/// <summary>
/// Begin querying for found objects.
/// </summary>
/// <param name="filter">Filter to use for this query.</param>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginObjectQueryAsync(Query.Filter filter, QueryResultsDelegate callback)
{
try
{
if (!MagicLeapNativeBindings.MLHandleIsValid(_instance.handle))
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed to request found objects. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
NativeBindings.QueryFilterNative nativeQueryFilter = new NativeBindings.QueryFilterNative();
nativeQueryFilter.Data = filter;
MLResult.Code resultCode = NativeBindings.MLFoundObjectQuery(_instance.handle, ref nativeQueryFilter, out ulong queryHandle);
MLResult result = MLResult.Create(resultCode);
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLFoundObjects.BeginObjectQuery failed to request objects. Reason: {0}", resultCode);
return(result);
}
// Add query to the list of pendingQueries.
Query query = Query.Create(callback, filter);
MLFoundObjects._instance.pendingQueries.TryAdd(queryHandle, query);
return(result);
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Begin querying for found objects.
/// </summary>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginObjectQuery(QueryResultsDelegate callback)
{
try
{
if (!MagicLeapNativeBindings.MLHandleIsValid(_instance.tracker))
{
MLPluginLog.Error("MLFoundObject.BeginObjectQuery failed to request found objects. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
NativeBindings.QueryFilterNative queryFilter = new NativeBindings.QueryFilterNative();
MLResult.Code resultCode = NativeBindings.MLFoundObjectQuery(_instance.tracker, ref queryFilter, out ulong queryHandle);
MLResult result = MLResult.Create(resultCode);
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLFoundObject.BeginObjectQuery failed to request objects. Reason: {0}", resultCode);
return(result);
}
// Create query object to prepresent this newly registered found object query.
NativeBindings.Query query = new NativeBindings.Query(callback, queryFilter, result);
MLFoundObjects._instance.pendingQueries.Add(queryHandle, query);
return(result);
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Request the list of detected found objects.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="queryFilter">Filter used to customize query results.</param>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result inside callback will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result inside callback will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result inside callback will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetObjectsAsync(Query.Filter queryFilter, QueryResultsDelegate callback)
{
if (MLFoundObjects.IsValidInstance())
{
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLFoundObjects.GetObjects failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
MLThreadDispatch.ScheduleWork(() =>
{
_instance.BeginObjectQueryAsync(queryFilter, callback);
return(true);
});
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetObjects failed. Reason: No Instance for MLFoundObjects");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.GetFoundObjects failed. Reason: No Instance for MLFoundObjects"));
}
}
/// <summary>
/// Begin querying for planes.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</param>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginPlaneQuery(QueryParams queryParams, QueryResultsDelegate callback)
{
if (!NativeBindings.MLHandleIsValid(this.planesTracker))
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed to request planes. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
// Convert to native plane query parameters.
NativeBindings.QueryParamsNative planeQuery = NativeBindings.QueryParamsNative.Create();
planeQuery.Data = queryParams;
// Register the query with the native library and store native handle.
ulong handle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLPlanesQueryBegin(this.planesTracker, ref planeQuery, ref handle);
if (resultCode != MLResult.Code.Ok)
{
MLResult result = MLResult.Create(resultCode);
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to request planes. Reason: {0}", result);
return(result);
}
// Create query object to prepresent this newly registered plane query.
NativeBindings.Query query = new NativeBindings.Query((QueryResultsDelegate)callback, planeQuery.MaxResults, this.IsRequestingBoundaries(planeQuery.Flags));
this.pendingQueries.Add(handle, query);
return(MLResult.Create(MLResult.Code.Ok));
}
/// <summary>
/// Initializes a FoundObjects.Query class with the given values.
/// </summary>
/// <param name="callback">The callback that should be invoked.</param>
/// <param name="queryFilter">The filter applied to the query.</param>
/// <returns>A FoundObjects.Query class with the given values.</returns>
public static Query Create(QueryResultsDelegate callback, Filter queryFilter)
{
Query q = new Query();
q.Callback = callback;
q.QueryFilter = queryFilter;
return(q);
}
/// <summary>
/// Request the list of detected found objects.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetObjects(QueryResultsDelegate callback)
{
if (MLFoundObjects.IsValidInstance())
{
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLFoundObject.GetObjects failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
return(_instance.BeginObjectQuery(callback));
}
else
{
MLPluginLog.ErrorFormat("MLFoundObject.GetObjects failed. Reason: No Instance for MLFoundObject");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObject.GetFoundObjects failed. Reason: No Instance for MLFoundObject"));
}
}
/// <summary>
/// Request real world quad surfaces.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</param>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetPlanes(QueryParams queryParams, QueryResultsDelegate callback)
{
Instance.ValidateQueryParams(ref queryParams);
// Planes can't have MinHoleLength less than 0.0.
queryParams.MinHoleLength = Mathf.Clamp(queryParams.MinHoleLength, 0.0f, queryParams.MinHoleLength);
// Planes can't have MinPlaneArea less than 0.04.
queryParams.MinPlaneArea = Mathf.Clamp(queryParams.MinPlaneArea, 0.04f, queryParams.MinPlaneArea);
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLPlanes.GetPlanes failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
return(Instance.BeginPlaneQuery(queryParams, callback));
}
/// <summary>
/// Request real world quad surfaces.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</param>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetPlanes(QueryParams queryParams, QueryResultsDelegate callback)
{
if (MLPlanes.IsValidInstance())
{
_instance.ValidateQueryParams(ref queryParams);
// Required flag by the CAPI, has to be set or errors will occur.
queryParams.Flags |= QueryFlags.Polygons;
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLPlanes.GetPlanes failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
return(_instance.BeginPlaneQuery(queryParams, callback));
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.GetPlanes failed. Reason: No Instance for MLPlanes");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPlanes.GetPlanes failed. Reason: No Instance for MLPlanes"));
}
}
/// <summary>
/// Begin querying for planes.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</param>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginPlaneQuery(QueryParams queryParams, QueryResultsDelegate callback)
{
try
{
if (!NativeBindings.MLHandleIsValid(_instance.planesTracker))
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed to request planes. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
bool BeginQuery()
{
if (MLPlanes.IsValidInstance())
{
NativeBindings.QueryParamsNative planeQuery = new NativeBindings.QueryParamsNative()
{
Data = queryParams
};
ulong queryHandle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLPlanesQueryBegin(_instance.planesTracker, ref planeQuery, ref queryHandle);
if (resultCode != MLResult.Code.Ok)
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to request planes. Reason: {0}", MLResult.CodeToString(resultCode));
return(true);
}
// Create query object to prepresent this newly registered plane query.
NativeBindings.Query query = new NativeBindings.Query((QueryResultsDelegate)callback, planeQuery.MaxResults, _instance.IsRequestingBoundaries(planeQuery.Flags));
bool GetPlanesResults()
{
if (MLPlanes.IsValidInstance())
{
// Request the update.
resultCode = NativeBindings.MLPlanesQueryGetResultsWithBoundaries(_instance.planesTracker, queryHandle, query.PlanesResultsUnmanaged, out uint numResults, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Pending)
{
return(false);
}
if (resultCode == MLResult.Code.Ok)
{
query.ExtractPlanesFromQueryResults(numResults);
resultCode = NativeBindings.MLPlanesReleaseBoundariesList(_instance.planesTracker, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Ok)
{
query.Result = MLResult.Create(resultCode);
if (query.Planes == null)
{
query.Planes = new Plane[] { };
}
if (query.PlaneBoundaries == null)
{
query.PlaneBoundaries = new Boundaries[] { };
}
MLThreadDispatch.ScheduleMain(() =>
{
if (MLPlanes.IsValidInstance())
{
callback(query.Result, query.Planes, query.PlaneBoundaries);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
});
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to release boundaries list. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to query planes. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(GetPlanesResults);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(BeginQuery);
return(MLResult.Create(MLResult.Code.Ok));
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Query"/> struct.
/// </summary>
/// <param name="callback">The callback that should be invoked.</param>
/// <param name="queryFilter">The filter applied to the query.</param>
/// <param name="result">The result of the query.</param>
public Query(QueryResultsDelegate callback, NativeBindings.QueryFilterNative queryFilter, MLResult result)
{
this.Callback = callback;
this.QueryFilter = queryFilter;
this.Result = result;
}
