug("The number of 'tag text sizes' should be one or equal to one or the number of 'tag texts'.",
GH_RuntimeMessageLevel.Error);
return;
}
if ((inputTextColor.Count > 1) && (inputTextColor.Count != inputText.Count))
{
UniversalDebug("The number of 'tag text colors' should be one or equal to one or the number of 'tag texts'.",
GH_RuntimeMessageLevel.Error);
return;
}
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
List <string> currentTexts = new List <string>()
{
};
List <float[]> currentTextLocations = new List <float[]>()
{
};
List <float> currentTextSizes = new List <float>()
{
};
List <int[]> currentTextColors = new List <int[]>()
{
};
for (int i = 0; i < inputText.Count; i++)
{
float currentSize = (float)((inputTextSize.Count > 1) ? inputTextSize[i] : inputTextSize[0]);
Color currentColor = (inputTextColor.Count > 1) ? inputTextColor[i] : inputTextColor[0];
currentTexts.Add(inputText[i]);
currentTextLocations.Add(EncodeUtilities.EncodeLocation(inputTextLocations[i]));
currentTextSizes.Add((float)Math.Round(currentSize / 1000.0, 3));
currentTextColors.Add(EncodeUtilities.EncodeColor(currentColor));
}
LabelData tags = new LabelData(currentTexts, currentTextLocations, currentTextSizes, currentTextColors);
// Send tag data.
byte[] bytes = EncodeUtilities.EncodeData("HOLOTAG", tags, out string currentMessage);
if (this.flagForce || (this.lastMessage != currentMessage))
{
connect.udpSender.QueueUpData(bytes);
//bool success = connect.udpSender.flagSuccess;
//string 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
//// Expire Solution.
//if ((connect.status) && (connect.PendingMessages)) {
// GH_Document document = this.OnPingDocument();
// if (document != null)
// document.ScheduleSolution(HoloTag.expireDelay, ScheduleCallback);
//}
}
// - HoloBots
private void InterpreteHoloBots(string data)
{
ObjectManager.instance.GetComponent <RobotProcessor>().ProcessRobot(EncodeUtilities.InterpreteHoloBots(data));
}
// Functions to interprete and react to determined type of messages: // TODO: Join with UDP interpreters?
// - Mesh
private void InterpreteMesh(string data, SourceType meshSourceType)
{
ObjectManager.instance.GetComponent <MeshProcessor>().ProcessMesh(EncodeUtilities.InterpreteMesh(data), meshSourceType);
}
/// <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
}
// - Tag
private void InterpreteTag(string data)
{
ObjectManager.instance.GetComponent <TagProcessor>().ProcessTag(EncodeUtilities.InterpreteTag(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)
{
// Get inputs.
Connection connect = null;
if (!DA.GetData(0, ref connect))
{
return;
}
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
// Prepare to receive UI data.
try {
if (connect.udpReceiver.dataMessages.Count > 0)
{
UIReceiver.currentInput = connect.udpReceiver.dataMessages.Peek();
UIReceiver.currentInput = EncodeUtilities.StripSplitter(UIReceiver.currentInput);
if (UIReceiver.lastInputs != UIReceiver.currentInput)
{
UIReceiver.lastInputs = UIReceiver.currentInput;
UniversalDebug("New Message without Message Splitter removed: " + currentInput);
string[] messageComponents = UIReceiver.currentInput.Split(new string[] { EncodeUtilities.headerSplitter }, 2, StringSplitOptions.RemoveEmptyEntries);
if (messageComponents.Length > 1)
{
string header = messageComponents[0], content = messageComponents[1];
UniversalDebug("Header: " + header + ", content: " + content);
if (header == "UIDATA")
{
// If any new data received - process it.
UIData data = JsonConvert.DeserializeObject <UIData>(content);
UIReceiver.currentBools = new List <bool> (data.bools);
UIReceiver.currentInts = new List <int> (data.ints);
UIReceiver.currentFloats = new List <float> (data.floats);
UniversalDebug("Data Received!");
connect.udpReceiver.dataMessages.Dequeue(); // Actually remove from the queue since it has been processed.
}
// else
// UniversalDebug("Header Not Recognized!", GH_RuntimeMessageLevel.Warning);
}
else
{
UniversalDebug("Data not Received!", GH_RuntimeMessageLevel.Warning);
}
}
else
{
UniversalDebug("Improper Message!", GH_RuntimeMessageLevel.Warning);
}
}
else
{
UniversalDebug("No data received.");
}
} catch {
UniversalDebug("Error Processing Data.", GH_RuntimeMessageLevel.Error);
}
}
else
{
// If connection disabled - reset memoty.
UIReceiver.lastInputs = string.Empty;
UIReceiver.currentBools = new List <bool>();
UIReceiver.currentInts = new List <int>();
UIReceiver.currentFloats = new List <float>();
UniversalDebug("Set 'Send' on true in HoloFab 'HoloConnect'", GH_RuntimeMessageLevel.Warning);
}
//////////////////////////////////////////////////////
// Output.
DA.SetDataList(0, UIReceiver.currentBools);
DA.SetDataList(1, UIReceiver.currentInts);
DA.SetDataList(2, UIReceiver.currentFloats);
#if DEBUG
DA.SetData(3, this.debugMessages[this.debugMessages.Count - 1]);
#endif
//// Expire Solution.
//if (connect.status) {
// GH_Document document = this.OnPingDocument();
// if (document != null)
// document.ScheduleSolution(UIReceiver.expireDelay, ScheduleCallback);
//}
}
/// <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.
List <RobotData> inputRobots = new List <RobotData>();
GH_Structure <GH_Number> inputAxisAngles = new GH_Structure <GH_Number> {
};
Connection connect = null;
if (!DA.GetDataList(0, inputRobots))
{
return;
}
if (!DA.GetDataTree(1, out inputAxisAngles))
{
return;
}
if (!DA.GetData(2, ref connect))
{
return;
}
// Check inputs.
if ((inputAxisAngles.Paths.Count > 1) && (inputAxisAngles.Paths.Count != inputRobots.Count))
{
UniversalDebug("The number of Branches of Axis Angles should be one or equal to the number of HoloBot objects.",
GH_RuntimeMessageLevel.Error);
return;
}
// if (inputAxisAngles.Count != 6) {
// Positioner.debugMessages.Add("Component: Controller: The number of Axis should be equal to the number of Robot Joints.");
// return;
// }
//////////////////////////////////////////////////////
// Process data.
if (connect.status)
{
// If connection open start acting.
UniversalDebug("Robots Found: " + inputRobots.Count + ", Axis Count, " + inputAxisAngles.Paths.Count);
List <RobotControllerData> robotControllers = new List <RobotControllerData>();
for (int i = 0; i < inputRobots.Count; i++)
{
List <double> currentRobotAxisValues = new List <double> {
};
int index = (inputAxisAngles.Paths.Count > 1) ? i : 0;
Console.WriteLine(index);
double currentValue;
for (int j = 0; j < inputAxisAngles[index].Count; j++)
{
currentValue = (double)inputAxisAngles[index][j].Value;
currentRobotAxisValues.Add(currentValue * (180.0 / Math.PI));
}
robotControllers.Add(new RobotControllerData(inputRobots[i].robotID, currentRobotAxisValues));
}
// Send robot controller data.
byte[] bytes = EncodeUtilities.EncodeData("CONTROLLER", robotControllers, out string currentMessage);
if (this.lastMessage != currentMessage)
{
connect.udpSender.Send(bytes);
bool success = connect.udpSender.success;
string 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
}
