public override void OnInspectorGUI()
{
DrawDefaultInspector();
LpsManager lpsManager = (LpsManager)target;
if (GUILayout.Button("START"))
{
lpsManager.Awake();
}
if (GUILayout.Button("Recreate nodes"))
{
lpsManager.RecreateNodes();
}
if (GUILayout.Button("Send config through OSC"))
{
lpsManager.SendConfigOsc();
}
if (GUILayout.Button("Save positions"))
{
lpsManager.SavePositions();
}
if (GUILayout.Button("Remove nodes"))
{
lpsManager.RemoveNodes();
}
}
IEnumerator StartingCoroutine()
{
yield return(new WaitForSeconds(0.1f));
if (this.shouldInitialize == false) // DEBUG PURPOSE ONLY : I dont like waiting
{
this.system_initialized = true;
yield break;
}
this._drones_osc_client = this._oscManager.CreateClient("drones");
this._drones_meta_osc_client = this._oscManager.CreateClient("drones_meta");
this._oscManager.SendOscMessage(this._drones_meta_osc_client,
"/server/restart",
1);
yield return(new WaitForSeconds(5));
ConnectClientToDroneServer();
print("Waiting for LPS and Drones managers init");
yield return(new WaitForSeconds(0.1f));
print("Connecting drones");
_dronesManager.ConnectDrones();
yield return(new WaitForSeconds(5));
print("Sending LPS configs");
_lpsManager.SendConfigOsc();
yield return(new WaitForSeconds(1));
print("Reseting kalman filters");
_dronesManager.ResetKalmanFilters();
print("Waiting for kalman filters to converge");
yield return(new WaitForSeconds(1)); // It may not be enough. TODO : compute real position variance and wait for it to converge
//this._oscManager.SendOscMessage(this._drones_osc_client,
// "/log/*/send_toc");
print("SYSTEM OK");
this.system_initialized = true;
}