private void SetupVirtualRobot()
{
string _configPath = Application.streamingAssetsPath + "/Config/Robots/";
string[] paths = Directory.GetFiles(_configPath, "VirtualRobot_Arlobot.json");
string path = paths[0];
string robotName = Path.GetFileNameWithoutExtension(path);
Debug.Log(robotName);
string robotFileJson = File.ReadAllText(path);
RobotConfigFile robotFile = JsonUtility.FromJson <RobotConfigFile>(robotFileJson);
if (!robotFile.RosBridgeUri.StartsWith("ws://"))
{
robotFile.RosBridgeUri = "ws://" + robotFile.RosBridgeUri;
}
// rosbridge = new ROSBridgeWebSocketConnection(robotFile.RosBridgeUri, robotFile.RosBridgePort, robotName);
//VirtualRobotController.InitialiseRobot(RobotInterface.Instance._rosBridge, robotFile, robotName);
// VirtualRobotController.OverridePositionAndOrientation(VirtualRobotController.gameObject.transform.position, VirtualRobotController.gameObject.transform.rotation);
}
public Robot(int[] campuses, ROSBridgeWebSocketConnection rosBridge, string name, string uri, int port, bool isActive, RobotConfigFile robotConfig)
{
Campuses = campuses;
RosBridge = rosBridge;
Name = name;
Uri = uri;
Port = port;
IsActive = isActive;
RobotConfig = robotConfig;
}
private void LoadRobotsFromCampus(int campusId)
{
if (ActiveRobots != null)
{
foreach (KeyValuePair <string, ROSController> pair in ActiveRobots)
{
pair.Value.Destroy();
}
}
ActiveRobots = new Dictionary <string, ROSController>();
Robots = new Dictionary <string, Robot>();
string[] robotConfigPaths = Directory.GetFiles(_configPath, "*.json");
foreach (string path in robotConfigPaths)
{
string robotName = Path.GetFileNameWithoutExtension(path);
string robotFileJson = File.ReadAllText(path);
RobotConfigFile robotFile = JsonUtility.FromJson <RobotConfigFile>(robotFileJson);
if (!robotFile.Campuses.Contains(campusId))
{
continue;
}
if (!robotFile.RosBridgeUri.StartsWith("ws://"))
{
robotFile.RosBridgeUri = "ws://" + robotFile.RosBridgeUri;
}
;
ROSBridgeWebSocketConnection rosBridge = new ROSBridgeWebSocketConnection(robotFile.RosBridgeUri, robotFile.RosBridgePort, robotName);
Robot robot = new Robot(robotFile.Campuses, rosBridge, robotName, robotFile.RosBridgeUri, robotFile.RosBridgePort, false, robotFile);
Robots.Add(robotName, robot);
}
PlayerUIController.Instance.LoadRobots(Robots.Select(robot => robot.Value).ToList());
}
/// <summary>
/// Initialises robot and ROS Bridge connections and starts all attached modules.
/// </summary>
/// <param name="rosBridge">Ros bridge connection.</param>
/// <param name="robotConfig">Config file that contains robot parameters.</param>
public virtual void InitialiseRobot(ROSBridgeWebSocketConnection rosBridge, RobotConfigFile robotConfig, string robotName)
{
RobotName = robotName;
_rosBridge = rosBridge;
_rosBridge.OnDisconnect += clean =>
{
if (!clean)
{
LostConnection();
}
};
RobotConfig = robotConfig;
StartROS();
foreach (RobotModule module in _robotModules)
{
module.Initialise(rosBridge);
}
if (OnRosStarted != null)
{
OnRosStarted(rosBridge);
}
}
