public void SpawnMe(ObjectiveSpawner spawner)
{
if (isServer)
{
RpcStartSpawnIndependantTimer(independantSpawners.IndexOf(spawner));
}
}
private void ResetSpawner(ObjectiveSpawner spawner)
{
spawner.StopRespawnEffects();
spawner.StopAllCoroutines();
spawner.Despawn();
if (spawner.StartWithBall && !RoundManager.instance.IsTiebreaker)
{
spawner.Spawn();
}
}
IEnumerator DoPickup()
{
float total = 1 + 1.5f + 1.5f + 1.5f + 1.5f + 3;
float t = 0;
// curObjective.Collider.enabled = false;
// grabbingObject = false;
// first find a new folded position facing the target
Vector3 centerPos = armActuator.baseTransform.position;
centerPos.y = armActuator.foldedPosition.position.y;
float dist = (armActuator.foldedPosition.position - centerPos).magnitude;
Vector3 toTarget = curObjective.GetCenterPosition() - centerPos;
toTarget.y = 0;
// assign that position to the folded position and the arm will turn to it
armActuator.SetTarget(0, centerPos + toTarget.normalized * dist);
t = 0;
while (t < 1)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 2 );
// now assign the extended position as something near the sample's position
Ray ray = new Ray(armActuator.foldedPosition.position, curObjective.GetCenterPosition() - armActuator.foldedPosition.position);
// Ray ray = new Ray ( robotGrabPoint.position, curObjective.GetCenterPosition () - robotGrabPoint.position );
RaycastHit hit;
curObjective.Collider.Raycast(ray, out hit, 1);
curObjective.Collider.enabled = false;
// Physics.Raycast ( ray, out hit );
armActuator.SetTarget(1, hit.point);
// armActuator.SetTarget ( 1, curObjective.GetCenterPosition () );
// and move towards that over 3 sec
armActuator.MoveToTarget(1.5f);
t = 0;
while (t < 1.5f)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 3 );
// parent and position the sample to our vacuum attachment
Vector3 positionDIff = curObjective.transform.position - hit.point;
Debug.DrawLine(hit.point, curObjective.transform.position, Color.red, 3);
curObjective.transform.position = robotGrabPoint.position + positionDIff;
// curObjective.transform.position = robotGrabPoint.position;// - Vector3.up * curObjective.Collider.bounds.extents.y;
curObjective.transform.parent = armActuator.wrist;
// now move back to folded position over 3 sec
armActuator.MoveToTarget(1.5f, true);
t = 0;
while (t < 1.5f)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 3 );
// find a place to put the sample
Vector3 newPos = getSaveStatus() ? finalPositions[curObjective.gameObject] : GetPositionOnFlatbed();
if (IsRecording)
{
finalPositions.Add(curObjective.gameObject, newPos);
}
toTarget = newPos - centerPos;
toTarget.y = 0;
// move the folded position to turn the arm around
armActuator.SetTarget(0, centerPos + toTarget.normalized * dist);
t = 0;
while (t < 1.5f)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 3 );
// extend the arm out to place the object
positionDIff = curObjective.transform.position - armActuator.foldedPosition.position;
armActuator.SetTarget(1, newPos - positionDIff);
// armActuator.SetTarget ( 1, newPos );
armActuator.MoveToTarget(1.5f);
t = 0;
while (t < 1.5f)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 3 );
// parent and position it to us (not to the flatbed because thatscrews up scales)
curObjective.transform.position = newPos;
curObjective.transform.parent = robotBody;
// lastly reset the arm, and go back to drivable state
armActuator.ResetPosition();
t = 0;
while (t < 3)
{
// if ( IsRecording )
// GetSample ( true );
yield return(null);
// PickupProgress += Time.deltaTime / total;
t += Time.deltaTime;
}
// yield return new WaitForSeconds ( 6 );
// IsPickingUpSample = false;
rb.isKinematic = false;
// IsNearObjective = false;
// PickupProgress = -1;
if (IsRecording)
{
// GetSample ( true );
StopPickup();
}
if (!getSaveStatus())
{
ObjectiveSpawner.RemoveSample(curObjective.gameObject);
}
IsNearObjective = false;
curObjective = null;
yield return(null);
IsPickingUpSample = false;
}
public void Despawn(ObjectiveSpawner spawner)
{
spawnedSpawners.Remove(spawner);
unspawnedSpawners.Add(spawner);
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
string newLine = "\n";
if (Application.platform == RuntimePlatform.WindowsEditor || Application.platform == RuntimePlatform.WindowsPlayer)
{
newLine = "\r\n";
}
if (string.IsNullOrEmpty(csvSeparatorChar))
{
Debug.LogWarning("Warning: empty/null separator. using `,`");
csvSeparatorChar = ",";
}
yield return(null);
if (samples.Count > 0)
{
string row = "Path" + csvSeparatorChar + "SteerAngle" + csvSeparatorChar + "Throttle" + csvSeparatorChar + "Brake" + csvSeparatorChar + "Speed" + csvSeparatorChar + "X_Position" +
csvSeparatorChar + "Y_Position" + csvSeparatorChar + "Pitch" + csvSeparatorChar + "Yaw" + csvSeparatorChar + "Roll" + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
ObjectiveSpawner.SetInitialPositions();
int count = samples.Count;
RobotSample sample = null;
int badPickupCount = 0;
bool isPickingUp = false;
for (int i = 0; i < count; i++)
{
// hack: for some reason there are lots of extra samples during the pickup, so artificially advance and drop them
if (!IsPickingUpSample && isPickingUp)
{
do
{
sample = samples.Dequeue();
i++;
badPickupCount++;
} while (!sample.stopPickup && samples.Count > 0 && i < count);
isPickingUp = false;
IsPickingUpSample = false;
}
sample = samples.Dequeue();
transform.position = sample.position;
transform.rotation = sample.rotation;
if (sample.triggerPickup)
{
isPickingUp = true;
// Debug.Log ( "recorded pickup" );
curObjective = sample.curSample.GetComponent <PickupSample> ();
curObjective.transform.parent = null;
curObjective.Collider.enabled = true;
PickupObjective(null);
}
if (sample.stopPickup)
{
Debug.Log("STOP!!");
isPickingUp = false;
IsPickingUpSample = false;
}
string camPath = WriteImage(recordingCam, "robocam", sample.timestamp);
row = camPath + csvSeparatorChar + sample.steerAngle + csvSeparatorChar + sample.throttle + csvSeparatorChar + sample.brake + csvSeparatorChar + sample.speed + csvSeparatorChar +
sample.position.x + csvSeparatorChar + sample.position.z + csvSeparatorChar + sample.pitch + csvSeparatorChar + sample.yaw + csvSeparatorChar + sample.roll + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
yield return(null);
}
Debug.Log("bad pickup count: " + badPickupCount);
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
Vector3 euler = cameraVAxis.localEulerAngles;
euler.x = saved_vAngle;
cameraVAxis.localEulerAngles = euler;
Move(0);
Rotate(0);
RotateCamera(0, 0);
}
}
void Awake()
{
instance = this;
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
string newLine = "\n";
if (Application.platform == RuntimePlatform.WindowsEditor || Application.platform == RuntimePlatform.WindowsPlayer)
{
newLine = "\r\n";
}
yield return(null);
if (samples.Count > 0)
{
string row = "Path,SteerAngle,Throttle,Brake,Speed,X_Position,Y_Position,Pitch,Yaw,Roll" + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
ObjectiveSpawner.SetInitialPositions();
int count = samples.Count;
RobotSample sample = null;
int badPickupCount = 0;
bool isPickingUp = false;
for (int i = 0; i < count; i++)
{
// hack: for some reason there are lots of extra samples during the pickup, so artificially advance and drop them
if (!IsPickingUpSample && isPickingUp)
{
do
{
sample = samples.Dequeue();
i++;
badPickupCount++;
} while (!sample.stopPickup && samples.Count > 0 && i < count);
isPickingUp = false;
}
sample = samples.Dequeue();
transform.position = sample.position;
transform.rotation = sample.rotation;
if (sample.triggerPickup)
{
isPickingUp = true;
// Debug.Log ( "recorded pickup" );
curObjective = sample.curSample.GetComponent <PickupSample> ();
curObjective.transform.parent = null;
curObjective.Collider.enabled = true;
PickupObjective(null);
}
if (sample.stopPickup)
{
Debug.Log("STOP!!");
isPickingUp = false;
}
string camPath = WriteImage(recordingCam, "robocam", sample.timestamp);
row = camPath + "," + sample.steerAngle + "," + sample.throttle + "," + sample.brake + "," + sample.speed + "," +
sample.position.x + "," + sample.position.z + "," + sample.pitch + "," + sample.yaw + "," + sample.roll + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
yield return(null);
}
Debug.Log("bad pickup count: " + badPickupCount);
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
Vector3 euler = cameraVAxis.localEulerAngles;
euler.x = saved_vAngle;
cameraVAxis.localEulerAngles = euler;
Move(0);
Rotate(0);
RotateCamera(0, 0);
}
/* yield return new WaitForSeconds(0.000f); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
* if (samples.Count > 0) {
* //pull off a sample from the que
* RobotSample sample = samples.Dequeue();
*
* //pysically moving the car to get the right camera position
* transform.position = sample.position;
* transform.rotation = sample.rotation;
* // Vector3 euler = cameraVAxis.localEulerAngles;
* // euler.x = sample.verticalAngle;
* // cameraVAxis.localEulerAngles = euler;
*
* // Capture and Persist Image
* string camPath = WriteImage ( recordingCam, "robocam", sample.timestamp );
*
* string row = camPath + "," + sample.steerAngle + "," + sample.throttle + "," + sample.brake + "," + sample.speed + "," +
* sample.position.x + "," + sample.position.y + "," + sample.position.z + "," + sample.yaw + "\r\n";
* // string row = string.Format ("{0},{1},{2},{3},{4},{5},{6}\n", centerPath, leftPath, rightPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed);
* File.AppendAllText (Path.Combine (m_saveLocation, CSVFileName), row);
* }
* if (samples.Count > 0) {
* //request if there are more samples to pull
* StartCoroutine(WriteSamplesToDisk());
* }
* else
* {
* //all samples have been pulled
* StopCoroutine(WriteSamplesToDisk());
* isSaving = false;
*
* //need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
* transform.position = saved_position;
* transform.rotation = saved_rotation;
* Vector3 euler = cameraVAxis.localEulerAngles;
* euler.x = saved_vAngle;
* cameraVAxis.localEulerAngles = euler;
* Move ( 0 );
* Rotate ( 0 );
* RotateCamera ( 0, 0 );
* }*/
}
