Added NrxDebugVisualizer, not working

DebugVisualizerExtension.slnx

@@ -7,9 +7,15 @@
     <Project Path="TestServer/TestServer.csproj" Id="c81154ef-d854-4f1e-9d14-2cf674885291" />
     <Project Path="Vector3VisualizerTest/Vector3VisualizerTest.csproj" />
   </Folder>
+  <Project Path="../Num.Roto.Visualization/Base/Num.Roto.Visualization.Base.csproj" />
   <Project Path="../Num.Roto.Visualization/Math/Num.Roto.Visualization.Math.csproj" />
+  <Project Path="../Num.Roto.Visualization/SceneGraph/Num.Roto.Visualization.SceneGraph.csproj" />
+  <Project Path="../Num.Roto.Visualization/Types/Num.Roto.Visualization.Types.csproj" />
   <Project Path="NrxDebuggerVisualizerProvider/NrxDebugVisualizerProvider.csproj">
     <Deploy />
   </Project>
+  <Project Path="NrxDebugVisualizer/NrxDebugVisualizer.csproj" Id="807bb178-0fd6-4ae8-8c48-1088fa8a01fd">
+    <Deploy />
+  </Project>
   <Project Path="NrxVisualizerObjectSource/NrxVisualizerObjectSource.csproj" />
 </Solution>

NamedPipes/NamedPipeServer.cs

@@ -3,6 +3,7 @@ using PipeMethodCalls;
 
 using System;
 using System.Diagnostics;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace NamedPipes;
@@ -30,15 +31,15 @@ public partial class NamedPipesServer(string pipeName,Action<string>? logger = n
         Logger("Waiting for client connection...");
         await PipeServer.WaitForConnectionAsync().ConfigureAwait(true);
     }
-    public async Task RunAsync()
+    public async Task RunAsync(CancellationToken cancellationToken)
     {
-        while(true)
+        while(!cancellationToken.IsCancellationRequested)
         {
             await WaitForConnectionAsync().ConfigureAwait(true);
             Logger("Client connected.");
             while (IsConnected)
             {
-                await Task.Delay(100).ConfigureAwait(true);
+                await Task.Delay(100, cancellationToken).ConfigureAwait(true);
             }
             Logger("Client disconnected.");
         }

NrxDebugVisualizer/App.axaml

@@ -0,0 +1,10 @@
+<Application xmlns="https://github.com/avaloniaui"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             x:Class="NrxDebugVisualizer.App"
+             RequestedThemeVariant="Default">
+             <!-- "Default" ThemeVariant follows system theme variant. "Dark" or "Light" are other available options. -->
+  
+    <Application.Styles>
+        <FluentTheme />
+    </Application.Styles>
+</Application>

NrxDebugVisualizer/App.axaml.cs

@@ -0,0 +1,47 @@
+using Avalonia;
+using Avalonia.Controls.ApplicationLifetimes;
+using Avalonia.Data.Core;
+using Avalonia.Data.Core.Plugins;
+using Avalonia.Markup.Xaml;
+using NrxDebugVisualizer.ViewModels;
+using NrxDebugVisualizer.Views;
+using System.Linq;
+
+namespace NrxDebugVisualizer;
+
+public partial class App : Application
+{
+    public override void Initialize()
+    {
+        AvaloniaXamlLoader.Load(this);
+    }
+
+    public override void OnFrameworkInitializationCompleted()
+    {
+        if (ApplicationLifetime is IClassicDesktopStyleApplicationLifetime desktop)
+        {
+            // Avoid duplicate validations from both Avalonia and the CommunityToolkit. 
+            // More info: https://docs.avaloniaui.net/docs/guides/development-guides/data-validation#manage-validationplugins
+            DisableAvaloniaDataAnnotationValidation();
+            desktop.MainWindow = new MainWindow
+            {
+                DataContext = new MainWindowViewModel(),
+            };
+        }
+
+        base.OnFrameworkInitializationCompleted();
+    }
+
+    private static void DisableAvaloniaDataAnnotationValidation()
+    {
+        // Get an array of plugins to remove
+        var dataValidationPluginsToRemove =
+            BindingPlugins.DataValidators.OfType<DataAnnotationsValidationPlugin>().ToArray();
+
+        // remove each entry found
+        foreach (var plugin in dataValidationPluginsToRemove)
+        {
+            BindingPlugins.DataValidators.Remove(plugin);
+        }
+    }
+}

NrxDebugVisualizer/Models/PipeServer.cs

@@ -0,0 +1,79 @@
+using NamedPipes;
+using NrxDebugVisualizer.Scenes;
+using Num.Roto.Visualization.Math.Geometry;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Threading;
+using KontractFrame = System.ValueTuple<System.Numerics.Vector3, System.Numerics.Quaternion, float>;
+namespace NrxDebugVisualizer.Models;
+
+internal sealed class PipeServer
+{
+    private string PipeName { get; }
+    private NamedPipesServer? NamedPipesServer { get; set; }
+    public PipeServer(string pipeName, DebugVisualizerScene debuggerScene,CancellationToken cancellationToken)
+    {
+        PipeName = pipeName;
+        DebugVisualizerScene = debuggerScene;
+        StartPipeServer(cancellationToken);
+    }
+    private void NamedPipesServer_PropertyChanged(object? sender, System.ComponentModel.PropertyChangedEventArgs e)
+    {
+        if (e.PropertyName != nameof(NamedPipesServer.VisualizerModel)) return;
+        var visualizerObject = NamedPipesServer?.VisualizerModel;
+        if (visualizerObject is null) return;
+
+        SetPoint(visualizerObject.Point);
+        SetPointList(visualizerObject.PointArray);
+        SetFrame(visualizerObject.Frame);
+        SetFrameList(visualizerObject.FrameArray);
+    }
+
+    #region NamedPipesServer
+    private async void StartPipeServer(CancellationToken cancellationToken)
+    {
+            NamedPipesServer = new NamedPipesServer(PipeName, logger: Console.WriteLine);
+            NamedPipesServer.PropertyChanged += NamedPipesServer_PropertyChanged;
+            await NamedPipesServer.RunAsync(cancellationToken);         
+    }
+    #endregion
+
+    #region DebugVisualizerScene
+    private DebugVisualizerScene DebugVisualizerScene { get; }
+    private static Frame ToFrame(KontractFrame kontractFrame)
+    {
+        var (translation, orientation, scale) = kontractFrame;
+        return new Frame(translation, scale, orientation);
+    }
+    private static Frame[] ToFrameArray(IEnumerable<KontractFrame> frameList)
+    {
+        return [.. frameList.Select(ToFrame)];
+    }
+
+    private void SetPoint(Vector3? point)
+    {
+        if (point is null) return;
+        DebugVisualizerScene.AddPointGeometry(point.Value, 20f);
+    }
+
+    private void SetPointList(Vector3[]? pointList)
+    {
+        if (pointList == null || pointList.Length < 1) return;
+        DebugVisualizerScene.AddPointListGeometry(pointList, 5);
+    }
+
+    private void SetFrame(KontractFrame? kontractFrame)
+    {
+        if (kontractFrame is null) return;
+        DebugVisualizerScene.AddFrameGeometry(ToFrame(kontractFrame.Value), 1);
+    }
+
+    private void SetFrameList(KontractFrame[]? frameArray)
+    {
+        if (frameArray == null || frameArray.Length < 1) return;
+        DebugVisualizerScene.AddFrameListGeometry(ToFrameArray(frameArray), 1);
+    }
+    #endregion
+}

NrxDebugVisualizer/NrxDebugVisualizer.csproj

@@ -0,0 +1,31 @@
+<Project Sdk="Microsoft.NET.Sdk">
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net10.0</TargetFramework>
+    <Nullable>enable</Nullable>
+    <ApplicationManifest>app.manifest</ApplicationManifest>
+    <AvaloniaUseCompiledBindingsByDefault>true</AvaloniaUseCompiledBindingsByDefault>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <AvaloniaResource Include="Assets\**" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Avalonia" Version="11.3.12" />
+    <PackageReference Include="Avalonia.Desktop" Version="11.3.12" />
+    <PackageReference Include="Avalonia.Themes.Fluent" Version="11.3.12" />
+    <PackageReference Include="Avalonia.Fonts.Inter" Version="11.3.12" />
+    <!--Condition below is needed to remove Avalonia.Diagnostics package from build output in Release configuration.-->
+    <PackageReference Include="Avalonia.Diagnostics" Version="11.3.12">
+      <IncludeAssets Condition="'$(Configuration)' != 'Debug'">None</IncludeAssets>
+      <PrivateAssets Condition="'$(Configuration)' != 'Debug'">All</PrivateAssets>
+    </PackageReference>
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\Num.Roto.Visualization\Math\Num.Roto.Visualization.Math.csproj" />
+    <ProjectReference Include="..\..\Num.Roto.Visualization\SceneGraph\Num.Roto.Visualization.SceneGraph.csproj" />
+    <ProjectReference Include="..\NamedPipes\NamedPipes.csproj" />
+  </ItemGroup>
+</Project>

NrxDebugVisualizer/Program.cs

@@ -0,0 +1,21 @@
+using Avalonia;
+using System;
+
+namespace NrxDebugVisualizer;
+
+internal sealed class Program
+{
+    // Initialization code. Don't use any Avalonia, third-party APIs or any
+    // SynchronizationContext-reliant code before AppMain is called: things aren't initialized
+    // yet and stuff might break.
+    [STAThread]
+    public static void Main(string[] args) => BuildAvaloniaApp()
+        .StartWithClassicDesktopLifetime(args);
+
+    // Avalonia configuration, don't remove; also used by visual designer.
+    public static AppBuilder BuildAvaloniaApp()
+        => AppBuilder.Configure<App>()
+            .UsePlatformDetect()
+            .WithInterFont()
+            .LogToTrace();
+}

NrxDebugVisualizer/Scenes/DebugVisualizerScene.cs

@@ -0,0 +1,89 @@
+using Num.Roto.Visualization.Math.Geometry;
+using Num.Roto.Visualization.SceneGraph.Geometry;
+using Num.Roto.Visualization.SceneGraph.Material;
+using Num.Roto.Visualization.SceneGraph.Scene;
+using Num.Roto.Visualization.SceneGraph.Scene.Nodes;
+using Num.Roto.Visualization.Types;
+using System.Numerics;
+
+namespace NrxDebugVisualizer.Scenes;
+
+internal sealed class DebugVisualizerScene : Num.Roto.Visualization.SceneGraph.Scenes.SceneBase
+{
+    private static uint Counter;
+    private static uint Uid => Counter++;
+
+    private SceneNode Points { get; }
+    private SceneNode Frames { get; }
+
+
+    internal DebugVisualizerScene() : base("NrxDebuggerVisualizerScene")
+    {
+        Points = new SceneNode(nameof(Points), Objects);
+        Frames = new SceneNode(nameof(Frames), Objects);
+    }
+    public void AddPointGeometry(Vector3 position, float pointSize)
+    {
+        var point = new Points([position], "Point");
+        _ = new SceneGeometry("Point" + $".{Uid}", point, new Material(Colors4.White, null), Points)
+        {
+            PointSize = pointSize,
+            ComputeFragColor = false
+        };
+      }
+    public void AddPointListGeometry(Vector3[] positions, float pointSize)
+    {
+        var points = new Points(positions, "Points");
+        var material = new Material(Colors4.White, null)
+        {
+            EmissiveColor = Colors4.White,
+            VertexColorBlendFactor = 1
+        };
+        _ = new SceneGeometry("Points" + $".{Uid}", points, material, Points)
+        {
+            PointSize = pointSize,
+            ComputeFragColor = false
+        };
+    }
+    public void AddFrameGeometry(Frame frame, float length)
+    {
+        AddFrameListGeometry([frame], length);
+    }
+    public void AddFrameListGeometry(Frame[] frames, float length)
+    {
+        var material = new Material(Colors4.White, null)
+        {
+            EmissiveColor = Colors4.White,
+            VertexColorBlendFactor = 1
+        };
+        var name = frames.Length > 1 ? "FrameList" : "Frame";
+        var firstFrame = frames[0];
+        var frameContainer = new SceneNode(name + $".{Uid}", Frames)
+        {
+            Frame = firstFrame
+        };
+        var inverse = firstFrame.Inverse();
+        for (var i = 0; i < frames.Length; ++i)
+        {
+            frames[i] = inverse * frames[i];
+        }
+        var frameGeometry = new SceneGeometry("Geometry", Crosses.DefaultCross(0.5f), material, frameContainer)
+        {
+            InstanceFrames = [.. frames],
+            Flags = 0,
+            LineWidth = 1
+        };
+        if (frames.Length > 1)
+        {
+            var size = 2 * (frames.Length - 1);
+            var path = new Vector3[size];
+            path[0] = frames[0].Translation;
+            for (var i = 1; i < frames.Length - 1; ++i)
+            {
+                path[2 * i] = path[2 * i - 1] = frames[i].Translation;
+            }
+            path[^1] = frames[^1].Translation;
+            _ = new SceneGeometry("Path", new Lines(path), material, frameGeometry);
+        }
+    }
+}

NrxDebugVisualizer/ViewModels/MainWindowViewModel.cs

@@ -0,0 +1,8 @@
+using CommunityToolkit.Mvvm.ComponentModel;
+
+namespace NrxDebugVisualizer.ViewModels;
+
+public partial class MainWindowViewModel : ObservableObject
+{
+    public string Greeting { get; } = "Welcome to Avalonia!";
+}

NrxDebugVisualizer/Views/MainWindow.axaml

@@ -0,0 +1,20 @@
+<Window xmlns="https://github.com/avaloniaui"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:vm="using:NrxDebugVisualizer.ViewModels"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        mc:Ignorable="d" d:DesignWidth="800" d:DesignHeight="450"
+        x:Class="NrxDebugVisualizer.Views.MainWindow"
+        x:DataType="vm:MainWindowViewModel"
+        Icon="/Assets/avalonia-logo.ico"
+        Title="NrxDebugVisualizer">
+
+    <Design.DataContext>
+        <!-- This only sets the DataContext for the previewer in an IDE,
+             to set the actual DataContext for runtime, set the DataContext property in code (look at App.axaml.cs) -->
+        <vm:MainWindowViewModel/>
+    </Design.DataContext>
+
+    <TextBlock Text="{Binding Greeting}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+
+</Window>

NrxDebugVisualizer/Views/MainWindow.axaml.cs

@@ -0,0 +1,11 @@
+using Avalonia.Controls;
+
+namespace NrxDebugVisualizer.Views;
+
+public partial class MainWindow : Window
+{
+    public MainWindow()
+    {
+        InitializeComponent();
+    }
+}

NrxDebugVisualizer/app.manifest

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
+  <!-- This manifest is used on Windows only.
+       Don't remove it as it might cause problems with window transparency and embedded controls.
+       For more details visit https://learn.microsoft.com/en-us/windows/win32/sbscs/application-manifests -->
+  <assemblyIdentity version="1.0.0.0" name="NrxDebugVisualizer.Desktop"/>
+
+  <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
+    <application>
+      <!-- A list of the Windows versions that this application has been tested on
+           and is designed to work with. Uncomment the appropriate elements
+           and Windows will automatically select the most compatible environment. -->
+
+      <!-- Windows 10 -->
+      <supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />
+    </application>
+  </compatibility>
+</assembly>

TestClient/Program.cs

@@ -1,8 +1,8 @@
-using System.Text;
+
 using NamedPipes;
 var count = 0;
 var message = "Hello World!".ToCharArray();
-VisualizerModel visualizerModel = new VisualizerModel
+VisualizerModel visualizerModel = new()
 {
     Content = "Hello from TestClient",
     Point = new System.Numerics.Vector3(1, 2, 3),
@@ -13,7 +13,7 @@ VisualizerModel visualizerModel = new VisualizerModel
 };
 while (true)
 {
-    var pipeClient = new NamedPipeClient("testPipe",@".\","TestServer",logger:Console.WriteLine);
+    var pipeClient = new NamedPipeClient("TestPipe", @".\","TestServer",logger:Console.WriteLine);
     Thread.Sleep(1000);
     await pipeClient.SetVisualizerModelAsync(visualizerModel);
     pipeClient.SetMessageAsync($"Hello from TestClient " + count++).GetAwaiter().GetResult();

TestServer/Program.cs

@@ -1,5 +1,6 @@
 using System;
-var pipeServer = new NamedPipes.NamedPipesServer("testPipe",logger:Console.WriteLine);
+using System.Threading;
-await pipeServer.RunAsync().ConfigureAwait(true);
+var pipeServer = new NamedPipes.NamedPipesServer("TestPipe", logger:Console.WriteLine);
+await pipeServer.RunAsync(CancellationToken.None).ConfigureAwait(true);