/// <summary>
/// Create a Drone gameobject and attach DroneFlightSim, required ROSDroneConnnection and initialize the ROS connection.
/// </summary>
/// <param name="rosDroneConnectionInput"></param>
private void InstantiateDrone(ROSDroneConnectionInput rosDroneConnectionInput)
{
// All the variables required to create the drone
DroneType droneType = rosDroneConnectionInput.droneType;
string droneIP = rosDroneConnectionInput.url;
int dronePort = rosDroneConnectionInput.port;
bool simFlight = rosDroneConnectionInput.simFlight;
List <string> droneSubscribers = new List <string>();
foreach (DroneSubscribers subscriber in rosDroneConnectionInput.droneSubscribers)
{
droneSubscribers.Add(subscriber.ToString());
}
// Create a new drone
Drone droneInstance = new Drone(WorldProperties.worldObject.transform.position, uniqueID);
Debug.Log("Drone that was just made " + droneInstance.gameObjectPointer.name);
DroneProperties droneProperties = droneInstance.droneProperties;
GameObject droneGameObject = droneInstance.gameObjectPointer;
droneGameObject.name = rosDroneConnectionInput.droneName;
ROSDroneConnectionInterface rosDroneConnection = null;
// Add corresponding ros drone connection script
switch (droneType)
{
case DroneType.M100:
Debug.Log("M100 created");
M100_ROSDroneConnection M100_rosDroneConnection = droneGameObject.AddComponent <M100_ROSDroneConnection>();
M100_rosDroneConnection.InitilizeDrone(uniqueID, droneIP, dronePort, droneSubscribers, simFlight, droneProperties);
rosDroneConnection = M100_rosDroneConnection;
droneGameObject.GetComponent <DroneProperties>().droneROSConnection = M100_rosDroneConnection;
ROSDroneConnections.Add(uniqueID, M100_rosDroneConnection);
break;
case DroneType.M210:
Debug.Log("M210 created");
M210_ROSDroneConnection M210_rosDroneConnection = droneGameObject.AddComponent <M210_ROSDroneConnection>();
M210_rosDroneConnection.InitilizeDrone(uniqueID, droneIP, dronePort, droneSubscribers, simFlight, droneProperties);
rosDroneConnection = M210_rosDroneConnection;
droneGameObject.GetComponent <DroneProperties>().droneROSConnection = M210_rosDroneConnection;
ROSDroneConnections.Add(uniqueID, M210_rosDroneConnection);
break;
case DroneType.M600:
Debug.Log("M600 created");
M600_ROSDroneConnection M600_rosDroneConnection = droneGameObject.AddComponent <M600_ROSDroneConnection>();
M600_rosDroneConnection.InitilizeDrone(uniqueID, droneIP, dronePort, droneSubscribers, simFlight, droneProperties);
rosDroneConnection = M600_rosDroneConnection;
droneGameObject.GetComponent <DroneProperties>().droneROSConnection = M600_rosDroneConnection;
ROSDroneConnections.Add(uniqueID, M600_rosDroneConnection);
break;
case DroneType.Sprite:
Debug.Log("Sprite class not implemented created");
//Sprite_ROSDroneConnection drone_rosDroneConnection = drone.AddComponent<Sprite_ROSDroneConnection>();
break;
default:
Debug.Log("No drone type selected");
return;
}
// Create attached sensors
foreach (ROSSensorConnectionInput rosSensorInput in rosDroneConnectionInput.attachedSensors)
{
ROSSensorConnectionInterface sensor = InstantiateSensor(rosSensorInput);
droneInstance.AddSensor(sensor);
}
// Initilize drone sim manager script on the drone
DroneSimulationManager droneSim = droneGameObject.GetComponent <DroneSimulationManager>();
droneSim.InitDroneSim();
droneProperties.droneSimulationManager = droneSim;
// Get DroneMenu and instansiate.
DroneMenu droneMenu = droneGameObject.GetComponent <DroneMenu>();
droneMenu.InitDroneMenu(rosDroneConnection, droneSubscribers);
droneGameObject.GetComponent <DroneProperties>().droneMenu = droneMenu;
uniqueID++;
}
