private void VirtualAgentsIntanciation()
{
VirtualObject station = house.virtualObjects.Find(obj => obj.tags.Contains(ObjectTag.Station));
if (station != null)
{
var origin = station.transform.position;
foreach (Agent r in m_simulationOptions.agentsToInstantiate)
{
if (root == null)
{
root = house.transform.parent;
}
Transform agent = Instantiate(r.prefab, origin, Quaternion.identity, root).transform;
agent.GetComponent <ROS>().robotName = r.name;
agent.name = r.name;
agent.GetComponent <ROS>().Connect(r.ip);
agents.Add(agent.gameObject);
}
}
else
{
Log("This house don't have robot station", LogLevel.Error, true);
}
}
private void UserInstanciation()
{
VirtualObject station = house.virtualObjects.Find(obj => obj.tags.Contains(ObjectTag.Station));
if (m_simulationOptions.userPrefab != null && station != null)
{
var origin = station.transform.position + new Vector3(0, 1, 0);
Transform agent = Instantiate(m_simulationOptions.userPrefab, origin, Quaternion.identity, house.transform.parent).transform;
}
}
private IEnumerator LoadingEnvironment()
{
bool isLoading = true;
while (isLoading)
{
isLoading = false;
var objs = Resources.FindObjectsOfTypeAll(typeof(VirtualObject)) as VirtualObject[];
foreach (VirtualObject virtualObject in objs)
{
if (virtualObject.isActiveAndEnabled && virtualObject.m_initialized == false)
{
isLoading = true;
}
}
if (objs.Length == 0)
{
isLoading = true;
}
yield return(new WaitForEndOfFrame());
}
yield return(new WaitForEndOfFrame());
transform.GetComponent <NavMeshSurface>().BuildNavMesh();
if (m_simulationOptions.simulationLog != null)
{
using (StringReader sr = new StringReader(m_simulationOptions.simulationLog.text))
{
string line;
string[] values;
while ((line = sr.ReadLine()) != null)
{
values = line.Split(',');
switch (values[0])
{
case "House Selected":
if (!values[1].Equals(houseSelected.ToString()))
{
sr.ReadToEnd();
Log("The selected house does not match the house in the entered log file.", LogLevel.Normal, true);
}
break;
case "Sun Rotation":
transform.GetChild(0).rotation = Quaternion.Euler(float.Parse(values[1]), 0, 0);
break;
case "Room":
Room room = GameObject.Find(values[1]).GetComponent <Room>();
if (room != null)
{
room.PaintWall((Material)Resources.Load("Walls/" + values[2], typeof(Material)));
room.PaintFloor((Material)Resources.Load("Floors/" + values[3], typeof(Material)));
}
else
{
Log("Room " + values[1] + " not found.", LogLevel.Error, true);
}
break;
case "-":
try
{
VirtualObject vo = house.virtualObjects.Find(obj => obj.m_id.Equals(values[1]));
vo.SetSeed(int.Parse(values[2]));
if (vo.tags.Contains(ObjectTag.Light) || vo.tags.Contains(ObjectTag.Lamp) || vo.tags.Contains(ObjectTag.Lighter))
{
vo.GetComponentInChildren <Light>().enabled = Boolean.Parse(values[3]);
}
else if (vo.tags.Contains(ObjectTag.Door))
{
vo.GetComponent <Door>().SetDoor(Boolean.Parse(values[3]));
}
}
catch
{
Log("Object " + values[1] + " not found.", LogLevel.Error, true);
}
break;
}
}
}
}
if (recordEnvironmentDatas)
{
writer = new StreamWriter(path + "/EnviromentLog.csv", true);
writer.WriteLine("House Selected" + "," + houseSelected.ToString());
writer.WriteLine("Sun Rotation" + "," + m_simulationOptions.SunRotation.ToString());
foreach (Room room in FindObjectsOfType <Room>())
{
writer.WriteLine("Room," + room.transform.name + "," + room.wallMaterial.name + "," + room.floorMaterial.name);
}
writer.WriteLine(" ,Id,Seed,Mode,ColorR,ColorG,ColorB,Room,RoomType,XGlobalPosition,YGlobalPosition,ZGlobalPosition,XRotation,YRotation,ZRotation,Tags");
StringBuilder line = new StringBuilder();
foreach (VirtualObject obj in house.virtualObjects)
{
if (obj.isActiveAndEnabled)
{
line = new StringBuilder();
line.Append("-");
line.Append(",");
line.Append(obj.m_id.ToString(CultureInfo.InvariantCulture));
line.Append(",");
line.Append(obj.m_seed.ToString(CultureInfo.InvariantCulture));
line.Append(",");
if (obj.tags.Contains(ObjectTag.Light))
{
line.Append(obj.GetComponentInChildren <Light>().enabled.ToString());
}
else if (obj.tags.Contains(ObjectTag.Lamp) || obj.tags.Contains(ObjectTag.Lighter))
{
line.Append(obj.GetComponentInChildren <Light>().enabled.ToString());
}
else if (obj.tags.Contains(ObjectTag.Door))
{
line.Append(obj.GetComponent <Door>().m_state.ToString());
}
else
{
line.Append("-");
}
line.Append(",");
line.Append(house.semanticColors[obj.m_id].r.ToString());
line.Append(",");
line.Append(house.semanticColors[obj.m_id].g.ToString());
line.Append(",");
line.Append(house.semanticColors[obj.m_id].b.ToString());
line.Append(",");
line.Append(obj.room.transform.name.ToString());
line.Append(",");
line.Append(obj.room.roomType.ToString());
line.Append(",");
line.Append(((double)obj.transform.position.x).ToString("F15", CultureInfo.InvariantCulture));
line.Append(",");
line.Append(((double)obj.transform.position.y).ToString("F15", CultureInfo.InvariantCulture));
line.Append(",");
line.Append(((double)obj.transform.position.z).ToString("F15", CultureInfo.InvariantCulture));
line.Append(",");
line.Append(((double)obj.transform.rotation.eulerAngles.x).ToString("F15", CultureInfo.InvariantCulture));
line.Append(",");
line.Append(((double)obj.transform.rotation.eulerAngles.y).ToString("F15", CultureInfo.InvariantCulture));
line.Append(",");
line.Append(((double)obj.transform.rotation.eulerAngles.z).ToString("F15", CultureInfo.InvariantCulture));
foreach (ObjectTag ot in obj.tags)
{
line.Append(",");
line.Append(ot.ToString());
}
writer.WriteLine(line);
}
}
writer.Close();
}
VirtualAgentsIntanciation();
UserInstanciation();
OnEnvironmentLoaded?.Invoke();
}
public string RegisterVirtualObject(VirtualObject virtualObject)
{
int i = 0;
while (virtualObjects.Find(obj => obj.m_id == virtualObject.tags[0].ToString() + "_" + i))
{
i++;
}
var name = virtualObject.tags[0].ToString() + "_" + i;
virtualObjects.Add(virtualObject);
Color color;
do
{
color = new Color(Random.value, Random.value, Random.value);
} while (semanticColors.ContainsValue(color));
semanticColors.Add(name, color);
if (virtualObject.tags.Contains(ObjectTag.Lamp) || virtualObject.tags.Contains(ObjectTag.Lighter))
{
bool result = false;
switch (simulationOptions.StateLights)
{
case LightStatus.On:
result = true;
break;
case LightStatus.Off:
result = false;
break;
case LightStatus.Radomly:
result = Random.value >= 0.5f;
break;
}
foreach (Light l in virtualObject.GetComponentsInChildren(typeof(Light), true))
{
l.enabled = result;
}
}
if (virtualObject.tags.Contains(ObjectTag.Light))
{
bool result = false;
switch (simulationOptions.StateGeneralLight)
{
case LightStatus.On:
result = true;
break;
case LightStatus.Off:
result = false;
break;
case LightStatus.Radomly:
result = Random.value >= 0.5f;
break;
}
foreach (Light l in virtualObject.GetComponentsInChildren(typeof(Light), true))
{
l.enabled = result;
}
}
return(name);
}
