public void onAdjustParam()
{
if (obj == null || !obj.gameObject.activeSelf)
{
return;
}
if (type == 1)
{
if (hightlightTog)
{
obj.GetComponent <pointCloud> ().ChangeColor(hightColor, highlightMin, highlightMax, filterType);
}
else
{
//obj.GetComponent<pointCloud> ().ChangeColor (getColorFromUI(), -1, 99999, 0);
}
if (scaleTog)
{
obj.GetComponent <pointCloud> ().ChangeScale(scaleVal);
}
else
{
//obj.GetComponent<pointCloud> ().ChangeScale (100);
}
}
if (type == 2)
{
List <KeyFrameC> kfList = CppInterface.GetKFList(id);
if (hightlightTog)
{
obj.GetComponent <KFListObj> ().ChangeColors(hightColor, highlightMin, highlightMax, filterType);
}
else
{
//obj.GetComponent<KFListObj> ().ChangeColors (getColorFromUI() , -1, 99999, filterType);
}
obj.GetComponent <KFListObj> ().ShowTraj(lineModeTog, lineColor);
if (connectLineTog)
{
obj.GetComponent <KFListObj> ().ClearKFConnection();
for (int i = 0; i < kfList.Count; i++)
{
ShowKFConnect(i);
}
}
else
{
obj.GetComponent <KFListObj> ().ClearKFConnection();
}
if (scaleTog)
{
obj.GetComponent <KFListObj> ().changeScale(scaleVal);
}
else
{
//obj.GetComponent<KFListObj> ().changeScale (100);
}
}
}
public CsInterface(CppInterface cppInterface, string name) : base(cppInterface, name)
{
var tag = cppInterface?.Rule;
IsCallback = tag?.IsCallbackInterface ?? IsCallback;
IsDualCallback = tag?.IsDualCallbackInterface ?? IsDualCallback;
AutoGenerateShadow = tag?.AutoGenerateShadow ?? AutoGenerateShadow;
AutoGenerateVtbl = tag?.AutoGenerateVtbl ?? AutoGenerateVtbl;
StaticShadowVtbl = tag?.StaticShadowVtbl ?? StaticShadowVtbl;
ShadowVisibility = tag?.ShadowVisibility ?? ShadowVisibility;
VtblVisibility = tag?.VtblVisibility ?? VtblVisibility;
if (tag?.ShadowName != null)
{
ShadowName = tag.ShadowName;
}
if (tag?.VtblName != null)
{
VtblName = tag.VtblName;
}
if (cppInterface is null)
{
return;
}
Guid = FindGuid(cppInterface);
}
//data file related
public void onReadFileBtn()
{
int channelId = Int32.Parse(curChennel.text);
int count = CppInterface.ReadSingleData(FileAddrUI, FileTypeUI, channelId);
if (count > 0)
{
ChannelInfoRaw channelItem = new ChannelInfoRaw();
channelItem.type = FileTypeUI;
channelItem.id = channelId;
channelItem.count = count;
ChannelInfo uiItem = addListUI(channelItem);
uiItem.showTog.isOn = true;
if (FileTypeUI == 1) //mp
{
}
if (FileTypeUI == 2) //kf
{
}
if (FileTypeUI == 3) //road
{
}
if (FileTypeUI == 4) //features
{
}
if (FileTypeUI == 5) //images
{
}
}
}
public CsInterface(CppInterface cppInterface, string name) : base(cppInterface, name)
{
if (cppInterface == null)
{
return;
}
var tag = cppInterface.Rule;
IsCallback = tag.IsCallbackInterface ?? IsCallback;
IsDualCallback = tag.IsDualCallbackInterface ?? IsDualCallback;
AutoGenerateShadow = tag.AutoGenerateShadow ?? AutoGenerateShadow;
AutoGenerateVtbl = tag.AutoGenerateVtbl ?? AutoGenerateVtbl;
StaticShadowVtbl = tag.StaticShadowVtbl ?? StaticShadowVtbl;
ShadowVisibility = tag.ShadowVisibility ?? ShadowVisibility;
VtblVisibility = tag.VtblVisibility ?? VtblVisibility;
AutoDisposePersistentProperties = tag.AutoDisposePersistentProperties ?? AutoDisposePersistentProperties;
if (tag.ShadowName != null)
{
ShadowName = tag.ShadowName;
}
if (tag.VtblName != null)
{
VtblName = tag.VtblName;
}
Guid = FindGuid(cppInterface);
}
public void updateFrameDisplay(ChannelInfo img, ChannelInfo Feature)
{
List <Mat> imgList = CppInterface.GetIMList(img.id);
Mat colorMat = new Mat();
Imgproc.cvtColor(imgList[0], colorMat, Imgproc.COLOR_GRAY2RGB);
if (Feature != null)
{
List <FeaturesCpp> featureList = CppInterface.GetFPList(Feature.id);
for (int i = 0; i < featureList.Count; i++)
{
FeaturesCpp info = featureList [i];
Imgproc.circle(colorMat, new Point(info.u, info.v), info.r / 2, new Scalar(info.red, info.green, 0), 2);
if (info.lastU > 10)
{
Imgproc.line(colorMat, new Point(info.u, info.v), new Point(info.lastU, info.lastV), new Scalar(255, 0, 255), 2);
}
}
}
RectTransform sizeSetting = FrameDisplay.GetComponent <RectTransform> ();
float winH = colorMat.rows();
float winW = colorMat.cols();
if (winH > 600)
{
winW = winW * 600f / winH;
winH = 600;
}
sizeSetting.sizeDelta = new Vector2(winW, winH);
Texture2D texture = new Texture2D(colorMat.cols(), colorMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(colorMat, texture);
FrameDisplay.GetComponent <RawImage> ().texture = texture;
}
public void PointerSizeReturnValueNotLarge()
{
var config = new ConfigFile
{
Id = nameof(PointerSizeReturnValueNotLarge),
Namespace = nameof(PointerSizeReturnValueNotLarge),
Includes =
{
new IncludeRule
{
File = "pointerSize.h",
Attach = true,
Namespace = nameof(PointerSizeReturnValueNotLarge)
}
},
Extension =
{
new DefineExtensionRule
{
Struct = "SharpGen.Runtime.PointerSize",
SizeOf = 8,
IsNativePrimitive = true,
}
},
Bindings =
{
new BindRule("int", "SharpGen.Runtime.PointerSize")
}
};
var iface = new CppInterface("Interface");
iface.Add(new CppMethod("method")
{
ReturnValue = new CppReturnValue
{
TypeName = "int"
}
});
var include = new CppInclude("pointerSize");
include.Add(iface);
var module = new CppModule("SharpGenTestModule");
module.Add(include);
var(solution, _) = MapModel(module, config);
Assert.Single(solution.EnumerateDescendants <CsInterface>());
var csIface = solution.EnumerateDescendants <CsInterface>().First();
Assert.Single(csIface.Methods);
var method = csIface.Methods.First();
Assert.False(method.IsReturnStructLarge);
}
public void dealWithResult()
{
if (AlgoTypeUI == 1) //slam
{
updateListUI();
List <ChannelInfoRaw> tempList = CppInterface.GetChannelInfo(2);
//int lastChannelId = tempList [tempList.Count - 1].id;
if (showFrameUI.isOn)
{
ChannelInfo img = ChannelInfo.getChannel(5, 0);
ChannelInfo feature = ChannelInfo.getChannel(4, 0);
if (img != null && feature != null)
{
updateFrameDisplay(img, feature);
}
}
// ChannelInfo item1 = ChannelInfo.getChannel (1, 0);
// if (item1!=null) {
// item1.showTog.isOn = true;
// }
ChannelInfo item2 = ChannelInfo.getChannel(2, 0);
if (item2 != null)
{
item2.showTog.isOn = true;
}
}
if (AlgoTypeUI == 2) //gpe
{
updateListUI();
ChannelInfo item1 = ChannelInfo.getChannel(3, 0);
if (item1 != null)
{
item1.showTog.isOn = true;
}
}
if (AlgoTypeUI == 3) //server
{
updateListUI();
ChannelInfo item1 = ChannelInfo.getChannel(1, 2);
if (item1 != null)
{
item1.showTog.isOn = true;
}
ChannelInfo item2 = ChannelInfo.getChannel(2, 2);
if (item2 != null)
{
item2.showTog.isOn = true;
}
}
if (AlgoTypeUI == 4) //TSL
{
updateListUI();
ChannelInfo item1 = ChannelInfo.getChannel(6, 0);
if (item1 != null)
{
item1.showTog.isOn = true;
}
}
}
public CsInterface(CppInterface cppInterface)
{
CppElement = cppInterface;
if (cppInterface != null)
{
Guid = cppInterface.Guid;
}
}
public void Simple()
{
var config = new ConfigFile
{
Id = nameof(Simple),
Namespace = nameof(Simple),
Includes =
{
new IncludeRule
{
File = "interface.h",
Attach = true,
Namespace = nameof(Simple)
}
},
Bindings =
{
new BindRule("int", "System.Int32")
}
};
var iface = new CppInterface("Interface")
{
TotalMethodCount = 1
};
iface.Add(new CppMethod("method")
{
ReturnValue = new CppReturnValue
{
TypeName = "int"
}
});
var include = new CppInclude("interface");
include.Add(iface);
var module = new CppModule("SharpGenTestModule");
module.Add(include);
var(solution, _) = MapModel(module, config);
Assert.Single(solution.EnumerateDescendants().OfType <CsInterface>());
var csIface = solution.EnumerateDescendants().OfType <CsInterface>().First();
Assert.Single(csIface.Methods);
var method = csIface.Methods.First();
Assert.Equal(0, method.Offset);
Assert.IsType <CsFundamentalType>(method.ReturnValue.PublicType);
Assert.Equal(TypeRegistry.Int32, method.ReturnValue.PublicType);
}
public void onReadResultBtn()
{
int re = CppInterface.ReadAllData(FileAddrUI);
if (re > 0)
{
dealWithResult();
}
}
public void DualCallbackFlowsNativeImplementation()
{
var config = new ConfigFile
{
Id = nameof(Simple),
Namespace = nameof(Simple),
Includes =
{
new IncludeRule
{
File = "interface.h",
Attach = true,
Namespace = nameof(Simple)
}
},
Bindings =
{
new BindRule("int", "System.Int32")
},
Mappings =
{
new MappingRule
{
Interface = "Interface",
IsCallbackInterface = true,
IsDualCallbackInterface = true
}
}
};
var iface = new CppInterface("Interface")
{
TotalMethodCount = 1
};
iface.Add(new CppMethod("method")
{
ReturnValue = new CppReturnValue
{
TypeName = "int"
}
});
var include = new CppInclude("interface");
include.Add(iface);
var module = new CppModule("SharpGenTestModule");
module.Add(include);
var(_, defines) = GetConsumerBindings(module, config);
var interfaceDefine = defines.First(define => define.Interface == "Simple.Interface");
Assert.Equal("Simple.InterfaceNative", interfaceDefine.NativeImplementation);
}
public CsInterface(CppInterface cppInterface)
{
CppElement = cppInterface;
if (cppInterface != null)
{
Guid = cppInterface.Guid;
}
NativeImplem = this;
}
public void RemoveParentDoesNotRemoveAllParents()
{
var config = new Config.ConfigFile
{
Id = nameof(RemoveParentDoesNotRemoveAllParents),
Assembly = nameof(RemoveParentDoesNotRemoveAllParents),
Namespace = nameof(RemoveParentDoesNotRemoveAllParents),
Includes =
{
new Config.IncludeRule
{
Attach = true,
File = "cppEnum.h",
Namespace = nameof(RemoveParentDoesNotRemoveAllParents)
}
},
Mappings =
{
new Config.RemoveRule
{
Method = @"#.*ToRemove"
}
}
};
var cppModel = new CppModule();
var cppInclude = new CppInclude
{
Name = "cppEnum"
};
var cppIface = new CppInterface
{
Name = "TestInterface"
};
cppInclude.Add(cppIface);
var cppMethod = new CppMethod
{
Name = "Method"
};
cppMethod.Add(new CppParameter
{
Name = "ParamToRemove"
});
cppModel.Add(cppInclude);
var(solution, _) = MapModel(cppModel, config);
var members = solution.EnumerateDescendants();
Assert.NotEmpty(members.OfType <CsInterface>());
Assert.Empty(members.OfType <CsParameter>());
}
IEnumerator UpdateNumber()
{
while (true)
{
lbl_fps[0].text = number.ToString();
number = CppInterface.Add(number, 1);
yield return(new WaitForSeconds(0.1f));
}
}
public void updateListUI()
{
onClearSceneBtn();
List <ChannelInfoRaw> tempList = CppInterface.GetAllChannelInfo();
for (int i = 0; i < tempList.Count; i++)
{
ChannelInfo.create(tempList[i]);
}
}
public override bool VisitCppInterface(CppInterface cppInterface)
{
Declaration unitDecl;
cppElementToDeclarationMapping.TryGetValue(cppInterface.ParentInclude, out unitDecl);
TranslationUnit unit = unitDecl != null ? unitDecl as TranslationUnit : FindDeclParent <TranslationUnit>(cppInterface.ParentInclude);
Namespace @namespace = null;
Class @interface = null;
// Check if we have an namespace
if (!string.IsNullOrEmpty(cppInterface.Namespace))
{
@namespace = unit.FindCreateNamespace(cppInterface.Namespace.TrimStart(':'));
@interface = @namespace.FindClass(cppInterface.Name, true, true);
}
else
{
@interface = unit.FindClass(cppInterface.Name, true, true);
}
@interface.Type = ClassType.Interface;
// Check if we have an base class
if (!string.IsNullOrEmpty(cppInterface.ParentName))
{
Class baseClass = null;
if (@namespace != null)
{
baseClass = @namespace.FindClass(cppInterface.ParentName, true, true);
}
else
{
baseClass = unit.FindClass(cppInterface.ParentName, true, true);
}
// Set type of base class
baseClass.Type = baseClass.Name.StartsWith("I") ? ClassType.Interface : ClassType.ValueType;
// Add type tag
@interface.Bases.Add(new BaseClassSpecifier
{
Access = AccessSpecifier.Public,
Type = new TagType(baseClass)
});
}
cppElementToDeclarationMapping.Add(cppInterface, @interface);
return(base.VisitCppInterface(cppInterface));
}
private static string FindGuid(CppInterface cppInterface)
{
if (!string.IsNullOrEmpty(cppInterface.Guid))
{
return(cppInterface.Guid);
}
// If Guid is null we try to recover it from a declared GUID
var finder = new CppElementFinder(cppInterface.ParentInclude);
var cppGuid = finder.Find <CppGuid>("IID_" + cppInterface.Name).FirstOrDefault();
return(cppGuid != null
? cppGuid.Guid.ToString()
: cppInterface.Guid);
}
void Start()
{
MaxStepUI = 0;
NextStepUI = -1;
AlgoTypeUI = 1;
FileTypeUI = 1;
commonObj.Init();
commonObj.mMainUI = this;
curChennel = transform.FindChild("Panel/ChannelId").GetComponent <InputField>();
curChennel.text = "0";
CppInterface.NewViewHandle();
util.ReadHistory(out inputBoxHistory, out lastOpenHistory);
util.ReadSetting(out uiSetting);
mainPanel = transform.FindChild("Panel");
updateListUI();
commonObj.prefabFileBrower = prefabBrowser;
listUI = GameObject.Find("Canvas/Panel/ListRoot/ScrollView/List");
commonObj.listRoot = listUI.transform;
runBtn = GameObject.Find("Canvas/Panel/RunBtn").GetComponent <Button>();
stopBtn = GameObject.Find("Canvas/Panel/Stop").GetComponent <Button>();
reloadBtn = GameObject.Find("Canvas/Panel/Reload").GetComponent <Button>();
clearLogBtn = GameObject.Find("Canvas/Panel/ClearLog").GetComponent <Button>();
debugLogUI = GameObject.Find("Canvas/DebugLog").GetComponent <Text>();
//GameObject.Find ("Canvas/DebugLog").SetActive (false);
showFrameUI = GameObject.Find("Canvas/Panel/HideFrame").GetComponent <Toggle>();
showLogUI = GameObject.Find("Canvas/Panel/ShowLog").GetComponent <Toggle>();
GScaleUI = GameObject.Find("Canvas/Panel/GScale").GetComponent <InputField>();
if (uiSetting.ContainsKey("GScale"))
{
string gscaleStr = uiSetting ["GScale"];
onChangeGScale(gscaleStr);
GScaleUI.text = gscaleStr;
}
//debugLogUI.color = new Color (255, 0, 0, 255);
runBtn.interactable = true;
curState = UIState.idle;
updateCurTime = 0;
requestPause = false;
commonObj.goundGird = groundGird.create();
commonObj.goundGird.gameObject.SetActive(true);
camModel.generateMesh();
}
public override void Init()
{
javaDev = new AndroidJavaClass("com.example.hyz.devlib.Device");
classId = javaDev.GetRawClass();
//DevInit();
RtnStrDelegate cbvn = GetVersionName;
IntPtr cbvn_ptr = Marshal.GetFunctionPointerForDelegate(cbvn);
CppInterface.SetVersionNamePtr(cbvn_ptr);
RtnIntDelegate cbvc = GetVersionCode;
IntPtr cbvc_ptr = Marshal.GetFunctionPointerForDelegate(cbvc);
CppInterface.SetVersionCodePtr(cbvc_ptr);
RtnStrDelegate cban = GetAppName;
IntPtr cban_ptr = Marshal.GetFunctionPointerForDelegate(cban);
CppInterface.SetAppNamePtr(cban_ptr);
}
public void onRunBtn()
{
CppInterface.NewViewHandle();
if (AlgoTypeUI == 1)
{
CppInterface.SetParam(0, Params[0]);
CppInterface.SetParam(1, Params[1]);
CppInterface.SetParam(2, Params[2]);
CppInterface.SetParam(3, Params[3]);
FileAddrUI = Params [3];
}
if (AlgoTypeUI == 2)
{
}
if (AlgoTypeUI == 3)
{
CppInterface.SetParam(0, Params[0]);
CppInterface.SetParam(1, Params[1]);
}
oThread = new Thread(RunThread);
oThread.Start();
}
public void NativePrimitiveTypeNotLarge()
{
var config = new ConfigFile
{
Id = nameof(NativePrimitiveTypeNotLarge),
Namespace = nameof(NativePrimitiveTypeNotLarge),
Includes =
{
new IncludeRule
{
File = "pointerSize.h",
Attach = true,
Namespace = nameof(NativePrimitiveTypeNotLarge)
}
},
Extension =
{
new DefineExtensionRule
{
Struct = "NativePrimitiveType",
SizeOf = 16,
IsNativePrimitive = true,
}
},
Bindings =
{
new BindRule("NativePrimitive", "NativePrimitiveType")
}
};
var iface = new CppInterface
{
Name = "Interface",
TotalMethodCount = 1
};
iface.Add(new CppMethod
{
Name = "method",
ReturnValue = new CppReturnValue
{
TypeName = "NativePrimitive"
}
});
var include = new CppInclude
{
Name = "pointerSize"
};
include.Add(iface);
var module = new CppModule();
module.Add(include);
var(solution, _) = MapModel(module, config);
Assert.Single(solution.EnumerateDescendants().OfType <CsInterface>());
var csIface = solution.EnumerateDescendants().OfType <CsInterface>().First();
Assert.Single(csIface.Methods);
var method = csIface.Methods.First();
Assert.False(method.IsReturnStructLarge);
Assert.False(Logger.HasErrors);
}
public void onSaveListBtn()
{
CppInterface.SaveList(FileTypeUI, Int32.Parse(curChennel.text), FileAddrUI);
}
public void onSaveResultBtn()
{
CppInterface.SaveResult(FileAddrUI);
}
public void ShowObj(bool val, int scale = 100)
{
if (menuObj == null && val == true)
{
initMenu();
}
if (obj == null && val == true)
{
if (type == 1)
{
obj = pointCloud.create(CppInterface.GetMPList(id));
}
if (type == 2)
{
obj = KFListObj.create(CppInterface.GetKFList(id), ListId).transform;
}
if (type == 3)
{
RdSegData = CppInterface.GetRSList(id);
if (showCount > RdSegData.Count || showCount <= 0)
{
showCount = RdSegData.Count;
}
obj = RoadMesh.create(RdSegData.GetRange(0, showCount)).transform;
}
if (type == 5)
{
ChannelInfo img = ChannelInfo.getChannel(5, id);
ChannelInfo feature = ChannelInfo.getChannel(4, id);
if (img != null)
{
commonObj.mMainUI.updateFrameDisplay(img, feature);
}
}
if (type == 6)
{
List <TraficSign> tmp = CppInterface.GetTSList(id);
if (showCount >= 0 && showCount < tmp.Count)
{
tmp.RemoveRange(showCount, tmp.Count - showCount);
}
obj = TraficSignMesh.create(tmp).transform;
}
if (type == 7)
{
List <ActMapPoint> tmp = CppInterface.GetAMPList(id);
obj = ActMPMesh.create(tmp);
}
}
if (obj != null)
{
obj.gameObject.SetActive(val);
if (val)
{
transform.Find("Text").GetComponent <Text> ().color = getColorFromUI();
}
else
{
transform.Find("Text").GetComponent <Text> ().color = new Color32(0, 0, 0, 255);
}
}
}
public void DefineWithNativeImplementationDefinesNativeImplementationType()
{
var config = new ConfigFile
{
Id = nameof(Simple),
Namespace = nameof(Simple),
Includes =
{
new IncludeRule
{
File = "interface.h",
Attach = true,
Namespace = nameof(Simple)
}
},
Extension =
{
new DefineExtensionRule
{
Interface = "Imported.Param",
NativeImplementation = "Imported.ParamNative"
}
},
Bindings =
{
new BindRule("int", "System.Int32"),
new BindRule("Param", "Imported.Param")
}
};
var iface = new CppInterface
{
Name = "Interface",
TotalMethodCount = 1
};
var method = new CppMethod
{
Name = "method",
ReturnValue = new CppReturnValue
{
TypeName = "int"
}
};
method.Add(new CppParameter
{
Name = "param",
TypeName = "Param",
Pointer = "*"
});
iface.Add(method);
var include = new CppInclude
{
Name = "interface"
};
include.Add(iface);
var module = new CppModule();
module.Add(include);
var(solution, _) = MapModel(module, config);
Assert.Single(solution.EnumerateDescendants().OfType <CsParameter>());
var param = solution.EnumerateDescendants().OfType <CsParameter>().First();
Assert.IsType <CsInterface>(param.PublicType);
Assert.NotNull(((CsInterface)param.PublicType).NativeImplementation);
Assert.False(Logger.HasErrors);
}
private static async Task DocumentInterface(this IDocProvider docProvider, DocItemCache cache, CppInterface cppInterface)
{
await Task.WhenAll(
cppInterface.Methods
.Select(func => docProvider.DocumentCallable(cache, func, name: cppInterface.Name + "::" + func.Name))
.Concat(new[] { docProvider.DocumentElement(cache, cppInterface, documentInnerElements: false) }));
}
void RegisterDebugCallback()
{
DebugDelegate cb = CallBackFunction;
IntPtr intptr_delegate = Marshal.GetFunctionPointerForDelegate(cb);
CppInterface.SetDebugFuncPtr(intptr_delegate);
}
public void PointerSizeReturnValueNotLarge()
{
var config = new Config.ConfigFile
{
Id = nameof(PointerSizeReturnValueNotLarge),
Assembly = nameof(PointerSizeReturnValueNotLarge),
Namespace = nameof(PointerSizeReturnValueNotLarge),
Includes =
{
new Config.IncludeRule
{
File = "pointerSize.h",
Attach = true,
Namespace = nameof(PointerSizeReturnValueNotLarge)
}
},
Extension =
{
new DefineExtensionRule
{
Struct = "SharpGen.Runtime.PointerSize",
SizeOf = 8,
}
},
Bindings =
{
new Config.BindRule("int", "SharpGen.Runtime.PointerSize")
}
};
var iface = new CppInterface
{
Name = "Interface",
TotalMethodCount = 1
};
iface.Add(new CppMethod
{
Name = "method",
ReturnValue = new CppReturnValue
{
TypeName = "int"
}
});
var include = new CppInclude
{
Name = "pointerSize"
};
include.Add(iface);
var module = new CppModule();
module.Add(include);
var(solution, _) = MapModel(module, config);
Assert.Single(solution.EnumerateDescendants().OfType <CsInterface>());
var csIface = solution.EnumerateDescendants().OfType <CsInterface>().First();
Assert.Single(csIface.Methods);
var method = csIface.Methods.First();
Assert.False(method.IsReturnStructLarge);
}
void RunThread()
{
curState = UIState.running;
CppInterface.InitAlgo(AlgoTypeUI);
curState = UIState.idle;
}
