/// <summary>
/// GUI window function: Display controls for loaded CSV files.
/// </summary>
private void Legend(int windowID)
{
// back button
GUILayout.BeginHorizontal(GUILayout.Width(UI_Toolbar.I.innerWidth));
if (GUILayout.Button("<", GUILayout.Width(30f)))
{
hidden = true;
}
if (GUILayout.Button("Load from CSV..."))
{
_windows.Push(CsvBrowser);
}
GUILayout.EndHorizontal();
if (LogLoader.paths.Count < 1)
{
GUILayout.Label("No paths loaded.");
}
// list botpaths
Color c = GUI.contentColor;
for (int i = 0; i < LogLoader.paths.Count; i++)
{
GUILayout.BeginHorizontal();
GUI.contentColor = LogLoader.paths[i].color;
if (GUILayout.Button(LogLoader.paths[i].csvName))
{
LogLoader.paths[i].visible = !LogLoader.paths[i].visible;
continue;
}
// highlight path if mouseover button
// this event appears to be broken
if (IsMouseOver())
{
LogLoader.paths[i].highlight = true;
}
else
{
LogLoader.paths[i].highlight = false;
}
// observe button
if (GUILayout.Button("O"))
{
CamController.SetAreaOfInterest(LogLoader.paths[i]);
}
// unload path button
if (GUILayout.Button("X"))
{
LogLoader.RemovePath(LogLoader.paths[i]);
}
GUILayout.EndHorizontal();
}
// reset content color
GUI.contentColor = c;
}
/// <summary>
/// Halt current simulation.
/// Load the next simulation in batch, or
/// change state to State.end if at the end of batch.
/// </summary>
public static void NextSimulation()
{
// stop current simulation
if (state == State.simulating)
{
Halt(StopCode.Unspecified);
}
// next in batch
simulationNumber++;
if (simulationNumber > batch.Count)
{
// end of batch
Halt(StopCode.Unspecified);
End();
return;
}
Debug.Log("Simulation NextSimulation: " + simulationNumber + " of " + batch.Count);
// load simulation settings
settings = batch[simulationNumber - 1];
Log.Settings();
// load environment
EnvLoader.SearchForEnvironments();
environment = EnvLoader.LoadEnvironment(settings.environmentName);
destination.transform.position = RandomInBounds(Instance.bounds);
// load robot
if (robot)
{
CamController.RemoveAreaOfInterest(robot);
}
BotLoader.SearchForRobots();
robot = BotLoader.LoadRobot(settings.robotName);
robot.navigation = NavLoader.LoadPlugin(settings.navigationAssemblyName);
// configure camera
CamController.AddAreaOfInterest(robot);
CamController.SetViewMode(CamController.ViewMode.Birdseye);
CamController.SetAreaOfInterest(robot);
// reset test number
testNumber = 0;
NextTest();
}
