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b/Assets/RosSharp/Scripts/Extensions.meta @@ -2,7 +2,7 @@ fileFormatVersion: 2 guid: 045b15a6f0f414046a6a93175b5d9340 folderAsset: yes timeCreated: 1518168052 -licenseType: Store +licenseType: Pro DefaultImporter: externalObjects: {} userData: diff --git a/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs b/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs index 95c8012..dcb01fb 100644 --- a/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs +++ b/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs @@ -1,6 +1,6 @@ /* © Siemens AG, 2017-2019 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) +Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. @@ -13,29 +13,14 @@ You may obtain a copy of the License at limitations under the License. */ -// Adding Timestamp switching -// Shimadzu corp , 2019, Akira NODA (a-noda@shimadzu.co.jp / you.akira.noda@gmail.com) - -using UnityEngine; namespace RosSharp.RosBridgeClient { public static class HeaderExtensions { - private static Timer timer = null; - private static Timer defaultTimer = null; - public static Timer Timer { set { timer = value; } } - static HeaderExtensions() - { - timer = defaultTimer; - } + private static Timer timer = new Timer(); - public static void Update(this Messages.Standard.Header header) + public static void Update(this MessageTypes.Std.Header header) { - if (timer == null) - { - GameObject obj = new GameObject("DefaultTimer(UnityEpoch)"); - timer=defaultTimer=obj.AddComponent(); - } header.seq++; header.stamp = timer.Now(); } diff --git a/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs.meta b/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs.meta index d5cc64d..39b6b06 100644 --- a/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs.meta +++ b/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: df2854126074ef541869eb5a4420910c timeCreated: 1516375370 -licenseType: Store +licenseType: Pro MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/Extensions/TransformExtensions.cs.meta b/Assets/RosSharp/Scripts/Extensions/TransformExtensions.cs.meta index c12cf2d..6e823e9 100644 --- a/Assets/RosSharp/Scripts/Extensions/TransformExtensions.cs.meta +++ b/Assets/RosSharp/Scripts/Extensions/TransformExtensions.cs.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: ac60f49b03340044085c24fcb9875c4c timeCreated: 1507114469 -licenseType: Store +licenseType: Pro MonoImporter: serializedVersion: 2 defaultReferences: [] diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs deleted file mode 100644 index ced2e25..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs +++ /dev/null @@ -1,177 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEngine; -using UnityEditor; -using RosBridgeClient.Messages; -using MessageType = RosBridgeClient.Messages.MessageType; - -namespace RosSharp.RosBridgeClient -{ - public class ActionMessageGenerationEditorWindow : EditorWindow - { - private static string assetPath; - private static string actionName; - private static string rosPackageName; - public MessageElement[] goalElements; - public MessageElement[] resultElements; - public MessageElement[] feedbackElements; - - private SerializedObject serializedObject_goal; - private SerializedProperty serializedProperty_goal; - private SerializedObject serializedObject_result; - private SerializedProperty serializedProperty_result; - private SerializedObject serializedObject_feedback; - private SerializedProperty serializedProperty_feedback; - - [MenuItem("RosBridgeClient/Generate Messages/Action Messages")] - private static void Init() - { - ActionMessageGenerationEditorWindow editorWindow = GetWindow(); - editorWindow.minSize = new Vector2(500, 300); - editorWindow.Show(); - } - - private void OnGUI() - { - GUILayout.Label("Message Generator (Action Message)", EditorStyles.boldLabel); - - EditorGUILayout.BeginHorizontal(); - actionName = EditorGUILayout.TextField("Action Name", actionName); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - rosPackageName = EditorGUILayout.TextField("ROS Package Name", rosPackageName); - EditorGUILayout.EndHorizontal(); - - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target_goal = this; - serializedObject_goal = new SerializedObject(target_goal); - serializedObject_goal.Update(); - serializedProperty_goal = serializedObject_goal.FindProperty("goalElements"); - EditorGUILayout.PropertyField(serializedProperty_goal, true); - serializedObject_goal.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target = this; - serializedObject_result = new SerializedObject(target); - serializedObject_result.Update(); - serializedProperty_result = serializedObject_result.FindProperty("resultElements"); - EditorGUILayout.PropertyField(serializedProperty_result, true); - serializedObject_result.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target_feedback = this; - serializedObject_feedback = new SerializedObject(target); - serializedObject_feedback.Update(); - serializedProperty_feedback = serializedObject_feedback.FindProperty("feedbackElements"); - EditorGUILayout.PropertyField(serializedProperty_feedback, true); - serializedObject_feedback.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - - GUILayout.Space(40); - EditorGUILayout.BeginHorizontal(); - assetPath = EditorGUILayout.TextField("Asset Path", assetPath); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.Space(); - if (GUILayout.Button("Set Default Path", GUILayout.Width(150))) - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - EditorGUILayout.EndHorizontal(); - - GUILayout.Space(20); - EditorGUILayout.BeginHorizontal(); - - if (GUILayout.Button("Generate Action Messages")) - { - SetEditorPrefs(); - ActionMessageGenerator.Generate(actionName, rosPackageName, - goalElements, resultElements, feedbackElements, assetPath); - AssetDatabase.Refresh(); - } - EditorGUILayout.EndHorizontal(); - GUILayout.Space(20); - EditorGUIUtility.labelWidth = 300; - } - - private void OnInspectorUpdate() - { - Repaint(); - } - - #region EditorPrefs - - public void Awake() - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - - private void OnLostFocus() - { - SetEditorPrefs(); - } - - private void OnDestroy() - { - SetEditorPrefs(); - } - - private void DeleteEditorPrefs() - { - EditorPrefs.DeleteKey("AssetPath"); - EditorPrefs.DeleteKey("ActionName"); - EditorPrefs.DeleteKey("ROSPackageName"); - } - - private void GetEditorPrefs() - { - assetPath = (EditorPrefs.HasKey("AssetPath") ? - EditorPrefs.GetString("AssetPath") : - Path.Combine(Path.GetFullPath("."), "Assets")); - - actionName = (EditorPrefs.HasKey("ActionName") ? - EditorPrefs.GetString("ActionName") : - "Fibonacci"); - - rosPackageName = (EditorPrefs.HasKey("ROSPackageName") ? - EditorPrefs.GetString("ROSPackageName") : - "actionlib_tutorials"); - - goalElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "order" } }; - resultElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "sequence", isArray = true } }; - feedbackElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "sequence", isArray = true } }; - } - - private void SetEditorPrefs() - { - EditorPrefs.SetString("AssetPath", assetPath); - EditorPrefs.SetString("ActionName", actionName); - EditorPrefs.SetString("ROSPackageName", rosPackageName); - - } - - #endregion - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction.meta new file mode 100644 index 0000000..e745951 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b54ec1e8f8590db4ab487bf90606fc30 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs similarity index 53% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs index 769b97a..509c979 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) @@ -16,27 +16,25 @@ limitations under the License. using UnityEditor; using UnityEngine; -namespace RosSharp.RosBridgeClient +namespace RosSharp.RosBridgeClient.Actionlib { - [CustomEditor(typeof(FibonacciActionClient))] - class FibonacciActionClientEditor : Editor + [CustomEditor(typeof(UnityFibonacciActionClient))] + public class FibonacciActionClientEditor : Editor { - public override void OnInspectorGUI() { - base.OnInspectorGUI(); + DrawDefaultInspector(); if (GUILayout.Button("Send Goal")) - ((FibonacciActionClient)target).SendGoal(); - - if (GUILayout.Button("Set Cancel")) - ((FibonacciActionClient)target).CancelGoal(); - - EditorGUILayout.TextField("Status: ", ((FibonacciActionClient)target).PrintStatus()); - EditorGUILayout.TextField("Feedback: ", ((FibonacciActionClient)target).PrintFeedback()); - EditorGUILayout.TextField("Result: ", ((FibonacciActionClient)target).PrintResult()); - - Repaint(); + { + ((UnityFibonacciActionClient)target).RegisterGoal(); + ((UnityFibonacciActionClient)target).fibonacciActionClient.SendGoal(); + } + + if (GUILayout.Button("Cancel Goal")) + { + ((UnityFibonacciActionClient)target).fibonacciActionClient.CancelGoal(); + } } } -} +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs.meta index be3294a..4f7b20e 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciActionClientEditor.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: d999dd84fb514e043850970fd3beb5c6 +guid: 52e0b4d623e325a438699572b3b0ce96 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration.meta similarity index 77% rename from Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration.meta index 8bffa8d..4094a1e 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 005d491136c732f4da6758c2a983331a +guid: c1467e4fd39cfaa4685ce12d6efa0a90 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs new file mode 100644 index 0000000..dbc503a --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs @@ -0,0 +1,51 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class DirectoryActionAutoGenEditorWindow : DirectoryAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "action"; } + } + + protected override string FileExtension + { + get { return "action"; } + } + + + + [MenuItem("RosBridgeClient/Auto Generate Actions/All Actions in directory...", false, 22)] + private static void OpenWindow() + { + DirectoryActionAutoGenEditorWindow window = GetWindow(false, "Action Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ActionAutoGen.GenerateSingleAction(inPath, outPath, rosPackageName); + } + + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs.meta index c39798b..83006fd 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 2449c65cf55f64743bb1b90686ad21fe +guid: 8a9b43c97e4c4164d9742d997079dd80 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs new file mode 100644 index 0000000..ccc219e --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs @@ -0,0 +1,160 @@ +/* +© Siemens AG, 2019 + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +using System.Collections.Generic; +using System.IO; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public abstract class DirectoryAutoGenEditorWindow : EditorWindow + { + [SerializeField] + private static string lastInputDirectory = string.Empty; + [SerializeField] + private static string lastOutputDirectory = string.Empty; + + private string inPath = ""; + private string outPath = Path.Combine(System.Environment.CurrentDirectory, "Assets", "RosSharpMessages"); + + protected abstract string GenerationType { get; } + protected abstract string FileExtension { get; } + + protected virtual void OnGUI() + { + GUILayout.Label("Directory " + GenerationType + " auto generation", EditorStyles.boldLabel); + + EditorGUILayout.BeginHorizontal(); + inPath = EditorGUILayout.TextField("Input Path", inPath); + if (GUILayout.Button("Select Folder...", GUILayout.Width(150))) + { + inPath = EditorUtility.OpenFolderPanel("Select Folder...", lastInputDirectory, ""); + } + EditorGUILayout.EndHorizontal(); + + EditorGUILayout.BeginHorizontal(); + outPath = EditorGUILayout.TextField("Output Location", outPath); + if (GUILayout.Button("Select Folder...", GUILayout.Width(150))) + { + outPath = EditorUtility.OpenFolderPanel("Select Folder...", lastOutputDirectory, ""); + } + EditorGUILayout.EndHorizontal(); + + if (GUILayout.Button("GENERATE!")) + { + if (inPath.Equals("")) + { + EditorUtility.DisplayDialog( + title: "Error", + message: "Empty input path!\nPlease specify input path", + ok: "Bricks without straw"); + } + else + { + lastInputDirectory = inPath; + lastOutputDirectory = outPath; + try + { + List warnings = new List(); + string[] files = Directory.GetFiles(inPath, "*." + FileExtension, SearchOption.AllDirectories); + if (files.Length == 0) + { + EditorUtility.DisplayDialog( + title: "No " + GenerationType + " files found!", + message: "No " + GenerationType + " files found!", + ok: "Bricks without straw"); + Reset(); + } + else + { + for (int i = 0; i < files.Length; i++) + { + string file = files[i]; + string[] hierarchy = file.Split(new char[] { '/', '\\' }); + string rosPackageName = hierarchy[hierarchy.Length - 3]; + try + { + EditorUtility.DisplayProgressBar( + "Working...(" + (i + 1) + "/" + files.Length + ") Checkout xkcd.com/303", + "Parsing " + file, + (i + 1) / (float)files.Length); + warnings.AddRange(Generate(file, outPath, rosPackageName)); + } + catch (MessageTokenizerException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Tokenizer Exception", + message: e.Message, + ok: "Wait. That's illegal"); + } + catch (MessageParserException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Parser Exception", + message: e.Message, + ok: "Sorry but you can't ignore errors."); + } + } + // Done + EditorUtility.ClearProgressBar(); + AssetDatabase.Refresh(); + if (warnings.Count > 0) + { + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outPath + "\nYou have " + warnings.Count + " warning(s)", + ok: "I like to live dangerously"); + foreach (string w in warnings) + { + Debug.LogWarning(w); + } + } + else + { + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outPath, + ok: "Thank you!"); + } + Reset(); + } + } + catch (DirectoryNotFoundException e) + { + EditorUtility.DisplayDialog( + title: "Folder not found", + message: e.Message, + ok: "Bricks without straw"); + Reset(); + } + } + } + } + + private void OnInspectorUpdate() + { + Repaint(); + } + + private void Reset() + { + inPath = ""; + outPath = Path.Combine(System.Environment.CurrentDirectory, "Assets", "RosSharpMessages"); + } + + protected abstract List Generate(string inPath, string outPath, string rosPackageName = ""); + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs.meta index 304c446..e22dfd2 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ActionMessageGenerationEditorWindow.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: ae664a76fba4cac40a8d24f0d5120cef +guid: e97d491b716c45f40b0deeaec54e6959 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs new file mode 100644 index 0000000..641249c --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs @@ -0,0 +1,49 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class DirectoryMsgAutoGenEditorWindow : DirectoryAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "message"; } + } + + protected override string FileExtension + { + get { return "msg"; } + } + + [MenuItem("RosBridgeClient/Auto Generate Messages/All Messages in directory...", false, 2)] + public static void OpenWindow() + { + DirectoryMsgAutoGenEditorWindow window = GetWindow(false, "Message Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return MessageAutoGen.GenerateSingleMessage(inPath, outPath, rosPackageName); + } + + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs.meta index d5c92e7..71b66f7 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 61abf8f02711b8440af14e38e15c0a40 +guid: 282ded13e96ffac46a394b03ec621a7d MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs new file mode 100644 index 0000000..01bb876 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs @@ -0,0 +1,51 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class DirectorySrvAutoGenEditorWindow : DirectoryAutoGenEditorWindow + { + + protected override string GenerationType + { + get { return "service"; } + } + + protected override string FileExtension + { + get { return "srv"; } + } + + + [MenuItem("RosBridgeClient/Auto Generate Services/All Services in directory...", false, 12)] + private static void OpenWindow() + { + DirectorySrvAutoGenEditorWindow window = GetWindow(false, "Service Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ServiceAutoGen.GenerateSingleService(inPath, outPath, rosPackageName); + } + + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs.meta index 9a1294a..ec5f641 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 6a4c30b81fa36c74c9a5ce0d5d5213f9 +guid: 3b7aaa8b47b11574c8edeb6fe76680b7 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs new file mode 100644 index 0000000..b278b66 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs @@ -0,0 +1,49 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class PackageActionAutoGenEditorWindow : PackageAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "action"; } + } + + protected override string FileExtension + { + get { return "action"; } + } + + [MenuItem("RosBridgeClient/Auto Generate Actions/Package Actions...", false, 21)] + private static void OpenWindow() + { + PackageActionAutoGenEditorWindow window = GetWindow(false, "Action Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ActionAutoGen.GenerateSingleAction(inPath, outPath, rosPackageName); + } + } +} + diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..2b2060f --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: d78fa258e09d4d742a5d8613d8fa75b9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs new file mode 100644 index 0000000..df5e0e5 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs @@ -0,0 +1,169 @@ +/* +© Siemens AG, 2019 + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using System.IO; +using System.Linq; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public abstract class PackageAutoGenEditorWindow : EditorWindow + { + [SerializeField] + private static string lastPackageDirectory = string.Empty; + [SerializeField] + private static string lastOutputDirectory = string.Empty; + + private string inPkgPath = ""; + private string rosPackageName = ""; + private string outPkgPath = Path.Combine(System.Environment.CurrentDirectory, "Assets", "RosSharpMessages"); + + protected abstract string GenerationType { get; } + protected abstract string FileExtension { get; } + + protected virtual void OnGUI() + { + GUILayout.Label("Package " + GenerationType + " auto generation", EditorStyles.boldLabel); + + EditorGUILayout.BeginHorizontal(); + inPkgPath = EditorGUILayout.TextField("Input Package Path", inPkgPath); + if (GUILayout.Button("Browse Package...", GUILayout.Width(150))) + { + inPkgPath = EditorUtility.OpenFolderPanel("Select Package...", lastPackageDirectory, ""); + if (!inPkgPath.Equals("")) + { + rosPackageName = inPkgPath.Split('/').Last(); + } + } + EditorGUILayout.EndHorizontal(); + + rosPackageName = EditorGUILayout.TextField("ROS Package Name:", rosPackageName); + + EditorGUILayout.BeginHorizontal(); + outPkgPath = EditorGUILayout.TextField("Output Location", outPkgPath); + if (GUILayout.Button("Select Folder...", GUILayout.Width(150))) + { + outPkgPath = EditorUtility.OpenFolderPanel("Select Folder...", lastOutputDirectory, ""); + } + EditorGUILayout.EndHorizontal(); + + if (GUILayout.Button("GENERATE!")) + { + if (inPkgPath.Equals("")) + { + EditorUtility.DisplayDialog( + title: "Error", + message: "Empty input package path!\nPlease specify input package", + ok: "Bricks without straw"); + } + else + { + lastPackageDirectory = inPkgPath; + lastOutputDirectory = outPkgPath; + try + { + string[] files = Directory.GetFiles(Path.Combine(inPkgPath, FileExtension), "*." + FileExtension); + if (files.Length == 0) + { + EditorUtility.DisplayDialog( + title: "No action files found!", + message: "No action files found!", + ok: "Bricks without straw"); + Reset(); + } + else + { + // Keep a list of warnings + List warnings = new List(); + for (int i = 0; i < files.Length; i++) + { + string file = files[i]; + EditorUtility.DisplayProgressBar( + "Working...(" + (i + 1) + "/" + files.Length + ")", + "Parsing " + file, + (i + 1) / (float)files.Length); + try + { + warnings.AddRange(Generate(file, outPkgPath, rosPackageName)); + } + catch (MessageTokenizerException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Tokenizer Exception", + message: e.Message, + ok: "Wait. That's illegal"); + } + catch (MessageParserException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Parser Exception", + message: e.Message, + ok: "Sorry but you can't ignore errors."); + } + } + // Done + EditorUtility.ClearProgressBar(); + AssetDatabase.Refresh(); + if (warnings.Count > 0) + { + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outPkgPath + "\nYou have " + warnings.Count + " warning(s)", + ok: "I like to live dangerously"); + foreach (string w in warnings) + { + Debug.LogWarning(w); + } + } + else + { + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outPkgPath, + ok: "Thank you!"); + } + Reset(); + } + } + catch (DirectoryNotFoundException e) + { + EditorUtility.DisplayDialog( + title: "Message Folder not found", + message: e.Message, + ok: "Bricks without straw"); + Reset(); + } + } + } + } + + private void OnInspectorUpdate() + { + Repaint(); + } + + private void Reset() + { + inPkgPath = ""; + rosPackageName = ""; + outPkgPath = Path.Combine(System.Environment.CurrentDirectory, "Assets", "RosSharpMessages"); + } + + protected abstract List Generate(string inPath, string outPath, string rosPackageName = ""); + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..f7d5d6b --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 99b523215e0722744b6c01c139aaf07a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs new file mode 100644 index 0000000..6584196 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs @@ -0,0 +1,49 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using RosSharp.RosBridgeClient.MessageGeneration; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient +{ + public class PackageMsgAutoGenEditorWindow : PackageAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "message"; } + } + + protected override string FileExtension + { + get { return "msg"; } + } + + [MenuItem("RosBridgeClient/Auto Generate Messages/Package Messages...", false, 1)] + private static void OpenWindow() + { + PackageMsgAutoGenEditorWindow window = GetWindow(false, "Message Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return MessageAutoGen.GenerateSingleMessage(inPath, outPath, rosPackageName); + } + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..4105afc --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: d07b4ace85b51bc4dad9f4d4dbc090c1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs new file mode 100644 index 0000000..3a2f8ef --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs @@ -0,0 +1,48 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class PackageSrvAutoGenEditorWindow : PackageAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "service"; } + } + + protected override string FileExtension + { + get { return "srv"; } + } + + [MenuItem("RosBridgeClient/Auto Generate Services/Package Services...", false, 11)] + private static void OpenWindow() + { + PackageSrvAutoGenEditorWindow window = GetWindow(false, "Service Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ServiceAutoGen.GenerateSingleService(inPath, outPath, rosPackageName); + } + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..18f55bb --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b2efbbd54b5cb134b8944fd2b6495b68 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs new file mode 100644 index 0000000..b4e8038 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs @@ -0,0 +1,51 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class SingleActionAutoGenEditorWindow : SingleAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "action"; } + } + + protected override string FileExtension + { + get { return "action"; } + } + + + [MenuItem("RosBridgeClient/Auto Generate Actions/Single Action...", false, 20)] + private static void OpenWindow() + { + SingleActionAutoGenEditorWindow window = GetWindow(false, "Action Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ActionAutoGen.GenerateSingleAction(inPath, outPath, rosPackageName); + } + + + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..41db9fe --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1e31ec6514f05c347921725f147ab1b4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs new file mode 100644 index 0000000..adb4fdb --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs @@ -0,0 +1,126 @@ +/* +© Siemens AG, 2019 + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using System.IO; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public abstract class SingleAutoGenEditorWindow : EditorWindow + { + [SerializeField] + private static string lastFileDirectory = string.Empty; + [SerializeField] + private static string lastOutputDirectory = string.Empty; + + private string inFilePath = ""; + private string outFilePath = Path.Combine(System.Environment.CurrentDirectory, "Assets", "RosSharpMessages"); + private string rosPackageName = ""; + + protected abstract string GenerationType { get; } + protected abstract string FileExtension { get; } + + protected virtual void OnGUI() + { + GUILayout.Label("Single " + GenerationType + " auto generation", EditorStyles.boldLabel); + + EditorGUILayout.BeginHorizontal(); + inFilePath = EditorGUILayout.TextField("Input File Path", inFilePath); + if (GUILayout.Button("Browse File...", GUILayout.Width(120))) + { + inFilePath = EditorUtility.OpenFilePanel("Select " + GenerationType + " File...", lastFileDirectory, FileExtension); + if (!inFilePath.Equals("")) + { + string[] directoryLevels = inFilePath.Split('/'); + rosPackageName = directoryLevels[directoryLevels.Length - 3]; + } + } + EditorGUILayout.EndHorizontal(); + + rosPackageName = EditorGUILayout.TextField("ROS Package Name:", rosPackageName); + + EditorGUILayout.BeginHorizontal(); + outFilePath = EditorGUILayout.TextField("Output File Location", outFilePath); + if (GUILayout.Button("Select Folder...", GUILayout.Width(120))) + { + outFilePath = EditorUtility.OpenFolderPanel("Select Folder...", lastOutputDirectory, ""); + } + EditorGUILayout.EndHorizontal(); + + if (GUILayout.Button("GENERATE!")) + { + if (inFilePath.Equals("")) + { + EditorUtility.DisplayDialog( + title: "Error", + message: "Empty input file path!\nPlease specify input file", + ok: "Bricks without straw"); + } + else + { + lastFileDirectory = inFilePath; + lastOutputDirectory = outFilePath; + try + { + List warnings = Generate(inFilePath, outFilePath, rosPackageName); + AssetDatabase.Refresh(); + if (warnings.Count == 0) + { + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outFilePath, + ok: "Thank you!"); + } + else + { + foreach (string w in warnings) + { + Debug.LogWarning(w); + } + EditorUtility.DisplayDialog( + title: "Code Generation Complete", + message: "Output at: " + outFilePath + "\nYou have " + warnings.Count + " warning(s)", + ok: "I like to live dangerously"); + } + } + catch (MessageTokenizerException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Tokenizer Exception", + message: e.Message, + ok: "Wait. That's illegal"); + } + catch (MessageParserException e) + { + Debug.LogError(e.ToString() + e.Message); + EditorUtility.DisplayDialog( + title: "Message Parser Exception", + message: e.Message, + ok: "Sorry but you can't ignore errors."); + } + } + } + } + + private void OnInspectorUpdate() + { + Repaint(); + } + + protected abstract List Generate(string inPath, string outPath, string rosPackageName = ""); + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..68d610f --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e78c63de220cf434f9c51fa96ba3bdd8 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs new file mode 100644 index 0000000..7536722 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs @@ -0,0 +1,50 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class SingleMsgAutoGenEditorWindow : SingleAutoGenEditorWindow + { + protected override string GenerationType + { + get { return "message"; } + } + + protected override string FileExtension + { + get { return "msg"; } + } + + + [MenuItem("RosBridgeClient/Auto Generate Messages/Single Message...", false, 0)] + private static void OpenWindow() + { + SingleMsgAutoGenEditorWindow window = GetWindow(false, "Message Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return MessageAutoGen.GenerateSingleMessage(inPath, outPath, rosPackageName); + } + + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..c58095f --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f7b56df3a6f64bd4ab0bf8e21c9c3db7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs new file mode 100644 index 0000000..0b8e0bf --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs @@ -0,0 +1,52 @@ +/* +© Siemens AG, 2019 +Author: Sifan Ye (sifan.ye@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace RosSharp.RosBridgeClient.MessageGeneration +{ + public class SingleSrvAutoGenEditorWindow : SingleAutoGenEditorWindow + { + + + protected override string GenerationType + { + get { return "service"; } + } + + protected override string FileExtension + { + get { return "srv"; } + } + + + [MenuItem("RosBridgeClient/Auto Generate Services/Single Service...", false, 10)] + public static void OpenWindow() + { + SingleSrvAutoGenEditorWindow window = GetWindow(false, "Service Auto Generation", true); + window.minSize = new Vector2(750, 100); + window.maxSize = new Vector2(750, 100); + window.Show(); + } + + protected override List Generate(string inPath, string outPath, string rosPackageName = "") + { + return ServiceAutoGen.GenerateSingleService(inPath, outPath, rosPackageName); + } + + } +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs.meta new file mode 100644 index 0000000..20f1f4c --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 048ec004f0a5db34e858476b32955c2a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs deleted file mode 100644 index 052982c..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/ServiceMessageGenerationEditorWindow.cs +++ /dev/null @@ -1,162 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEngine; -using UnityEditor; -using RosBridgeClient.Messages; -using MessageType = RosBridgeClient.Messages.MessageType; - -namespace RosSharp.RosBridgeClient -{ - public class ServiceMessageGenerationEditorWindow : EditorWindow - { - private static string assetPath; - private static string serviceName; - private static string rosPackageName; - public MessageElement[] requestElements; - public MessageElement[] responseElements; - - private SerializedObject serializedObject_request; - private SerializedProperty serializedProperty_request; - private SerializedObject serializedObject_response; - private SerializedProperty serializedProperty_response; - - - [MenuItem("RosBridgeClient/Generate Messages/Service Messages")] - private static void Init() - { - ServiceMessageGenerationEditorWindow editorWindow = GetWindow(); - editorWindow.minSize = new Vector2(500, 300); - editorWindow.Show(); - } - - private void OnGUI() - { - GUILayout.Label("Message Generator (Service Message)", EditorStyles.boldLabel); - - EditorGUILayout.BeginHorizontal(); - serviceName = EditorGUILayout.TextField("Service Name", serviceName); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - rosPackageName = EditorGUILayout.TextField("ROS Package Name", rosPackageName); - EditorGUILayout.EndHorizontal(); - - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target_request = this; - serializedObject_request = new SerializedObject(target_request); - serializedObject_request.Update(); - serializedProperty_request = serializedObject_request.FindProperty("requestElements"); - EditorGUILayout.PropertyField(serializedProperty_request, true); - serializedObject_request.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target = this; - serializedObject_response = new SerializedObject(target); - serializedObject_response.Update(); - serializedProperty_response = serializedObject_response.FindProperty("responseElements"); - EditorGUILayout.PropertyField(serializedProperty_response, true); - serializedObject_response.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - GUILayout.Space(40); - EditorGUILayout.BeginHorizontal(); - assetPath = EditorGUILayout.TextField("Asset Path", assetPath); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.Space(); - if (GUILayout.Button("Set Default", GUILayout.Width(150))) - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - EditorGUILayout.EndHorizontal(); - - GUILayout.Space(20); - EditorGUILayout.BeginHorizontal(); - - if (GUILayout.Button("Generate Service Message")) - { - SetEditorPrefs(); - ServiceMessageGenerator.Generate(serviceName, rosPackageName, requestElements, responseElements, assetPath); - AssetDatabase.Refresh(); - } - EditorGUILayout.EndHorizontal(); - GUILayout.Space(20); - EditorGUIUtility.labelWidth = 300; - } - - private void OnInspectorUpdate() - { - Repaint(); - } - - #region EditorPrefs - - public void Awake() - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - - private void OnLostFocus() - { - SetEditorPrefs(); - } - - private void OnDestroy() - { - SetEditorPrefs(); - } - - private void DeleteEditorPrefs() - { - EditorPrefs.DeleteKey("AssetPath"); - EditorPrefs.DeleteKey("ServiceName"); - EditorPrefs.DeleteKey("ROSPackageName"); - } - - private void GetEditorPrefs() - { - assetPath = (EditorPrefs.HasKey("AssetPath") ? - EditorPrefs.GetString("AssetPath") : - Path.Combine(Path.GetFullPath("."), "Assets")); - - serviceName = (EditorPrefs.HasKey("ServiceName") ? - EditorPrefs.GetString("ServiceName") : - "AddTwoInts"); - - rosPackageName = (EditorPrefs.HasKey("ROSPackageName") ? - EditorPrefs.GetString("ROSPackageName") : - "beginner_tutorials"); - - requestElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "a" }, new MessageElement { messageType = MessageType.@int, messageName = "b" } }; - responseElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "sum" } }; - } - - private void SetEditorPrefs() - { - EditorPrefs.SetString("AssetPath", assetPath); - EditorPrefs.SetString("ServiceName", serviceName); - EditorPrefs.SetString("ROSPackageName", rosPackageName); - } - - #endregion - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs deleted file mode 100644 index 83938f6..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/SimpleMessageGenerationEditorWindow.cs +++ /dev/null @@ -1,152 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEngine; -using UnityEditor; -using RosBridgeClient.Messages; -using MessageType = RosBridgeClient.Messages.MessageType; - -namespace RosSharp.RosBridgeClient -{ - public class SimpleMessageGenerationEditorWindow : EditorWindow - { - private static string assetPath; - private static string messageName; - private static string rosPackageName; - public MessageElement[] messageElements; - - private SerializedObject serializedObject; - private SerializedProperty serializedProperty; - - [MenuItem("RosBridgeClient/Generate Messages/Simple Messages")] - private static void Init() - { - SimpleMessageGenerationEditorWindow editorWindow = GetWindow(); - editorWindow.minSize = new Vector2(500, 300); - editorWindow.Show(); - } - - private void OnGUI() - { - GUILayout.Label("Message Generator (Simple Message)", EditorStyles.boldLabel); - - EditorGUILayout.BeginHorizontal(); - messageName = EditorGUILayout.TextField("Message Name", messageName); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - rosPackageName = EditorGUILayout.TextField("ROS Package Name", rosPackageName); - EditorGUILayout.EndHorizontal(); - - - EditorGUILayout.BeginHorizontal(); - ScriptableObject target = this; - serializedObject = new SerializedObject(target); - serializedObject.Update(); - serializedProperty = serializedObject.FindProperty("messageElements"); - EditorGUILayout.PropertyField(serializedProperty, true); - serializedObject.ApplyModifiedProperties(); - EditorGUILayout.EndHorizontal(); - - - GUILayout.Space(40); - EditorGUILayout.BeginHorizontal(); - assetPath = EditorGUILayout.TextField("Asset Path", assetPath); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.Space(); - if (GUILayout.Button("Set Default", GUILayout.Width(150))) - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - EditorGUILayout.EndHorizontal(); - - GUILayout.Space(20); - EditorGUILayout.BeginHorizontal(); - - if (GUILayout.Button("Generate Simple Message")) - { - SetEditorPrefs(); - SimpleMessageGenerator.Generate(messageName, rosPackageName, messageElements, assetPath); - AssetDatabase.Refresh(); - } - EditorGUILayout.EndHorizontal(); - GUILayout.Space(20); - EditorGUIUtility.labelWidth = 300; - - } - - private void OnInspectorUpdate() - { - Repaint(); - } - - #region EditorPrefs - - public void Awake() - { - DeleteEditorPrefs(); - GetEditorPrefs(); - } - - private void OnLostFocus() - { - SetEditorPrefs(); - } - - private void OnDestroy() - { - SetEditorPrefs(); - } - - private void DeleteEditorPrefs() - { - EditorPrefs.DeleteKey("AssetPath"); - EditorPrefs.DeleteKey("Message Name"); - EditorPrefs.DeleteKey("ROSPackageName"); - } - - private void GetEditorPrefs() - { - assetPath = (EditorPrefs.HasKey("AssetPath") ? - EditorPrefs.GetString("AssetPath") : - Path.Combine(Path.GetFullPath("."), "Assets")); - - messageName = (EditorPrefs.HasKey("Message Name") ? - EditorPrefs.GetString("Message Name") : - "ExampleMessage"); - - rosPackageName = (EditorPrefs.HasKey("ROSPackageName") ? - EditorPrefs.GetString("ROSPackageName") : - "beginner_tutorials"); - - messageElements = new MessageElement[] { new MessageElement { messageType = MessageType.@int, messageName = "a" }, - new MessageElement { messageType = MessageType.String, messageName = "str" }, - new MessageElement { messageType = MessageType.Odometry, messageName = "odom" }}; - } - - private void SetEditorPrefs() - { - EditorPrefs.SetString("AssetPath", assetPath); - EditorPrefs.SetString("Message Name", messageName); - EditorPrefs.SetString("ROSPackageName", rosPackageName); - } - - #endregion - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs.meta deleted file mode 100644 index 7cd6466..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs.meta +++ /dev/null @@ -1,3 +0,0 @@ -fileFormatVersion: 2 -guid: fbc9ef4b6ed54ae39de4a137da611f4d -timeCreated: 1537441520 \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer.meta new file mode 100644 index 0000000..39b9e26 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 59e271fcfacf0774eb424a07581efc30 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs similarity index 95% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs index 07a1b8e..29c2719 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs @@ -24,7 +24,7 @@ namespace RosSharp.RosBridgeClient { public class TransferFromRosEditorWindow : EditorWindow { - private static RosConnector.Protocols protocolType; + private static Protocols.Protocol protocolType; private static string address; private static string urdfParameter; private static int timeout; @@ -34,7 +34,7 @@ public class TransferFromRosEditorWindow : EditorWindow private bool showSettings = false; - [MenuItem("RosBridgeClient/Transfer URDF from ROS...")] + [MenuItem("RosBridgeClient/Transfer URDF from ROS...", false, 50)] private static void Init() { TransferFromRosEditorWindow editorWindow = GetWindow(); @@ -58,7 +58,7 @@ private void OnGUI() { EditorGUILayout.BeginHorizontal(); EditorGUIUtility.labelWidth = 100; - protocolType = (RosConnector.Protocols)EditorGUILayout.EnumPopup("Protocol", protocolType); + protocolType = (Protocols.Protocol)EditorGUILayout.EnumPopup("Protocol", protocolType); EditorGUILayout.EndHorizontal(); //TODO URDF Parameter @@ -152,7 +152,7 @@ private void DeleteEditorPrefs() } private void GetEditorPrefs() { - protocolType = (RosConnector.Protocols)(EditorPrefs.HasKey("UrdfImporterProtocolNumber") ? + protocolType = (Protocols.Protocol)(EditorPrefs.HasKey("UrdfImporterProtocolNumber") ? EditorPrefs.GetInt("UrdfImporterProtocolNumber") : 1); address = (EditorPrefs.HasKey("UrdfImporterAddress") ? diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs.meta index a3a67fb..7c267ee 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosEditorWindow.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 2da5e06fe26980b4b915fd15b04f13de +guid: e29a25e6d1ffd1c4d89012293f661cb1 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs similarity index 96% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs index 1523caf..26dc5e4 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs @@ -50,7 +50,7 @@ public TransferFromRosHandler() }; } - public void TransferUrdf(RosConnector.Protocols protocolType, string serverUrl, int timeout, string assetPath, string urdfParameter) + public void TransferUrdf(Protocols.Protocol protocolType, string serverUrl, int timeout, string assetPath, string urdfParameter) { this.timeout = timeout; this.assetPath = assetPath; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs.meta index 5ff4bec..caf12b7 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferFromRosHandler.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7863b5b4a97b9514a80557ca510e1d34 +guid: 7c9efb1ee97807348845877fe0e7ef1e MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs similarity index 95% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs index ae59540..b02f635 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs @@ -23,7 +23,7 @@ namespace RosSharp.RosBridgeClient { public class TransferToRosEditorWindow : EditorWindow { - private static RosConnector.Protocols protocolType; + private static Protocols.Protocol protocolType; private static string serverUrl = "ws://192.168.56.102:9090"; private static string urdfPath; private static int timeout; @@ -33,7 +33,7 @@ public class TransferToRosEditorWindow : EditorWindow private bool showSettings = false; - [MenuItem("RosBridgeClient/Transfer URDF to ROS...")] + [MenuItem("RosBridgeClient/Transfer URDF to ROS...", false, 51)] private static void Init() { TransferToRosEditorWindow editorWindow = GetWindow(); @@ -58,7 +58,7 @@ private void OnGUI() { EditorGUILayout.BeginHorizontal(); EditorGUIUtility.labelWidth = 100; - protocolType = (RosConnector.Protocols)EditorGUILayout.EnumPopup("Protocol", protocolType); + protocolType = (Protocols.Protocol)EditorGUILayout.EnumPopup("Protocol", protocolType); EditorGUILayout.EndHorizontal(); EditorGUILayout.BeginHorizontal(); @@ -144,7 +144,7 @@ private void DeleteEditorPrefs() private void GetEditorPrefs() { - protocolType = (RosConnector.Protocols)(EditorPrefs.HasKey("UrdfPublisherProtocolNumber") ? + protocolType = (Protocols.Protocol)(EditorPrefs.HasKey("UrdfPublisherProtocolNumber") ? EditorPrefs.GetInt("UrdfPublisherProtocolNumber") : 1); serverUrl = (EditorPrefs.HasKey("UrdfPublisherServerUrl") ? diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs.meta similarity index 83% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs.meta index 5b311b6..02f912b 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosEditorWindow.cs.meta +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 74b705cbe7e145f489c7d391f5334919 +guid: 3c4ccf806bfacae41b479e444b885c9e MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs similarity index 91% rename from Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs index f13998b..9308538 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/TransferToRosHandler.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs @@ -41,7 +41,7 @@ public TransferToRosHandler() }; } - public void Transfer(RosConnector.Protocols protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage) + public void Transfer(Protocols.Protocol protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage) { if (Path.GetExtension(urdfPath)?.ToLowerInvariant() != ".urdf") { @@ -53,7 +53,7 @@ public void Transfer(RosConnector.Protocols protocolType, string serverUrl, int transferToRos.Start(); } - private void TransferAsync(RosConnector.Protocols protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage) + private void TransferAsync(Protocols.Protocol protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage) { RosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClose); diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs.meta new file mode 100644 index 0000000..4a91ff7 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f48ea5e8cfc33d5488cf7de428673745 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs deleted file mode 100644 index b5e6b9a..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ActionMessageGenerator.cs +++ /dev/null @@ -1,69 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -namespace RosBridgeClient.Messages -{ - - public static class ActionMessageGenerator - { - - public static void Generate(string ActionName, string RosPackageName, - MessageElement[] GoalElements, MessageElement[] ResultElements, MessageElement[] FeedbackElements, string AssetPath) - { - SimpleMessageGenerator.Generate(ActionName + "Goal", RosPackageName, GoalElements, AssetPath); - SimpleMessageGenerator.Generate(ActionName + "Feedback", RosPackageName, FeedbackElements, AssetPath); - SimpleMessageGenerator.Generate(ActionName + "Result", RosPackageName, ResultElements, AssetPath); - - SimpleMessageGenerator.Generate(ActionName + "ActionGoal", RosPackageName, - new MessageElement[] { new MessageElement() { messageType = MessageType.Header, - messageName = "header", - isArray = false}, - - new MessageElement() {messageType = MessageType.GoalID, - messageName = "goal_id", - isArray = false}, - - new MessageElement( ActionName + "Goal", - "goal", - false) }, AssetPath); - - SimpleMessageGenerator.Generate(ActionName + "ActionFeedback", RosPackageName, - new MessageElement[] { new MessageElement() { messageType = MessageType.Header, - messageName = "header", - isArray = false}, - - new MessageElement() {messageType = MessageType.GoalStatus, - messageName = "status", - isArray = false}, - - new MessageElement( ActionName + "Feedback", - "feedback", - false) }, AssetPath); - - SimpleMessageGenerator.Generate(ActionName + "ActionResult", RosPackageName, - new MessageElement[] { new MessageElement() { messageType = MessageType.Header, - messageName = "header", - isArray = false}, - - new MessageElement() {messageType = MessageType.GoalStatus, - messageName = "status", - isArray = false}, - - new MessageElement( ActionName + "Result", - "result", - false) }, AssetPath); - } - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs deleted file mode 100644 index 74ca3ff..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs +++ /dev/null @@ -1,74 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -namespace RosBridgeClient.Messages -{ - public enum MessageType - { - Header, @int, Int32MultiArray, MultiArrayDimension, MultiArrayLayout, @float, String, Time, - Accel, Point, PointStamped, Pose, PoseWithCovariance, Quaternion, Twist, TwistWithCovariance, Vector3, - CompressedImage, Image, JointState, Joy, LaserScan, PointCloud2, PointField, - Odometry, MapMetaData, OccupancyGrid, - GoalID, GoalStatus, GoalStatusArray - }; - - [System.Serializable] - public class MessageElement - { - public MessageType messageType; - public string messageName; - public bool isArray; - - private string messageTypeString; - private string declerationString; - private string definitionString; - private bool isCustom = false; - - public MessageElement() - { } - - public MessageElement(string msgType, string msgName, bool isArray) - { - isCustom = true; - messageTypeString = msgType; - messageName = msgName; - - } - - public string getDeclerationString() - { - if (!isCustom) - messageTypeString = messageType.ToString(); - if (!isArray) - declerationString = "public " + messageTypeString + " " + messageName + ";"; - else - declerationString = "public " + messageTypeString + "[] " + messageName + ";"; - return declerationString; - } - - public string getDefinitionString() - { - if (!isCustom) - messageTypeString = messageType.ToString(); - if (!isArray) - definitionString = messageName + " = new " + messageTypeString + "();"; - else - definitionString = messageName + " = new " + messageTypeString + "[0];"; - return definitionString; - } - - } - -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs.meta deleted file mode 100644 index 77235bb..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/MessageGenerationGenerics.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f6f85a1aa636e6646989296f30c0bab2 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs deleted file mode 100644 index 1abb3e4..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs +++ /dev/null @@ -1,86 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; - -namespace RosBridgeClient.Messages -{ - public static class ServiceMessageGenerator - { - public static void Generate(string serviceName, string rosPackageName, MessageElement[] requestElements, MessageElement[] responseElements, string assetPath) - { - using (StreamWriter outfile = new StreamWriter(assetPath + "/" + serviceName + ".cs", false)) - { - outfile.WriteLine("/*"); - outfile.WriteLine("This message class is generated automatically with 'ServiceMessageGenerator' of ROS#"); - outfile.WriteLine("*/ \n"); - - outfile.WriteLine( - "using Newtonsoft.Json;\n" + - "using RosSharp.RosBridgeClient.Messages.Geometry;\n" + - "using RosSharp.RosBridgeClient.Messages.Navigation;\n" + - "using RosSharp.RosBridgeClient.Messages.Sensor;\n" + - "using RosSharp.RosBridgeClient.Messages.Standard;\n" + - "using RosSharp.RosBridgeClient.Messages.Actionlib;\n\n" + - - "namespace RosSharp.RosBridgeClient.Services\n" + - "{\n" + - - #region ServiceRequest - "public class " + serviceName + "Request" + " : Message\n" + - "{\n" + - "[JsonIgnore]\n" + - "public const string RosMessageName = \"" + rosPackageName + "/" + serviceName + "\";\n"); - - for (int i = 0; i < requestElements.Length; i++) - outfile.WriteLine(requestElements[i].getDeclerationString()); - - outfile.Write("\npublic " + serviceName + "Request" + "("); - for (int i = 0; i < requestElements.Length-1; i++) - outfile.Write(requestElements[i].messageType + " _" + requestElements[i].messageName + ", "); - outfile.Write(requestElements[requestElements.Length-1].messageType + " _" + requestElements[requestElements.Length-1].messageName + ")"); - - - outfile.Write("{"); - - for (int i = 0; i < requestElements.Length; i++) - outfile.WriteLine(requestElements[i].messageName + " = _" + requestElements[i].messageName + ";"); - - outfile.WriteLine( - "}\n" + - - "}\n"); - - #endregion ServiceRequest - - #region ServiceResponse - outfile.WriteLine( - "public class " + serviceName + "Response" + " : Message\n" + - "{\n" + - "[JsonIgnore]\n" + - "public const string RosMessageName = \"" + rosPackageName + "/" + serviceName + "\";\n"); - - for (int i = 0; i < responseElements.Length; i++) - outfile.WriteLine(responseElements[i].getDeclerationString()); - - outfile.WriteLine( - "}\n" + - "}\n"); - #endregion ServiceResponse - - } - } - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs.meta deleted file mode 100644 index 668b273..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/ServiceMessageGenerator.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 68c025122d2fe7c48b26742f6842bac8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs deleted file mode 100644 index 55c4cce..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs +++ /dev/null @@ -1,65 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; - -namespace RosBridgeClient.Messages -{ - - public static class SimpleMessageGenerator - { - public static void Generate(string messageName, string rosPackageName, MessageElement[] messageElements, string assetPath) - { - using (StreamWriter outfile = new StreamWriter(assetPath + "/" + messageName + ".cs", false)) - { - outfile.WriteLine("/*"); - outfile.WriteLine("This message class is generated automatically with 'SimpleMessageGenerator' of ROS#"); - outfile.WriteLine("*/ \n"); - - outfile.WriteLine( - "using Newtonsoft.Json;\n" + - "using RosSharp.RosBridgeClient.Messages.Geometry;\n" + - "using RosSharp.RosBridgeClient.Messages.Navigation;\n" + - "using RosSharp.RosBridgeClient.Messages.Sensor;\n" + - "using RosSharp.RosBridgeClient.Messages.Standard;\n" + - "using RosSharp.RosBridgeClient.Messages.Actionlib;\n\n" + - - "namespace RosSharp.RosBridgeClient.Messages\n" + - "{\n" + - - "public class " + messageName + " : Message\n" + - "{\n" + - "[JsonIgnore]\n" + - "public const string RosMessageName = \"" + rosPackageName + "/" + messageName + "\";\n"); - - for (int i = 0; i < messageElements.Length; i++) - outfile.WriteLine(messageElements[i].getDeclerationString()); - - outfile.WriteLine( - "\npublic " + messageName + "()\n" + - "{"); - - for (int i = 0; i < messageElements.Length; i++) - outfile.WriteLine(messageElements[i].getDefinitionString()); - - outfile.WriteLine( - "}\n" + - - "}\n" + - "}\n"); - } - } - } -} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs.meta deleted file mode 100644 index fee4439..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageGeneration/SimpleMessageGenerator.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4eca64642e63928409d379389367c071 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanWriter.cs b/Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanWriter.cs index eee2fc5..0e2175b 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanWriter.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanWriter.cs @@ -37,7 +37,7 @@ private void Update() isReceived = false; } - public void Write(Messages.Sensor.LaserScan laserScan) + public void Write(MessageTypes.Sensor.LaserScan laserScan) { ranges = new float[laserScan.ranges.Length]; directions = new Vector3[laserScan.ranges.Length]; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs deleted file mode 100644 index 9a2d719..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs +++ /dev/null @@ -1,81 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.RosBridgeClient -{ - - public abstract class ActionClient : MonoBehaviour - where Tgoal : Message - where Tfeedback : Message - where Tresult : Message - { - public string ActionName; - public float TimeStep; - - private RosSocket rosSocket; - private string CancelPublicationId; - private string GoalPublicationId; - private Messages.Actionlib.GoalID ActionGoalId; - private Messages.Actionlib.GoalStatusArray ActionStatus; - - protected ActionServer.ActionStates ActionState; - protected Tgoal ActionGoal; - protected Tfeedback ActionFeedback; - protected Tresult ActionResult; - - public abstract Tgoal GetGoal(); // to be implemented by user - - protected virtual void Start() - { - rosSocket = GetComponent().RosSocket; - - CancelPublicationId = rosSocket.Advertise(ActionName + "/cancel"); - GoalPublicationId = rosSocket.Advertise(ActionName + "/goal"); - - rosSocket.Subscribe(ActionName + "/status", StatusCallback, (int)(TimeStep * 1000)); - rosSocket.Subscribe(ActionName + "/feedback", FeedbackCallback, (int)(TimeStep * 1000)); - rosSocket.Subscribe(ActionName + "/result", ResultCallback, (int)(TimeStep * 1000)); - } - - public void SendGoal() - { - rosSocket.Publish(GoalPublicationId, GetGoal()); - } - - public void CancelGoal() - { - ActionGoalId = new Messages.Actionlib.GoalID(); - rosSocket.Publish(CancelPublicationId, ActionGoalId); - } - - protected virtual void FeedbackCallback(Tfeedback feedback) - { - ActionFeedback = feedback; - } - - protected virtual void ResultCallback(Tresult result) - { - ActionResult = result; - } - - protected virtual void StatusCallback(Messages.Actionlib.GoalStatusArray actionStatus) - { - ActionStatus = actionStatus; - ActionState = (ActionServer.ActionStates)ActionStatus.status_list[0].status; - } - } -} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs.meta deleted file mode 100644 index 28adb79..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionClient.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 455852da000139b4caf5e7924f18b236 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs deleted file mode 100644 index 79404d2..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs +++ /dev/null @@ -1,104 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Threading; -using UnityEngine; - -namespace RosSharp.RosBridgeClient -{ - - public abstract class ActionServer : MonoBehaviour - where Tgoal : Message - where Tfeedback : Message - where Tresult : Message - { - public string ActionName; - public float TimeStep; - - public enum ActionStates { Pending, Active, Preempted, Succeeded, Aborted, Rejected, Preempting }; - public ActionStates ActionState; - - private RosSocket rosSocket; - private string FeedbackPublicationId; - private string StatusPublicationId; - private string ResultPublicationId; - private Messages.Actionlib.GoalStatus ActionStatus; - private Messages.Actionlib.GoalID ActionGoalId; - private Thread thread; - - protected Tgoal ActionGoal; - protected Tfeedback ActionFeedback; - protected Tresult ActionResult; - - protected abstract void GoalHandle(Tgoal goal); // to be implemented by user - - protected void Start() - { - rosSocket = GetComponent().RosSocket; - ActionState = ActionStates.Pending; - - rosSocket.Subscribe(ActionName + "/cancel", CancelCallback, (int)(TimeStep * 1000)); - rosSocket.Subscribe(ActionName + "/goal", GoalCallback, (int)(TimeStep * 1000)); - - StatusPublicationId = rosSocket.Advertise(ActionName + "/status"); - FeedbackPublicationId = rosSocket.Advertise(ActionName + "/feedback"); - ResultPublicationId = rosSocket.Advertise(ActionName + "/result"); - } - - protected virtual void Update() - { - PublishStatus(); - } - - protected void GoalCallback(Tgoal actionGoal) - { - if (ActionState == ActionStates.Active) - thread.Abort(); // terminate existing goal handling process - - ActionGoal = actionGoal; - thread = new Thread(() => GoalHandle(ActionGoal)); - thread.Start(); - } - - protected void CancelCallback(Messages.Actionlib.GoalID actionGoalId) - { - if (ActionState == ActionStates.Active) - { - ActionState = ActionStates.Preempting; - ActionGoalId = actionGoalId; - thread.Abort(); - ActionState = ActionStates.Preempted; - } - } - - protected void PublishStatus() - { - ActionStatus = new Messages.Actionlib.GoalStatus() { status = (int)ActionState }; - - rosSocket.Publish(StatusPublicationId, - new Messages.Actionlib.GoalStatusArray { status_list = new Messages.Actionlib.GoalStatus[] { ActionStatus } }); - } - - public void PublishFeedback() - { - rosSocket.Publish(FeedbackPublicationId, ActionFeedback); - } - - public void PublishResult() - { - rosSocket.Publish(ResultPublicationId, ActionResult); - } - } -} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs.meta deleted file mode 100644 index 3dfc64d..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ActionServer.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 3d32aab2c7b8e8c4fb05dfa1212679eb -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs deleted file mode 100644 index 3a007a8..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs +++ /dev/null @@ -1,62 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using RosSharp.RosBridgeClient.Messages; - -namespace RosSharp.RosBridgeClient -{ - - public class FibonacciActionClient : ActionClient - { - public int Order; - - public override FibonacciActionGoal GetGoal() - { - return new FibonacciActionGoal() { goal = new FibonacciGoal { order = Order } }; - } - - public string PrintFeedback() - { - if (ActionFeedback == null) - return "-"; - - return PrintSequence(ActionFeedback.feedback.sequence); - } - - public string PrintResult() - { - if (ActionResult == null) - return "-"; - - return PrintSequence(ActionResult.result.sequence); - } - - public string PrintStatus() - { - return ActionState.ToString(); - } - - private static string PrintSequence(int[] intArray) - { - string result = ""; - for (int i = 0; i < intArray.Length; i++) - result += " " + intArray[i]; - return result; - } - } - -} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs.meta deleted file mode 100644 index 59d95a8..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionClient.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f1820970636949b429b4bd4327754e34 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs deleted file mode 100644 index 81580ee..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs +++ /dev/null @@ -1,60 +0,0 @@ -/* -© Siemens AG, 2019 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.Threading; -using UnityEngine; -using RosSharp.RosBridgeClient.Messages; - -namespace RosSharp.RosBridgeClient -{ - - public class FibonacciActionServer : ActionServer - { - protected override void GoalHandle(FibonacciActionGoal actionGoal) - { - if (actionGoal.goal.order <= 0) - { - ActionState = ActionStates.Rejected; - Debug.Log("The requested goal is invalid... "); - return; - } - - ActionState = ActionStates.Active; - ActionResult = new FibonacciActionResult(); - ActionFeedback = new FibonacciActionFeedback(); - - List sequence = new List { 0, 1 }; - ActionFeedback.feedback.sequence = sequence.ToArray(); - PublishFeedback(); - - for (int i = 1; i <= actionGoal.goal.order; i++) - { - sequence.Add(sequence[i] + sequence[i - 1]); - ActionFeedback.feedback.sequence = sequence.ToArray(); - PublishFeedback(); - Thread.Sleep(1000); - } - - ActionState = ActionStates.Succeeded; - - ActionResult.result.sequence = ActionFeedback.feedback.sequence; - PublishResult(); - } - } - -} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs.meta deleted file mode 100644 index 0171bd0..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/FibonacciActionServer.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 965b16360a102b242b580a22149ecdb8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs index aa46ecc..b5cf5dc 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs @@ -14,11 +14,11 @@ limitations under the License. */ using System.Collections.Generic; -using rosapi = RosSharp.RosBridgeClient.Services.RosApi; +using rosapi = RosSharp.RosBridgeClient.MessageTypes.Rosapi; namespace RosSharp.RosBridgeClient { - public class GetParamServiceProvider : ServiceProvider + public class GetParamServiceProvider : UnityServiceProvider { public Dictionary Parameters = new Dictionary { diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImagePublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImagePublisher.cs index 4303e23..eaa681a 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImagePublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImagePublisher.cs @@ -20,7 +20,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class ImagePublisher : Publisher + public class ImagePublisher : UnityPublisher { public Camera ImageCamera; public string FrameId = "Camera"; @@ -29,7 +29,7 @@ public class ImagePublisher : Publisher [Range(0, 100)] public int qualityLevel = 50; - private Messages.Sensor.CompressedImage message; + private MessageTypes.Sensor.CompressedImage message; private Texture2D texture2D; private Rect rect; @@ -56,7 +56,7 @@ private void InitializeGameObject() private void InitializeMessage() { - message = new Messages.Sensor.CompressedImage(); + message = new MessageTypes.Sensor.CompressedImage(); message.header.frame_id = FrameId; message.format = "jpeg"; } diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImageSubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImageSubscriber.cs index 08f0e93..a4ecd6a 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImageSubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImageSubscriber.cs @@ -18,7 +18,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { [RequireComponent(typeof(RosConnector))] - public class ImageSubscriber : Subscriber + public class ImageSubscriber : UnitySubscriber { public MeshRenderer meshRenderer; @@ -38,7 +38,7 @@ private void Update() ProcessMessage(); } - protected override void ReceiveMessage(Messages.Sensor.CompressedImage compressedImage) + protected override void ReceiveMessage(MessageTypes.Sensor.CompressedImage compressedImage) { imageData = compressedImage.data; isMessageReceived = true; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs index 6c82026..60353c6 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs @@ -17,12 +17,12 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class JointStatePublisher : Publisher + public class JointStatePublisher : UnityPublisher { public List JointStateReaders; public string FrameId = "Unity"; - private Messages.Sensor.JointState message; + private MessageTypes.Sensor.JointState message; protected override void Start() { @@ -38,9 +38,9 @@ private void FixedUpdate() private void InitializeMessage() { int jointStateLength = JointStateReaders.Count; - message = new Messages.Sensor.JointState + message = new MessageTypes.Sensor.JointState { - header = new Messages.Standard.Header { frame_id = FrameId }, + header = new MessageTypes.Std.Header { frame_id = FrameId }, name = new string[jointStateLength], position = new double[jointStateLength], velocity = new double[jointStateLength], diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs index 0992fdb..b765b9e 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs @@ -17,12 +17,12 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class JointStateSubscriber : Subscriber + public class JointStateSubscriber : UnitySubscriber { public List JointNames; public List JointStateWriters; - protected override void ReceiveMessage(Messages.Sensor.JointState message) + protected override void ReceiveMessage(MessageTypes.Sensor.JointState message) { int index; for (int i = 0; i < message.name.Length; i++) diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoyPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoyPublisher.cs index 160e6a1..e8144be 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoyPublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoyPublisher.cs @@ -15,14 +15,14 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class JoyPublisher : Publisher + public class JoyPublisher : UnityPublisher { private JoyAxisReader[] JoyAxisReaders; private JoyButtonReader[] JoyButtonReaders; public string FrameId = "Unity"; - private Messages.Sensor.Joy message; + private MessageTypes.Sensor.Joy message; protected override void Start() { @@ -44,7 +44,7 @@ private void InitializeGameObject() private void InitializeMessage() { - message = new Messages.Sensor.Joy(); + message = new MessageTypes.Sensor.Joy(); message.header.frame_id = FrameId; message.axes = new float[JoyAxisReaders.Length]; message.buttons = new int[JoyButtonReaders.Length]; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs index 9253006..9314f39 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs @@ -15,7 +15,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class JoySubscriber : Subscriber + public class JoySubscriber : UnitySubscriber { public JoyButtonWriter[] joyButtonWriters; public JoyAxisWriter[] joyAxisWriters; @@ -25,7 +25,7 @@ protected override void Start() base.Start(); } - protected override void ReceiveMessage(Messages.Sensor.Joy joy) + protected override void ReceiveMessage(MessageTypes.Sensor.Joy joy) { int I = joyButtonWriters.Length < joy.buttons.Length ? joyButtonWriters.Length : joy.buttons.Length; for (int i = 0; i < I; i++) diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs index e5f489e..d25ee27 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs @@ -17,12 +17,12 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class LaserScanPublisher : Publisher + public class LaserScanPublisher : UnityPublisher { public LaserScanReader laserScanReader; public string FrameId = "Unity"; - private Messages.Sensor.LaserScan message; + private MessageTypes.Sensor.LaserScan message; private float scanPeriod; private float previousScanTime = 0; @@ -45,9 +45,9 @@ private void InitializeMessage() { scanPeriod = (float)laserScanReader.samples / (float)laserScanReader.update_rate; - message = new Messages.Sensor.LaserScan + message = new MessageTypes.Sensor.LaserScan { - header = new Messages.Standard.Header { frame_id = FrameId }, + header = new MessageTypes.Std.Header { frame_id = FrameId }, angle_min = laserScanReader.angle_min, angle_max = laserScanReader.angle_max, angle_increment = laserScanReader.angle_increment, diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs index 816c635..25b55f6 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs @@ -15,7 +15,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class LaserScanSubscriber : Subscriber + public class LaserScanSubscriber : UnitySubscriber { public LaserScanWriter laserScanWriter; @@ -24,7 +24,7 @@ protected override void Start() base.Start(); } - protected override void ReceiveMessage(Messages.Sensor.LaserScan laserScan) + protected override void ReceiveMessage(MessageTypes.Sensor.LaserScan laserScan) { laserScanWriter.Write(laserScan); } diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometrySubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometrySubscriber.cs index af78601..757a99b 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometrySubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometrySubscriber.cs @@ -17,7 +17,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class OdometrySubscriber : Subscriber + public class OdometrySubscriber : UnitySubscriber { public Transform PublishedTransform; @@ -36,7 +36,7 @@ private void Update() ProcessMessage(); } - protected override void ReceiveMessage(Messages.Navigation.Odometry message) + protected override void ReceiveMessage(MessageTypes.Nav.Odometry message) { position = GetPosition(message).Ros2Unity(); rotation = GetRotation(message).Ros2Unity(); @@ -48,21 +48,21 @@ private void ProcessMessage() PublishedTransform.rotation = rotation; } - private Vector3 GetPosition(Messages.Navigation.Odometry message) + private Vector3 GetPosition(MessageTypes.Nav.Odometry message) { return new Vector3( - message.pose.pose.position.x, - message.pose.pose.position.y, - message.pose.pose.position.z); + (float)message.pose.pose.position.x, + (float)message.pose.pose.position.y, + (float)message.pose.pose.position.z); } - private Quaternion GetRotation(Messages.Navigation.Odometry message) + private Quaternion GetRotation(MessageTypes.Nav.Odometry message) { return new Quaternion( - message.pose.pose.orientation.x, - message.pose.pose.orientation.y, - message.pose.pose.orientation.z, - message.pose.pose.orientation.w); + (float)message.pose.pose.orientation.x, + (float)message.pose.pose.orientation.y, + (float)message.pose.pose.orientation.z, + (float)message.pose.pose.orientation.w); } } } \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedPublisher.cs index 9e41553..00ed7bd 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedPublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedPublisher.cs @@ -17,12 +17,12 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class PoseStampedPublisher : Publisher + public class PoseStampedPublisher : UnityPublisher { public Transform PublishedTransform; public string FrameId = "Unity"; - private Messages.Geometry.PoseStamped message; + private MessageTypes.Geometry.PoseStamped message; protected override void Start() { @@ -37,9 +37,9 @@ private void FixedUpdate() private void InitializeMessage() { - message = new Messages.Geometry.PoseStamped + message = new MessageTypes.Geometry.PoseStamped { - header = new Messages.Standard.Header() + header = new MessageTypes.Std.Header() { frame_id = FrameId } @@ -55,18 +55,18 @@ private void UpdateMessage() Publish(message); } - private Messages.Geometry.Point GetGeometryPoint(Vector3 position) + private MessageTypes.Geometry.Point GetGeometryPoint(Vector3 position) { - Messages.Geometry.Point geometryPoint = new Messages.Geometry.Point(); + MessageTypes.Geometry.Point geometryPoint = new MessageTypes.Geometry.Point(); geometryPoint.x = position.x; geometryPoint.y = position.y; geometryPoint.z = position.z; return geometryPoint; } - private Messages.Geometry.Quaternion GetGeometryQuaternion(Quaternion quaternion) + private MessageTypes.Geometry.Quaternion GetGeometryQuaternion(Quaternion quaternion) { - Messages.Geometry.Quaternion geometryQuaternion = new Messages.Geometry.Quaternion(); + MessageTypes.Geometry.Quaternion geometryQuaternion = new MessageTypes.Geometry.Quaternion(); geometryQuaternion.x = quaternion.x; geometryQuaternion.y = quaternion.y; geometryQuaternion.z = quaternion.z; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedSubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedSubscriber.cs index 6355938..924008a 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedSubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedSubscriber.cs @@ -17,7 +17,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class PoseStampedSubscriber : Subscriber + public class PoseStampedSubscriber : UnitySubscriber { public Transform PublishedTransform; @@ -36,7 +36,7 @@ private void Update() ProcessMessage(); } - protected override void ReceiveMessage(Messages.Geometry.PoseStamped message) + protected override void ReceiveMessage(MessageTypes.Geometry.PoseStamped message) { position = GetPosition(message).Ros2Unity(); rotation = GetRotation(message).Ros2Unity(); @@ -49,21 +49,21 @@ private void ProcessMessage() PublishedTransform.rotation = rotation; } - private Vector3 GetPosition(Messages.Geometry.PoseStamped message) + private Vector3 GetPosition(MessageTypes.Geometry.PoseStamped message) { return new Vector3( - message.pose.position.x, - message.pose.position.y, - message.pose.position.z); + (float)message.pose.position.x, + (float)message.pose.position.y, + (float)message.pose.position.z); } - private Quaternion GetRotation(Messages.Geometry.PoseStamped message) + private Quaternion GetRotation(MessageTypes.Geometry.PoseStamped message) { return new Quaternion( - message.pose.orientation.x, - message.pose.orientation.y, - message.pose.orientation.z, - message.pose.orientation.w); + (float)message.pose.orientation.x, + (float)message.pose.orientation.y, + (float)message.pose.orientation.z, + (float)message.pose.orientation.w); } } } \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs index 474dabc..d1f39b1 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs @@ -17,57 +17,45 @@ limitations under the License. using System; using System.Threading; +using RosSharp.RosBridgeClient.Protocols; using UnityEngine; namespace RosSharp.RosBridgeClient { public class RosConnector : MonoBehaviour { - public int Timeout = 10; + public int SecondsTimeout = 10; public RosSocket RosSocket { get; private set; } - public enum Protocols { WebSocketSharp, WebSocketNET }; - public RosBridgeClient.RosSocket.SerializerEnum Serializer; - public Protocols Protocol; + public RosSocket.SerializerEnum Serializer; + public Protocol protocol; public string RosBridgeServerUrl = "ws://192.168.0.1:9090"; - private ManualResetEvent isConnected = new ManualResetEvent(false); + public ManualResetEvent IsConnected { get; private set; } - public void Awake() + public virtual void Awake() { + IsConnected = new ManualResetEvent(false); new Thread(ConnectAndWait).Start(); } - private void ConnectAndWait() + protected void ConnectAndWait() { - RosSocket = ConnectToRos(Protocol, RosBridgeServerUrl, OnConnected, OnClosed, Serializer); + RosSocket = ConnectToRos(protocol, RosBridgeServerUrl, OnConnected, OnClosed, Serializer); - if (!isConnected.WaitOne(Timeout * 1000)) + if (!IsConnected.WaitOne(SecondsTimeout * 1000)) Debug.LogWarning("Failed to connect to RosBridge at: " + RosBridgeServerUrl); } - public static RosSocket ConnectToRos(Protocols protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON) + public static RosSocket ConnectToRos(Protocol protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON) { - RosBridgeClient.Protocols.IProtocol protocol = GetProtocol(protocolType, serverUrl); + IProtocol protocol = ProtocolInitializer.GetProtocol(protocolType, serverUrl); protocol.OnConnected += onConnected; protocol.OnClosed += onClosed; return new RosSocket(protocol, serializer); } - private static RosBridgeClient.Protocols.IProtocol GetProtocol(Protocols protocol, string rosBridgeServerUrl) - { - switch (protocol) - { - case Protocols.WebSocketSharp: - return new RosBridgeClient.Protocols.WebSocketSharpProtocol(rosBridgeServerUrl); - case Protocols.WebSocketNET: - return new RosBridgeClient.Protocols.WebSocketNetProtocol(rosBridgeServerUrl); - default: - return null; - } - } - private void OnApplicationQuit() { RosSocket.Close(); @@ -75,13 +63,13 @@ private void OnApplicationQuit() private void OnConnected(object sender, EventArgs e) { - isConnected.Set(); + IsConnected.Set(); Debug.Log("Connected to RosBridge: " + RosBridgeServerUrl); } private void OnClosed(object sender, EventArgs e) { - isConnected.Reset(); + IsConnected.Reset(); Debug.Log("Disconnected from RosBridge: " + RosBridgeServerUrl); } } diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistPublisher.cs index 2e98b7a..70b2a3e 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistPublisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistPublisher.cs @@ -17,11 +17,11 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class TwistPublisher : Publisher + public class TwistPublisher : UnityPublisher { public Transform PublishedTransform; - private Messages.Geometry.Twist message; + private MessageTypes.Geometry.Twist message; private float previousRealTime; private Vector3 previousPosition = Vector3.zero; private Quaternion previousRotation = Quaternion.identity; @@ -39,9 +39,9 @@ private void FixedUpdate() private void InitializeMessage() { - message = new Messages.Geometry.Twist(); - message.linear = new Messages.Geometry.Vector3(); - message.angular = new Messages.Geometry.Vector3(); + message = new MessageTypes.Geometry.Twist(); + message.linear = new MessageTypes.Geometry.Vector3(); + message.angular = new MessageTypes.Geometry.Vector3(); } private void UpdateMessage() { @@ -60,9 +60,9 @@ private void UpdateMessage() Publish(message); } - private static Messages.Geometry.Vector3 GetGeometryVector3(Vector3 vector3) + private static MessageTypes.Geometry.Vector3 GetGeometryVector3(Vector3 vector3) { - Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3(); + MessageTypes.Geometry.Vector3 geometryVector3 = new MessageTypes.Geometry.Vector3(); geometryVector3.x = vector3.x; geometryVector3.y = vector3.y; geometryVector3.z = vector3.z; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs index 544fb23..edada31 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs @@ -20,7 +20,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { - public class TwistSubscriber : Subscriber + public class TwistSubscriber : UnitySubscriber { public Transform SubscribedTransform; @@ -34,16 +34,16 @@ protected override void Start() base.Start(); } - protected override void ReceiveMessage(Messages.Geometry.Twist message) + protected override void ReceiveMessage(MessageTypes.Geometry.Twist message) { linearVelocity = ToVector3(message.linear).Ros2Unity(); angularVelocity = -ToVector3(message.angular).Ros2Unity(); isMessageReceived = true; } - private static Vector3 ToVector3(Messages.Geometry.Vector3 geometryVector3) + private static Vector3 ToVector3(MessageTypes.Geometry.Vector3 geometryVector3) { - return new Vector3(geometryVector3.x, geometryVector3.y, geometryVector3.z); + return new Vector3((float)geometryVector3.x, (float)geometryVector3.y, (float)geometryVector3.z); } private void Update() diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs new file mode 100644 index 0000000..98dd018 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs @@ -0,0 +1,52 @@ +/* +© Siemens AG, 2019 +Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using UnityEngine; + +namespace RosSharp.RosBridgeClient.Actionlib +{ + [RequireComponent(typeof(RosConnector))] + public class UnityFibonacciActionClient : MonoBehaviour + { + private RosConnector rosConnector; + public FibonacciActionClient fibonacciActionClient; + + public string actionName; + public int fibonacciOrder = 20; + public string status = ""; + public string feedback = ""; + public string result = ""; + + private void Start() + { + rosConnector = GetComponent(); + fibonacciActionClient = new FibonacciActionClient(actionName, rosConnector.RosSocket); + fibonacciActionClient.Initialize(); + } + + private void Update() + { + status = fibonacciActionClient.GetStatusString(); + feedback = fibonacciActionClient.GetFeedbackString(); + result = fibonacciActionClient.GetResultString(); + } + + public void RegisterGoal() + { + fibonacciActionClient.fibonacciOrder = fibonacciOrder; + } + + } +} diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs.meta new file mode 100644 index 0000000..4e81c86 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 705f9408f07cb1d42a76f8cf1c3ddfaa +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs new file mode 100644 index 0000000..8868865 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs @@ -0,0 +1,45 @@ +/* +© Siemens AG, 2019 +Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using UnityEngine; + +namespace RosSharp.RosBridgeClient.Actionlib +{ + [RequireComponent(typeof(RosConnector))] + public class UnityFibonacciActionSever : MonoBehaviour + { + private RosConnector rosConnector; + private FibonacciActionServer fibonacciActionServer; + + public string actionName; + public string status; + public string feedback; + + private void Start() + { + rosConnector = GetComponent(); + fibonacciActionServer = new FibonacciActionServer(actionName, rosConnector.RosSocket, new Log(x => Debug.Log(x))); + fibonacciActionServer.Initialize(); + } + + private void Update() + { + fibonacciActionServer.PublishStatus(); + status = fibonacciActionServer.GetStatus().ToString(); + feedback = fibonacciActionServer.GetFeedbackSequenceString(); + } + } + +} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs.meta new file mode 100644 index 0000000..2260ac1 --- /dev/null +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0e1885e8f089b3f48a0de19e58c6d0d1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Publisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs similarity index 74% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Publisher.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs index 462f04b..5b964d7 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Publisher.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs @@ -18,19 +18,22 @@ limitations under the License. namespace RosSharp.RosBridgeClient { [RequireComponent(typeof(RosConnector))] - public abstract class Publisher : MonoBehaviour where T: Message + public abstract class UnityPublisher : MonoBehaviour where T : Message { public string Topic; private string publicationId; + private RosConnector rosConnector; + protected virtual void Start() { - publicationId = GetComponent().RosSocket.Advertise(Topic); + rosConnector = GetComponent(); + publicationId = rosConnector.RosSocket.Advertise(Topic); } protected void Publish(T message) { - GetComponent().RosSocket.Publish(publicationId, message); + rosConnector.RosSocket.Publish(publicationId, message); } } } \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Publisher.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs.meta similarity index 100% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Publisher.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs.meta diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ServiceProvider.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs similarity index 89% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ServiceProvider.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs index 42935d5..c912d58 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ServiceProvider.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs @@ -18,7 +18,7 @@ limitations under the License. namespace RosSharp.RosBridgeClient { [RequireComponent(typeof(RosConnector))] - public abstract class ServiceProvider : MonoBehaviour where Tin : Message where Tout : Message + public abstract class UnityServiceProvider : MonoBehaviour where Tin : Message where Tout : Message { public string ServiceName; diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ServiceProvider.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs.meta similarity index 100% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ServiceProvider.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs.meta diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Subscriber.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs similarity index 57% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Subscriber.cs rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs index b77fb45..9567046 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Subscriber.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs @@ -13,19 +13,33 @@ You may obtain a copy of the License at limitations under the License. */ +using System.Threading; using UnityEngine; namespace RosSharp.RosBridgeClient { [RequireComponent(typeof(RosConnector))] - public abstract class Subscriber : MonoBehaviour where T: Message + public abstract class UnitySubscriber : MonoBehaviour where T: Message { public string Topic; public float TimeStep; + private RosConnector rosConnector; + private readonly int SecondsTimeout = 1; + protected virtual void Start() { - GetComponent().RosSocket.Subscribe(Topic, ReceiveMessage, (int)(TimeStep * 1000)); // the rate(in ms in between messages) at which to throttle the topics + rosConnector = GetComponent(); + new Thread(Subscribe).Start(); + } + + private void Subscribe() + { + + if (!rosConnector.IsConnected.WaitOne(SecondsTimeout * 1000)) + Debug.LogWarning("Failed to subscribe: RosConnector not connected"); + + rosConnector.RosSocket.Subscribe(Topic, ReceiveMessage, (int)(TimeStep * 1000)); // the rate(in ms in between messages) at which to throttle the topics } protected abstract void ReceiveMessage(T message); diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Subscriber.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs.meta similarity index 100% rename from Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Subscriber.cs.meta rename to Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs.meta diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs deleted file mode 100644 index cda68d0..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs +++ /dev/null @@ -1,39 +0,0 @@ -/* -Shimadzu corp , 2019, Akira NODA (a-noda@shimadzu.co.jp / you.akira.noda@gmail.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -// Please check out https://gist.github.com/akirayou/0a444f0081acd1f268804af0347957f9 -// for a NTP implementation of the Timer class - - -using System; - -namespace RosSharp.RosBridgeClient -{ - public class SystemTimer : Timer - { - public static DateTime UNIX_EPOCH = new DateTime(1970, 1, 1, 0, 0, 0, 0, DateTimeKind.Utc); - public override Messages.Standard.Time Now() - { - TimeSpan timeSpan = DateTime.Now.ToUniversalTime() - UNIX_EPOCH; - double msecs = timeSpan.TotalMilliseconds; - uint sec = (uint)(msecs / 1000); - - return new Messages.Standard.Time - { - secs = sec, - nsecs = (uint)((msecs / 1000 - sec) * 1e+9) - }; - } - } -} \ No newline at end of file diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs.meta b/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs.meta deleted file mode 100644 index 3948e2d..0000000 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/SystemTimer.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 99cd1338c82d3e545b9df438eb26d5f6 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/Timer.cs b/Assets/RosSharp/Scripts/RosBridgeClient/Timing/Timer.cs index 0084a1f..a1b30be 100644 --- a/Assets/RosSharp/Scripts/RosBridgeClient/Timing/Timer.cs +++ b/Assets/RosSharp/Scripts/RosBridgeClient/Timing/Timer.cs @@ -1,7 +1,6 @@ /* © Siemens AG, 2017-2019 Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at @@ -16,24 +15,30 @@ limitations under the License. // Adding Timestamp switching // Shimadzu corp , 2019, Akira NODA (a-noda@shimadzu.co.jp / you.akira.noda@gmail.com) -using UnityEngine; +// Removing MonoBehaviour inheritance +// Siemens AG , 2019, Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) + +using System; +using RosSharp.RosBridgeClient.MessageTypes.Std; namespace RosSharp.RosBridgeClient { - public class Timer: MonoBehaviour + public class Timer { - protected void Awake() - { - HeaderExtensions.Timer = this; - } + public static DateTime UNIX_EPOCH = new DateTime(1970, 1, 1, 0, 0, 0, 0, DateTimeKind.Utc); - public virtual Messages.Standard.Time Now() + public virtual MessageTypes.Std.Time Now() { - Messages.Standard.Time stamp = new Messages.Standard.Time(); - float time = Time.realtimeSinceStartup; - stamp.secs = (uint)time; - stamp.nsecs = (uint)(1e9 * (time - stamp.secs)); - return stamp; + TimeSpan timeSpan = DateTime.Now.ToUniversalTime() - UNIX_EPOCH; + + double msecs = timeSpan.TotalMilliseconds; + uint sec = (uint)(msecs / 1000); + + return new MessageTypes.Std.Time + { + secs = sec, + nsecs = (uint)((msecs / 1000 - sec) * 1e+9) + }; } } } diff --git a/Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs b/Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs index 1807162..16413eb 100644 --- a/Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs +++ b/Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs @@ -31,7 +31,7 @@ public class UrdfInertial : MonoBehaviour public Quaternion InertiaTensorRotation; private const int RoundDigits = 10; - private const float MinInertia = 1e-8f; + private const float MinInertia = 1e-6f; public static void Create(GameObject linkObject, Link.Inertial inertial = null) { @@ -142,34 +142,34 @@ private static Quaternion ToQuaternion(Vector3 eigenvector0, Vector3 eigenvector float qw, qx, qy, qz; if (tr > 0) { - float s = Mathf.Sqrt((tr + 1.0f) * 2f); // S=4*qw + float s = Mathf.Sqrt(tr + 1.0f) * 2f; // S=4*qw qw = 0.25f * s; - qx = (eigenvector2[1] - eigenvector1[2]) / s; - qy = (eigenvector0[2] - eigenvector2[0]) / s; - qz = (eigenvector1[0] - eigenvector0[1]) / s; + qx = (eigenvector1[2] - eigenvector2[1]) / s; + qy = (eigenvector2[0] - eigenvector0[2]) / s; + qz = (eigenvector0[1] - eigenvector1[0]) / s; } else if ((eigenvector0[0] > eigenvector1[1]) & (eigenvector0[0] > eigenvector2[2])) { float s = Mathf.Sqrt(1.0f + eigenvector0[0] - eigenvector1[1] - eigenvector2[2]) * 2; // S=4*qx - qw = (eigenvector2[1] - eigenvector1[2]) / s; + qw = (eigenvector1[2] - eigenvector2[1]) / s; qx = 0.25f * s; - qy = (eigenvector0[1] + eigenvector1[0]) / s; - qz = (eigenvector0[2] + eigenvector2[0]) / s; + qy = (eigenvector1[0] + eigenvector0[1]) / s; + qz = (eigenvector2[0] + eigenvector0[2]) / s; } else if (eigenvector1[1] > eigenvector2[2]) { float s = Mathf.Sqrt(1.0f + eigenvector1[1] - eigenvector0[0] - eigenvector2[2]) * 2; // S=4*qy - qw = (eigenvector0[2] - eigenvector2[0]) / s; - qx = (eigenvector0[1] + eigenvector1[0]) / s; + qw = (eigenvector2[0] - eigenvector0[2]) / s; + qx = (eigenvector1[0] + eigenvector0[1]) / s; qy = 0.25f * s; - qz = (eigenvector1[2] + eigenvector2[1]) / s; + qz = (eigenvector2[1] + eigenvector1[2]) / s; } else { float s = Mathf.Sqrt(1.0f + eigenvector2[2] - eigenvector0[0] - eigenvector1[1]) * 2; // S=4*qz - qw = (eigenvector1[0] - eigenvector0[1]) / s; - qx = (eigenvector0[2] + eigenvector2[0]) / s; - qy = (eigenvector1[2] + eigenvector2[1]) / s; + qw = (eigenvector0[1] - eigenvector1[0]) / s; + qx = (eigenvector2[0] + eigenvector0[2]) / s; + qy = (eigenvector2[1] + eigenvector1[2]) / s; qz = 0.25f * s; } return new Quaternion(qx, qy, qz, qw); diff --git a/Assets/RosSharpMessages.meta b/Assets/RosSharpMessages.meta new file mode 100644 index 0000000..943d084 --- /dev/null +++ b/Assets/RosSharpMessages.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 18dcb830630cd5643ab12684fd6d5ecf +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharpMessages/Velodyne.meta b/Assets/RosSharpMessages/Velodyne.meta new file mode 100644 index 0000000..8e10112 --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 979320030887c5142bb0459cdab2992e +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharpMessages/Velodyne/msg.meta b/Assets/RosSharpMessages/Velodyne/msg.meta new file mode 100644 index 0000000..66830bd --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne/msg.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b49431a0ace1e904e929453828d12e8d +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs b/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs new file mode 100644 index 0000000..d71e9ec --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs @@ -0,0 +1,39 @@ +/* + * This message is auto generated by ROS#. Please DO NOT modify. + * Note: + * - Comments from the original code will be written in their own line + * - Variable sized arrays will be initialized to array of size 0 + * Please report any issues at + * + */ + +using Newtonsoft.Json; + +using RosSharp.RosBridgeClient.MessageTypes.Std; + +namespace RosSharp.RosBridgeClient.MessageTypes.Velodyne +{ + public class VelodynePacket : Message + { + [JsonIgnore] + public const string RosMessageName = "velodyne_msgs/VelodynePacket"; + + // Raw Velodyne LIDAR packet. + public Time stamp; + // packet timestamp + public byte[] data; + // packet contents + + public VelodynePacket() + { + this.stamp = new Time(); + this.data = new byte[1206]; + } + + public VelodynePacket(Time stamp, byte[] data) + { + this.stamp = stamp; + this.data = data; + } + } +} diff --git a/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs.meta b/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs.meta new file mode 100644 index 0000000..b4e3872 --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne/msg/VelodynePacket.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fd2bbe8188ec8304ea747495ae25fa8f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs b/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs new file mode 100644 index 0000000..762c5b5 --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs @@ -0,0 +1,39 @@ +/* + * This message is auto generated by ROS#. Please DO NOT modify. + * Note: + * - Comments from the original code will be written in their own line + * - Variable sized arrays will be initialized to array of size 0 + * Please report any issues at + * + */ + +using Newtonsoft.Json; + +using RosSharp.RosBridgeClient.MessageTypes.Std; + +namespace RosSharp.RosBridgeClient.MessageTypes.Velodyne +{ + public class VelodyneScan : Message + { + [JsonIgnore] + public const string RosMessageName = "velodyne_msgs/VelodyneScan"; + + // Velodyne LIDAR scan packets. + public Header header; + // standard ROS message header + public VelodynePacket[] packets; + // vector of raw packets + + public VelodyneScan() + { + this.header = new Header(); + this.packets = new VelodynePacket[0]; + } + + public VelodyneScan(Header header, VelodynePacket[] packets) + { + this.header = header; + this.packets = packets; + } + } +} diff --git a/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs.meta b/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs.meta new file mode 100644 index 0000000..13146f1 --- /dev/null +++ b/Assets/RosSharpMessages/Velodyne/msg/VelodyneScan.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 36a4b28d33b883f42b7cf52bff299e3c +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scenes/running.unity b/Assets/Scenes/unit04_test.unity similarity index 81% rename from Assets/Scenes/running.unity rename to Assets/Scenes/unit04_test.unity index 0f17f54..913cb15 100644 --- a/Assets/Scenes/running.unity +++ b/Assets/Scenes/unit04_test.unity @@ -390,6 +390,116 @@ Transform: m_Father: {fileID: 0} m_RootOrder: 2 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!1 &1671675747 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - 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minAngle) / (float)(numberOfLayers - 1); + azimutIncrAngle = (float)(360.0f / numberOfIncrements); + } + +// Update is called once per frame +void FixedUpdate () { + Vector3 fwd = new Vector3(0, 0, 1); + Vector3 dir; + RaycastHit hit; + int indx = 0; + float angle; + + //azimut angles + for (int incr = 0; incr < numberOfIncrements; incr++) + { + for (int layer = 0; layer < numberOfLayers; layer++) + { + //print("incr "+ incr +" layer "+layer+"\n"); + indx = layer + incr * numberOfLayers; + angle = minAngle + (float)layer * vertIncrement; + azimuts[incr] = incr * azimutIncrAngle; + dir = transform.rotation * Quaternion.Euler(-angle, azimuts[incr], 0)*fwd; + // print("idx "+ indx +" angle " + angle + " azimut " + azimut + " quats " + Quaternion.Euler(-angle, azimut, 0) + " dir " + dir+ " fwd " + fwd+"\n"); + + //Debug.DrawRay(transform.position, dir * 100.0f, Color.green); + if (Physics.Raycast(transform.position, dir, out hit, maxRange)) + { + distances[indx] = (float)hit.distance; + } + else + { + distances[indx] = maxRange; + } + } + } + + } +} diff --git a/Assets/Scripts/LiDAR/Lidar.cs.meta b/Assets/Scripts/LiDAR/Lidar.cs.meta new file mode 100644 index 0000000..9fb8c5e --- /dev/null +++ b/Assets/Scripts/LiDAR/Lidar.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 479d6f4dc5ab1e446ab2d632598c7ad5 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Transmission/TwistTest.cs b/Assets/Scripts/Transmission/TwistTest.cs index b2bbc53..ee28336 100644 --- a/Assets/Scripts/Transmission/TwistTest.cs +++ b/Assets/Scripts/Transmission/TwistTest.cs @@ -2,7 +2,7 @@ namespace RosSharp.RosBridgeClient { - public class TwistTest : Subscriber + public class TwistTest : UnitySubscriber { public enum WheelType { @@ -25,16 +25,16 @@ protected override void Start() hinge = GetComponent(); } - protected override void ReceiveMessage(Messages.Geometry.Twist message) + protected override void ReceiveMessage(MessageTypes.Geometry.Twist message) { linearVelocity = ToVector3(message.linear).Ros2Unity(); angularVelocity = -ToVector3(message.angular).Ros2Unity(); isMessageReceived = true; } - private static Vector3 ToVector3(Messages.Geometry.Vector3 geometryVector3) + private static Vector3 ToVector3(MessageTypes.Geometry.Vector3 geometryVector3) { - return new Vector3(geometryVector3.x, geometryVector3.y, geometryVector3.z); + return new Vector3((float)geometryVector3.x, (float)geometryVector3.y, (float)geometryVector3.z); } private void Update() diff --git a/Assets/Scripts/Velodyne.meta b/Assets/Scripts/Velodyne.meta new file mode 100644 index 0000000..5e11cc3 --- /dev/null +++ b/Assets/Scripts/Velodyne.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 695bbc7637ead0442bcbefa56be0a673 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Velodyne/VelodynePublisher.cs b/Assets/Scripts/Velodyne/VelodynePublisher.cs new file mode 100644 index 0000000..cce95f9 --- /dev/null +++ b/Assets/Scripts/Velodyne/VelodynePublisher.cs @@ -0,0 +1,147 @@ +using System; +using System.Collections.Generic; + +namespace RosSharp.RosBridgeClient +{ + public class VelodynePublisher : UnityPublisher + { + private Lidar lidar; + public string FrameId = "velodyne"; + private MessageTypes.Velodyne.VelodyneScan message; + private List packets; + private int[] laserIdxs1 = { 0,8 ,1,9, 2,10, 3,11, 4,12, 5,13, 6,14, 7, 15}; + public int numDataBlocks = 12; + public static DateTime UNIX_EPOCH = new DateTime(1970, 1, 1, 0, 0, 0, 0, DateTimeKind.Utc); + + public virtual MessageTypes.Std.Time Now() + { + TimeSpan timeSpan = DateTime.Now.ToUniversalTime() - UNIX_EPOCH; + + double msecs = timeSpan.TotalMilliseconds; + uint sec = (uint)(msecs / 1000); + + return new MessageTypes.Std.Time + { + secs = sec, + nsecs = (uint)((msecs / 1000 - sec) * 1e+9) + }; + } + + protected override void Start() + { + base.Start(); + lidar = gameObject.GetComponent(); + InitializeMessage(); + } + + private void InitializeMessage() + { + message = new MessageTypes.Velodyne.VelodyneScan(); + message.header.frame_id = FrameId; + packets = new List(); + } + + public byte[] makeAzimuthBytes(float az) + { + ushort azimuth = (ushort)(az * 100.0f); + //Console.Write("azimuth : {0} -->", azimuth); + byte[] azimuthArr = System.BitConverter.GetBytes(azimuth); + //Console.WriteLine("Hex: {0:X}", ByteArrayToString(azimuthArr)); + return azimuthArr; + } + + public byte[] makeDistanceBytes(float dist) + { + ushort distance = (ushort)(dist / 0.002f); + //Console.Write("distance : {0} ", distance); + byte[] distArr = System.BitConverter.GetBytes(distance); + //Console.WriteLine("Hex: {0:X}", ByteArrayToString(distArr)); + return distArr; + } + + public byte[] Serialize(float[] distanceData, float[] azimuth, int azimutStart, int numLayers, int numIncrements) + { + byte[] result = new byte[1206]; + byte[] azimuthArr; + byte[] distanceArr; + + int dbIdx = 0; + int azIdx = azimutStart; + int distIdx; + + for (int db = 0; db < 12; db++) + { + if (azIdx >= numIncrements) + { + azIdx = 0; + } + //Debug.Log("azIdx " + azIdx + " dbIdx " + db + "\n"); + + distIdx = azIdx * numLayers; + + // write a data block + dbIdx = db * 100; + result[dbIdx + 0] = 0xff; + result[dbIdx + 1] = 0xee; + azimuthArr = makeAzimuthBytes(azimuth[azIdx]); + Buffer.BlockCopy(azimuthArr, 0, result, dbIdx + 2, 2); + //Debug.Log("db "+db +" azimut " + azimuth[azIdx]); + + // write channel data, first firing + for (int c1 = 0; c1 < 16; c1++) + { + distanceArr = makeDistanceBytes(distanceData[distIdx + laserIdxs1[c1]]); + //Debug.Log("dist1[ " + (distIdx + c1) + "] " + distanceData[distIdx + c1]+ " for idx "+ laserIdxs1[c1] + " mapped "+ distanceData[distIdx + laserIdxs1[c1]]); + + Buffer.BlockCopy(distanceArr, 0, result, dbIdx + 4 + c1 * 3, 2); + result[dbIdx + 4 + c1 * 3 + 2] = 0xff; + } + // write channel data, 2nd firing + for (int c2 = 16; c2 < 32; c2++) + { + distanceArr = makeDistanceBytes(distanceData[distIdx + laserIdxs1[c2 -16]]); + //Debug.Log("dist2[ " + (distIdx + c2)+"] " + distanceData[distIdx + c2]); + + Buffer.BlockCopy(distanceArr, 0, result, dbIdx + 4 + c2 * 3, 2); + result[dbIdx + 4 + c2 * 3 + 2] = 0x12; + } + + //update idxs + azIdx = azIdx + 2; + } + result[1200] = 0x00; + result[1201] = 0x00; + result[1202] = 0x00; + result[1203] = 0x00; + result[1204] = 0x37; + result[1205] = 0x22; + return result; + } + + private void Update() + { + Boolean cont = true; + int idx = 0; + int azIncrPerMsg = 2 * numDataBlocks; + message.packets.Initialize(); + Array.Resize(ref message.packets, 0); + packets.Clear(); + while (cont) + { + MessageTypes.Velodyne.VelodynePacket packet = new MessageTypes.Velodyne.VelodynePacket(); + packet.data = Serialize(lidar.distances, lidar.azimuts, idx, lidar.numberOfLayers, lidar.numberOfIncrements); + packet.stamp = Now(); + packets.Add(packet); + idx = idx + azIncrPerMsg; + if (idx > (lidar.numberOfIncrements - 1)) + { + idx = idx - lidar.numberOfIncrements; + cont = false; + } + } + message.header.stamp = Now(); + message.packets = packets.ToArray(); + Publish(message); + } + } +} diff --git a/Assets/Scripts/Velodyne/VelodynePublisher.cs.meta b/Assets/Scripts/Velodyne/VelodynePublisher.cs.meta new file mode 100644 index 0000000..fba5941 --- /dev/null +++ b/Assets/Scripts/Velodyne/VelodynePublisher.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2cf09ecb17efba9459a691ba8a4bda9f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: