How to remove entity from simulation

Question

Hello,

I'm inserting box entity into a simulation, and I'm interested after a certain

amount of time to remove it from simulation.

Ive inserted a box using this line of code

SimulationEngine.GlobalInstancePort.Insert(box1)

and I'm trying to remove that box using this line of  code ...but without success:

SimulationEngine.GlobalInstancePort.Delete(box1)

Would appreciate any response for this question,

Simon

Answer 1

As I can see from decompiled Insert and Delete methods - they are all asynchronous:

    public void Insert(VisualEntity entity)
    {
      this.Post(new InsertSimulationEntity(entity));
    }

Delete has probably nothing to delete cause Insert had not enough time to finish its business. So the first way is to wait a little (guess how long) between calls to Insert and Delete:

yield return Arbiter.Receive(false, TimeoutPort(50), _ => { });

The alternative is to synchronize on return value of  Proxy.SimulationEnginePort. You may already have these lines:

using EngPxy = Microsoft.Robotics.Simulation.Engine.Proxy;
...
[Partner("SimEngine", Contract = Microsoft.Robotics.Simulation.Engine.Proxy.Contract.Identifier, CreationPolicy = PartnerCreationPolicy.CreateAlways)]
EngPxy.SimulationEnginePort _simEngine = new EngPxy.SimulationEnginePort();

Then use it:

yield return Arbiter.Choice(_simEngine.InsertSimulationEntity(DssTypeHelper.TransformToProxy(box1) as EngPxy.VisualEntity));
yield return Arbiter.Choice(_simEngine.DeleteSimulationEntity(DssTypeHelper.TransformToProxy(box1) as EngPxy.VisualEntity));

Works on my machine.

 

Answer 2

There is a problem with second approach if entity has some children. The correct way is:

var insRequest = new InsertSimulationEntity(box1);
SimulationEngine.GlobalInstancePort.Post(insRequest);

And then to wait on insRequest.ResponsePort.

Answer 3

Thanks a lot for ur help,

I did worked for me.

Simon