/// <summary>
/// Environment gallery window.
/// </summary>
void EnvironmentGalleryWindow(int windowID)
{
// back button and refresh button
GUILayout.BeginHorizontal();
if (GUILayout.Button("<", GUILayout.Width(30f)))
{
_windows.Pop();
}
if (GUILayout.Button("R", GUILayout.Width(30f)))
{
EnvLoader.SearchForEnvironments();
}
GUILayout.Label("Environment Gallery");
GUILayout.EndHorizontal();
// gallery goes here...
for (int i = 0; i < EnvLoader.environmentsFound.Count; i++)
{
if (GUILayout.Button(EnvLoader.environmentsFound[i].name))
{
settings.environmentName = EnvLoader.environmentsFound[i].name;
_windows.Pop();
}
}
GUILayout.Space(10);
// start environment creator
GUILayout.Button("Create new environment...");
GUI.DragWindow();
}
/// <summary>
/// Randomly select simulation parameters.
/// </summary>
public void Randomize()
{
title = "Random Settings";
numberOfTests = 3;
environmentName = EnvLoader.RandomEnvironmentName();
robotName = BotLoader.RandomRobotName();
navigationAssemblyName = NavLoader.RandomPluginName();
randomizeDestination = true;
continueOnNavObjectiveComplete = true;
continueOnRobotIsStuck = true;
}
private void btnLoadEnv_Click(object sender, EventArgs e)
{
openFileDialog1.Filter = "XML Files|*.xml";
if (openFileDialog1.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
EnvLoader envLoader = new EnvLoader();
envLoader.Load(openFileDialog1.FileName);
double[,] newProb = envLoader.CalcVal(_map);
for (int i = 0; i < _map.Height; i++)
{
for (int j = 0; j < _map.Width; j++)
{
_map.GetMapStateMgr().SetEntropy(i, j, 1.0 - newProb[i, j]);
}
}
Refresh();
}
}
/// <summary>
/// Loads the environment.
/// </summary>
/// <param name="name">Name.</param>
private static void LoadEnvironment(string name)
{
EnvLoader.SearchForEnvironments();
if (environment)
{
environment.transform.Recycle();
}
environment = EnvLoader.LoadEnvironment(name);
environment.name = name; // avoids: Unity appending "(Clone)" to instance names
Debug.Log(environment);
Bounds b = new Bounds();
foreach (Renderer r in environment.GetComponentsInChildren <Renderer>())
{
b.Encapsulate(r.bounds);
}
Instance.bounds = b;
CamController.SetViewMode(CamController.ViewMode.Birdseye);
}
/// <summary>
/// Halt current simulation.
/// Load the next simulation in batch, or
/// change state to State.end if at the end of batch.
/// </summary>
public static void NextSimulation()
{
// stop current simulation
if (state == State.simulating)
{
Halt(StopCode.Unspecified);
}
// next in batch
simulationNumber++;
if (simulationNumber > batch.Count)
{
// end of batch
Halt(StopCode.Unspecified);
End();
return;
}
Debug.Log("Simulation NextSimulation: " + simulationNumber + " of " + batch.Count);
// load simulation settings
settings = batch[simulationNumber - 1];
Log.Settings();
// load environment
EnvLoader.SearchForEnvironments();
environment = EnvLoader.LoadEnvironment(settings.environmentName);
destination.transform.position = RandomInBounds(Instance.bounds);
// load robot
if (robot)
{
CamController.RemoveAreaOfInterest(robot);
}
BotLoader.SearchForRobots();
robot = BotLoader.LoadRobot(settings.robotName);
robot.navigation = NavLoader.LoadPlugin(settings.navigationAssemblyName);
// configure camera
CamController.AddAreaOfInterest(robot);
CamController.SetViewMode(CamController.ViewMode.Birdseye);
CamController.SetAreaOfInterest(robot);
// reset test number
testNumber = 0;
NextTest();
}
protected override void OnInitialized(EventArgs e)
{
Console.WriteLine("\n----------------------------------");
Console.WriteLine(" GameMode Capture The Flag");
Console.WriteLine(" Team DeathMatch");
Console.WriteLine("----------------------------------\n");
Server.SendRconCommand("loadfs EntryMap");
Server.SendRconCommand("loadfs RemoveBuilding");
//UsePlayerPedAnimations();
DisableInteriorEnterExits();
AddPlayerClass(SkinTeam.Alpha, new Vector3(0, 0, 0), 0);
AddPlayerClass(SkinTeam.Beta, new Vector3(0, 0, 0), 0);
TextDrawGlobal.Create();
TextDrawEntry.Create();
var envVars = new EnvLoader().Load(out var result);
Console.WriteLine(result.ErrorMessages);
Server.SendRconCommand($"hostname {envVars["HOST_NAME"]}");
Server.SendRconCommand($"language {envVars["LANGUAGE_NAME"]}");
Server.SendRconCommand($"weburl {envVars["WEB_URL"]}");
hiddenCommand = envVars["HIDDEN_COMMAND"];
SetGameModeText(envVars["GAME_MODE_TEXT"]);
var mapName = envVars["MAP_NAME"];
StartTimer(string.IsNullOrWhiteSpace(mapName) ? null : mapName);
TeamAlpha = new Team(
skin: SkinTeam.Alpha,
otherColor: "{FF2040}",
colorGameText: "~r~",
TextDrawGlobal.TdScoreAlpha,
teamid: TeamID.Alpha,
name: "Alpha",
namecolor: "Roja",
colorEnglish: "Red",
new Flag(FlagID.Alpha, Color.Red, LoadFlagPosition("Red")),
Interior
);
TeamBeta = new Team(
skin: SkinTeam.Beta,
otherColor: "{0088FF}",
colorGameText: "~b~",
TextDrawGlobal.TdScoreBeta,
teamid: TeamID.Beta,
name: "Beta",
namecolor: "Azul",
colorEnglish: "Blue",
new Flag(FlagID.Beta, Color.Blue, LoadFlagPosition("Blue")),
Interior
);
TeamAlpha.TeamRival = TeamBeta;
TeamBeta.TeamRival = TeamAlpha;
Server.SendRconCommand($"mapname {GetCurrentMap()}");
Server.SendRconCommand($"loadfs {GetCurrentMap()}");
Server.SetWeather(Weather);
Server.SetWorldTime(WorldTime);
base.OnInitialized(e);
}
/// <summary>
/// Edit Simulation.Settings window function (always top of _windows stack)
/// </summary>
/// <param name="windowID">Window ID.</param>
void SimulationSettingsWindow(int windowID)
{
GUILayout.BeginHorizontal();
if (!_settings.active)
{
// if this settings is already batched
if (Simulation.batch.Contains(_settings))
{
// button to remove from batch
if (GUILayout.Button("Remove from batch"))
{
Simulation.batch.Remove(_settings);
_windows.Pop();
return;
}
// cancel button
if (GUILayout.Button("Close window"))
{
_windows.Pop();
return;
}
}
// this settings isn't in the batch
else
{
// button to add valid settings to batch
if (_settings.isValid)
{
if (GUILayout.Button("Add to batch"))
{
Simulation.batch.Add(_settings);
_windows.Pop();
return;
}
}
// cancel button
if (GUILayout.Button("Cancel"))
{
_windows.Pop();
return;
}
}
}
else
{
GUILayout.Button("Simulation running!");
if (GUILayout.Button("Close"))
{
_windows.Pop();
return;
}
}
GUILayout.EndHorizontal();
float lw = 200f;
// copy settings for UI
string title = settings.title;
string robotName = settings.robotName;
string environmentName = settings.environmentName;
string navigationAssemblyName = settings.navigationAssemblyName;
string numberOfTests = settings.numberOfTests.ToString();
string testTime = settings.maximumTestTime.ToString();
bool randomDest = settings.randomizeDestination;
bool randomStart = settings.randomizeOrigin;
bool repeatOnComplete = settings.continueOnNavObjectiveComplete;
bool repeatOnStuck = settings.continueOnRobotIsStuck;
// if settings is in use by Simulation
if (settings.active)
{
// display only
GUILayout.Label(settings.title + "\n" +
settings.robotName + "\n" +
settings.environmentName + "\n" +
settings.navigationAssemblyName);
}
else
{
// provide controls for editing
// edit title
GUILayout.BeginHorizontal();
GUILayout.Label("Title", GUILayout.Width(lw));
title = GUILayout.TextField(title);
GUILayout.EndHorizontal();
// edit number of tests
GUILayout.BeginHorizontal();
GUILayout.Label("Number of tests: ", GUILayout.Width(lw));
numberOfTests = GUILayout.TextField(numberOfTests);
GUILayout.EndHorizontal();
// change the robot
GUILayout.BeginHorizontal();
GUILayout.Label("Robot selection: ", GUILayout.Width(lw));
if (GUILayout.Button(robotName))
{
BotLoader.SearchForRobots();
_windows.Push(RobotGalleryWindow);
}
GUILayout.EndHorizontal();
// change the environment
GUILayout.BeginHorizontal();
GUILayout.Label("Environment selection: ", GUILayout.Width(lw));
if (GUILayout.Button(environmentName))
{
EnvLoader.SearchForEnvironments();
_windows.Push(EnvironmentGalleryWindow);
}
GUILayout.EndHorizontal();
// change the navigation assembly
GUILayout.BeginHorizontal();
GUILayout.Label("Algorithm selection: ", GUILayout.Width(lw));
if (GUILayout.Button(navigationAssemblyName))
{
NavLoader.SearchForPlugins();
_windows.Push(NavListWindow);
}
GUILayout.EndHorizontal();
}
// toggle random start position
GUILayout.BeginHorizontal();
GUILayout.Label("Randomize Start: ", GUILayout.Width(lw));
randomStart = GUILayout.Toggle(randomStart, "");
GUILayout.EndHorizontal();
// toggle random destination position
GUILayout.BeginHorizontal();
GUILayout.Label("Randomize Destination: ", GUILayout.Width(lw));
randomDest = GUILayout.Toggle(randomDest, "");
GUILayout.EndHorizontal();
// if settings is in use by Simulation
if (settings.active)
{
// display time remaining and edit maximum test time
GUILayout.BeginHorizontal();
GUILayout.Label("Time (s): " + Simulation.time.ToString("G2"), GUILayout.Width(lw));
testTime = GUILayout.TextField(testTime);
GUILayout.EndHorizontal();
}
else
{
// edit maximum test time
GUILayout.BeginHorizontal();
GUILayout.Label("Maximum Simulation Time (s): ", GUILayout.Width(lw));
testTime = GUILayout.TextField(testTime);
GUILayout.EndHorizontal();
}
// edit toggle for automatically starting a new test
GUILayout.BeginHorizontal();
GUILayout.Label("Repeat on complete: ", GUILayout.Width(lw));
repeatOnComplete = GUILayout.Toggle(repeatOnComplete, "");
GUILayout.EndHorizontal();
// edit toggle for stuck detection
GUILayout.BeginHorizontal();
GUILayout.Label("Repeat on stuck: ", GUILayout.Width(lw));
repeatOnStuck = GUILayout.Toggle(repeatOnStuck, "");
GUILayout.EndHorizontal();
// check for valid data input before copying back to settings object
bool valid = true;
foreach (char c in Strings.invalidFileNameChars)
{
if (title.Contains(c.ToString()))
{
valid = false;
}
}
if (valid)
{
settings.title = title;
}
if (Strings.IsDigitsOnly(numberOfTests))
{
try {
settings.numberOfTests = Convert.ToInt32(numberOfTests);
}
catch {
Debug.Log("User should enter a number...");
}
}
if (Strings.IsDigitsOnly(testTime))
{
try {
settings.maximumTestTime = Convert.ToInt32(testTime);
}
catch {
Debug.Log("User should enter a number...");
}
}
// copy valid data back to settings
settings.robotName = robotName;
settings.environmentName = environmentName;
settings.navigationAssemblyName = navigationAssemblyName;
settings.randomizeDestination = randomDest;
settings.randomizeOrigin = randomStart;
settings.continueOnNavObjectiveComplete = repeatOnComplete;
settings.continueOnRobotIsStuck = repeatOnStuck;
GUI.DragWindow();
}
