public static void ChangeFocusUI(RosBridgeConnector connector, RosRobots robots)
{
for (int k = 0; k < robots.Robots.Count; k++)
{
var robotConnector = robots.Robots[k];
bool isFocus = robotConnector == connector;
robotConnector.UiObject.enabled = isFocus;
var b = robotConnector.UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
var robotSetup = robotConnector.Robot.GetComponent <RobotSetup>();
robotSetup.FollowCamera.gameObject.SetActive(isFocus);
robotSetup.FollowCamera.enabled = isFocus;
var inputControllers = robotConnector.Robot.GetComponentsInChildren <IInputController>().ToList();
if (isFocus)
{
FocusUI = robotSetup.UI;
inputControllers.ForEach(i => i.Enable());
// TODO move to gameobject based
SimulatorManager.Instance?.SetCurrentActiveRobot(robotSetup.gameObject);
}
else
{
inputControllers.ForEach(i => i.Disable());
}
}
VehicleList.Instances?.ForEach(x => x.ToggleDisplay(FocusUI.MainPanel.gameObject.activeSelf)); //hack
}
private void Awake()
{
if (Instances == null)
{
Instances = new List <UserInterfaceSetup>();
FocusUI = this;
}
Instances.Add(this);
}
protected virtual void Awake()
{
if (Instances == null)
{
Instances = new List <UserInterfaceSetup>();
FocusUI = this;
}
Instances.Add(this);
}
void Start()
{
state = 1;
MainPanel.gameObject.SetActive(true);
cameraViewPanel.gameObject.SetActive(true);
LGWatermark.gameObject.SetActive(false);
fpsUI.gameObject.SetActive(true);
DashUIManager.Instance?.ToggleUI(true);
UI = GetComponent <UserInterfaceSetup>();
}
void Start()
{
userInterface = Instantiate(uiPrefab);
bridgeStatus = userInterface.BridgeStatus;
Connector = new RosBridgeConnector();
Connector.BridgeStatus = bridgeStatus;
robotSetup.Setup(userInterface, Connector, null);
string overrideAddress = System.Environment.GetEnvironmentVariable("ROS_BRIDGE_HOST");
if (overrideAddress != null)
{
Address = overrideAddress;
}
Ros.Bridge.canConnect = true;
}
private void AddDevModeAgents()
{
activeAgents.Clear();
string overrideAddress = System.Environment.GetEnvironmentVariable("ROS_BRIDGE_HOST");
List <AgentSetup> tempAgents = FindObjectsOfType <AgentSetup>().ToList();
foreach (var agent in tempAgents)
{
RosBridgeConnector connector = new RosBridgeConnector(overrideAddress == null ? agent.address : overrideAddress, agent.port, agent);
UserInterfaceSetup uiSetup = Instantiate(uiPrefab);
uiSetup.agent = agent.gameObject;
connector.Agent = agent.gameObject;
connector.BridgeStatus = uiSetup.BridgeStatus;
activeAgents.Add(connector);
agent.Setup(uiSetup, connector, null);
}
RosBridgeConnector.canConnect = true;
SetCurrentActiveAgent(0);
}
public static void ChangeFocusUI(RosBridgeConnector connector, RosRobots robots)
{
for (int k = 0; k < robots.Robots.Count; k++)
{
var robotConnector = robots.Robots[k];
bool isFocus = robotConnector == connector;
robotConnector.UiObject.enabled = isFocus;
var b = robotConnector.UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
var robotSetup = robotConnector.Robot.GetComponent <RobotSetup>();
robotSetup.FollowCamera.gameObject.SetActive(isFocus);
robotSetup.FollowCamera.enabled = isFocus;
if (isFocus)
{
FocusUI = robotSetup.UI;
}
}
VehicleList.Instances.ForEach(x => x.ToggleDisplay(FocusUI.MainPanel.gameObject.activeSelf)); //hack
}
void SceneLoadFinished(AsyncOperation op)
{
if (!Application.isEditor)
{
allLoadedBundles.ForEach(b => b.Unload(false));
allLoadedBundles.Clear();
}
var robotListCanvas = Instantiate(UserInterfaceRobotList);
var robotList = robotListCanvas.transform.FindDeepChild("Content");
float height = 0;
if (Robots.Robots.Count > 1)
{
height = robotListCanvas.transform.FindDeepChild("RobotList").GetComponent <RectTransform>().rect.height;
}
else
{
robotListCanvas.enabled = false;
}
Vector3 defaultSpawnPosition = new Vector3(1.0f, 0.018f, 0.7f);
Quaternion defaultSpawnRotation = Quaternion.identity;
var spawnInfos = FindObjectsOfType <SpawnInfo>();
var spawnInfoList = spawnInfos.ToList();
spawnInfoList.Reverse();
//avoid first frame collision
var sceneRobots = FindObjectsOfType <RobotSetup>();
foreach (var robot in sceneRobots)
{
var cols = robot.GetComponentsInChildren <Collider>();
foreach (var col in cols)
{
col.enabled = false;
}
}
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotImage = Instantiate(DuckiebotRobot, robotList);
robotImage.transform.FindDeepChild("Address").GetComponent <Text>().text = Robots.Robots[i].PrettyAddress;
var ilocal = i;
var button = robotImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeCameraFocus(Robots.Robots[ilocal], Robots);
});
var robotSetup = Robots.Robots[i].robotType;
var spawnPos = defaultSpawnPosition;
var spawnRot = defaultSpawnRotation;
if (spawnInfoList.Count > 0)
{
spawnPos = spawnInfoList[spawnInfoList.Count - 1].transform.position;
spawnRot = spawnInfoList[spawnInfoList.Count - 1].transform.rotation;
spawnInfoList.RemoveAt(spawnInfoList.Count - 1);
}
var bot = Instantiate(robotSetup == null ? Robots.robotCandidates[0].gameObject : robotSetup.gameObject, spawnPos - new Vector3(0.25f * i, 0, 0), spawnRot);
var bridgeConnector = Robots.Robots[i];
var uiObject = Instantiate(UserInterface);
uiObject.GetComponent <RfbClient>().Address = Robots.Robots[i].Address;
var ui = uiObject.transform;
uiObject.GetComponent <UserInterfaceSetup>().MainPanel.transform.Translate(new Vector3(0, -height, 0));
bridgeConnector.UiObject = uiObject;
bridgeConnector.UiButton = robotImage;
bridgeConnector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
ui.GetComponent <HelpScreenUpdate>().Robots = Robots;
bot.GetComponent <RobotSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), bridgeConnector);
bot.GetComponent <RobotSetup>().FollowCamera.gameObject.SetActive(i == 0);
uiObject.enabled = i == 0;
var colors = button.colors;
colors.normalColor = i == 0 ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
button.colors = colors;
var name = new GameObject($"robot_{i}_name");
name.transform.parent = robotListCanvas.transform.FindDeepChild("Panel").transform;
bridgeConnector.UiName = name.AddComponent <Text>();
bridgeConnector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
bridgeConnector.UiName.text = Robots.Robots[i].PrettyAddress;
bridgeConnector.UiName.fontSize = 16;
bridgeConnector.UiName.fontStyle = FontStyle.Bold;
bridgeConnector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
bridgeConnector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
bridgeConnector.Robot = bot;
}
//destroy spawn information after use
foreach (var spawnInfo in spawnInfos)
{
Destroy(spawnInfo.gameObject);
}
//Configure shadow settings due to huge difference between different cars
bool useRealSizeSetting = false;
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotSetup = Robots.Robots[i].robotType;
if (robotSetup.GetComponentInChildren <SimpleCarController>() == null)
{
useRealSizeSetting = true;
break;
}
}
if (useRealSizeSetting)
{
RealSizeGlobalShadowSettings();
}
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.PositionReset.RobotController = CarController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.HighQualityRendering.onValueChanged.AddListener(enabled =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled;
CameraMan?.SetHighQualityRendering(enabled);
});
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <TrafSpawner>()?.ReSpawnTrafficCars();
}
else
{
FindObjectOfType <TrafSpawner>()?.KillTrafficCars();
}
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnNPCPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillNPCPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Ros.IRosClient;
a.OnRosBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.HighQualityRendering.isOn = config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
}
public void SpawnVehicle(Vector3 position, Quaternion rotation, RosBridgeConnector connector, VehicleConfig staticConfig, float height = 0.0f)
{
var agentImage = Instantiate(AgentUI, AgentList);
agentImage.transform.FindDeepChild("Address").GetComponent <Text>().text = connector.PrettyAddress;
var button = agentImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(connector);
SteeringWheelInputController.ChangeFocusSteerWheel(connector.Agent.GetComponentInChildren <SteeringWheelInputController>());
});
var agentSetup = connector.agentType;
GameObject bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, position, rotation); // TODO better system
AnalyticsManager.Instance?.EgoStartEvent(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject.name : agentSetup.gameObject.name);
var uiObject = Instantiate(UserInterfaceAgent);
uiObject.GetComponent <RfbClient>().Address = connector.Address;
var ui = uiObject.transform;
ui.GetComponent <UserInterfaceSetup>().agent = bot;
if (bot.name.Contains("duckiebot"))
{
HelpScreenUpdate helpScreen = uiObject.GetComponent <HelpScreenUpdate>();
helpScreen.Help = helpScreen.DuckieHelp;
helpScreen.agentsText = helpScreen.duckieText;
}
// offset for multiple vehicle UI
RectTransform rect = uiObject.GetComponent <UserInterfaceSetup>().MainPanel;
if (rect != null)
{
rect.offsetMax = new Vector2(0, rect.offsetMax.y - height);
}
connector.UiObject = uiObject;
connector.UiButton = agentImage;
connector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
bot.GetComponent <AgentSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), connector, staticConfig);
bot.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(false);
button.image.sprite = bot.GetComponent <AgentSetup>().agentUISprite;
//uiObject.enabled = i == 0;
var colors = button.colors;
//colors.normalColor = i == 0 ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
button.colors = colors;
var name = new GameObject();
name.transform.parent = AgentListCanvas.transform.FindDeepChild("Panel").transform;
connector.UiName = name.AddComponent <Text>();
connector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
connector.UiName.text = connector.PrettyAddress;
connector.UiName.fontSize = 16;
connector.UiName.fontStyle = FontStyle.Bold;
connector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
connector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
connector.Agent = bot;
}
private void InitScene()
{
if (ROSAgentManager.Instance.currentMode == StartModeTypes.Dev)
{
return;
}
AgentListCanvas = Instantiate(UserInterfaceAgentList);
AgentList = AgentListCanvas.transform.FindDeepChild("Content"); // TODO needs to change !!! asap
float height = 0;
if (ROSAgentManager.Instance.activeAgents.Count > 1)
{
height = AgentListCanvas.transform.FindDeepChild("AgentList").GetComponent <RectTransform>().rect.height; // TODO needs to change !!! asap
}
else
{
AgentListCanvas.enabled = false;
}
// TODO: update spawn position from static config
Vector3 defaultSpawnPosition = new Vector3(1.0f, 0.018f, 0.7f);
Quaternion defaultSpawnRotation = Quaternion.identity;
var spawnInfos = FindObjectsOfType <SpawnInfo>();
var spawnInfoList = spawnInfos.ToList();
spawnInfoList.Reverse();
RosBridgeConnector first = null;
for (int i = 0; i < ROSAgentManager.Instance.activeAgents.Count; i++)
{
var connector = ROSAgentManager.Instance.activeAgents[i];
var agentSetup = connector.agentType;
var spawnPos = defaultSpawnPosition;
var spawnRot = defaultSpawnRotation;
if (spawnInfoList.Count > 0)
{
spawnPos = spawnInfoList[spawnInfoList.Count - 1].transform.position;
spawnRot = spawnInfoList[spawnInfoList.Count - 1].transform.rotation;
spawnInfoList.RemoveAt(spawnInfoList.Count - 1);
}
spawnPos -= new Vector3(0.25f * i, 0, 0);
if (FindObjectOfType <StaticConfigManager>() != null &&
StaticConfigManager.Instance.staticConfig.initialized &&
ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
var staticConfig = StaticConfigManager.Instance.staticConfig.vehicles[i];
var gps = agentSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = staticConfig.position;
if (pos.e != 0.0f || pos.n != 0.0f)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = staticConfig.orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
SpawnVehicle(spawnPos, spawnRot, connector, staticConfig, height);
}
else
{
SpawnVehicle(spawnPos, spawnRot, connector, null, height);
}
if (first == null)
{
first = connector;
}
}
if (first != null)
{
first.Agent.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(true);
UserInterfaceSetup.ChangeFocusUI(first);
SteeringWheelInputController.ChangeFocusSteerWheel(first.Agent.GetComponentInChildren <SteeringWheelInputController>());
ROSAgentManager.Instance?.SetCurrentActiveAgent(first);
}
InitGlobalShadowSettings(); // TODO better way for small maps
}
void Start()
{
UI = GetComponent <UserInterfaceSetup>();
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
// needed for npc
foreach (Transform child in transform)
{
if (child.CompareTag("MainCamera"))
{
mainCamera = child.GetComponent <Camera>();
}
}
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.agentController = agentController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.LowQualityRendering.onValueChanged.AddListener(useLowQuality =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = !useLowQuality;
CameraMan?.SetHighQualityRendering(!useLowQuality);
});
ui.LowQualityRendering.onValueChanged.Invoke(ui.LowQualityRendering.isOn);
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCS(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.TrafficPhysicsModeToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCPhysicsMode(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficPhysicsModeToggle.onValueChanged;
otherUI.TrafficPhysicsModeToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficPhysicsModeToggle.isOn = enabled;
otherUI.TrafficPhysicsModeToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Comm.BridgeClient;
a.OnBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.LowQualityRendering.isOn = !config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
if (config != null)
{
if (StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
ui.CheckStaticConfigTraffic();
}
}
// CES
CarInputController cc = GetComponent <CarInputController>();
if (cc != null)
{
cc[InputEvent.TOGGLE_SENSOR_EFFECTS].Press += ToggleSensorEffect;
cc[InputEvent.TOGGLE_TRAFFIC].Press += ToggleTraffic;
cc[InputEvent.TOGGLE_UI].Press += ToggleUI;
}
}
public void Setup(UserInterfaceSetup ui, RosBridgeConnector connector)
{
var bridge = connector.Bridge;
ui.WheelScale.onValueChanged.AddListener(value =>
{
try
{
CarController.SetWheelScale(float.Parse(value));
}
catch (System.Exception)
{
Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
}
});
if (SideCameras)
{
ui.SideCameras.onValueChanged.AddListener(SideCameras.SideCamToggleValueChanged);
}
if (LidarSensor != null)
{
ui.Lidar.onValueChanged.AddListener(LidarSensor.Enable);
}
ui.Gps.onValueChanged.AddListener(enabled => GpsDevice.PublishMessage = enabled);
ui.CameraPreview.renderCamera = Cameras[0].GetComponent <Camera>();
ui.PositionReset.RobotController = CarController;
ui.MainCameraToggle.Camera = Cameras[0].GetComponent <Camera>();
Cameras.ForEach(c =>
{
var pp = c.GetComponent <PostProcessingListener>();
if (pp != null)
{
ui.CameraSaturation.onValueChanged.AddListener(x =>
{
pp.SetSaturationValue(x);
});
}
ui.CameraFramerate.onValueChanged.AddListener(value =>
{
try
{
c.GetComponent <VideoToROS>().ValueChangeCallback(int.Parse(value));
}
catch (System.Exception)
{
Debug.Log("Duckiebot Cam FPS: Please input valid number!");
}
});
var ppb = c.GetComponent <PostProcessingBehaviour>();
if (ppb != null)
{
ui.HighQualityRendering.onValueChanged.AddListener(enabled => ppb.enabled = enabled);
}
});
ui.HighQualityRendering.onValueChanged.AddListener(enabled => FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled);
foreach (var item in NeedsBridge)
{
var a = item as Ros.IRosClient;
if (a == null)
{
Debug.Log(1111);
}
a.OnRosBridgeAvailable(bridge);
}
//NeedsBridge.ForEach(b =>
//{
// (b as Ros.IRosClient).OnRosBridgeAvailable(bridge);
//});
}
void SceneLoadFinished(AsyncOperation op)
{
if (!Application.isEditor)
{
allLoadedBundles.ForEach(b => b.Unload(false));
allLoadedBundles.Clear();
}
var robotListCanvas = Instantiate(UserInterfaceRobotList);
var robotList = robotListCanvas.transform.FindDeepChild("Content");
float height = 0;
if (Robots.Robots.Count > 1)
{
height = robotListCanvas.transform.FindDeepChild("RobotList").GetComponent <RectTransform>().rect.height;
}
else
{
robotListCanvas.enabled = false;
}
// TODO: update spawn position from static config
Vector3 defaultSpawnPosition = new Vector3(1.0f, 0.018f, 0.7f);
Quaternion defaultSpawnRotation = Quaternion.identity;
var spawnInfos = FindObjectsOfType <SpawnInfo>();
var spawnInfoList = spawnInfos.ToList();
spawnInfoList.Reverse();
//avoid first frame collision
//var sceneRobots = FindObjectsOfType<RobotSetup>();
//foreach (var robot in sceneRobots)
//{
// var cols = robot.GetComponentsInChildren<Collider>();
// foreach (var col in cols)
// {
// col.enabled = false;
// }
//}
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotImage = Instantiate(DuckiebotRobot, robotList);
robotImage.transform.FindDeepChild("Address").GetComponent <Text>().text = Robots.Robots[i].PrettyAddress;
var ilocal = i;
var button = robotImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(Robots.Robots[ilocal], Robots);
SteeringWheelInputController.ChangeFocusSteerWheel(Robots.Robots[ilocal].Robot.GetComponentInChildren <SteeringWheelInputController>());
});
var robotSetup = Robots.Robots[i].robotType;
var spawnPos = defaultSpawnPosition;
var spawnRot = defaultSpawnRotation;
if (spawnInfoList.Count > 0)
{
spawnPos = spawnInfoList[spawnInfoList.Count - 1].transform.position;
spawnRot = spawnInfoList[spawnInfoList.Count - 1].transform.rotation;
spawnInfoList.RemoveAt(spawnInfoList.Count - 1);
}
GameObject bot = new GameObject();
if (staticConfig.initialized)
{
var gps = robotSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = staticConfig.vehicles[i].position;
if (pos.e != 0.0 || pos.n != 0.0)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = staticConfig.vehicles[i].orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
bot = Instantiate(robotSetup == null ? Robots.robotCandidates[0].gameObject : robotSetup.gameObject, spawnPos, spawnRot);
}
else
{
bot = Instantiate(robotSetup == null ? Robots.robotCandidates[0].gameObject : robotSetup.gameObject, spawnPos - new Vector3(0.25f * i, 0, 0), spawnRot); // TODO better system
}
AnalyticsManager.Instance?.EgoStartEvent(robotSetup == null ? Robots.robotCandidates[0].gameObject.name : robotSetup.gameObject.name);
var bridgeConnector = Robots.Robots[i];
var uiObject = Instantiate(UserInterface);
uiObject.GetComponent <RfbClient>().Address = Robots.Robots[i].Address;
var ui = uiObject.transform;
if (bot.name.Contains("duckiebot"))
{
HelpScreenUpdate helpScreen = uiObject.GetComponent <HelpScreenUpdate>();
helpScreen.Help = helpScreen.DuckieHelp;
helpScreen.RobotsText = helpScreen.DuckieRobotsText;
}
// offset for multiple vehicle UI
RectTransform rect = uiObject.GetComponent <UserInterfaceSetup>().MainPanel;
if (rect != null)
{
rect.offsetMax = new Vector2(0, rect.offsetMax.y - height);
}
bridgeConnector.UiObject = uiObject;
bridgeConnector.UiButton = robotImage;
bridgeConnector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
ui.GetComponent <HelpScreenUpdate>().Robots = Robots;
bot.GetComponent <RobotSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), bridgeConnector, staticConfig.initialized ? staticConfig.vehicles[i] : null);
bot.GetComponent <RobotSetup>().FollowCamera.gameObject.SetActive(i == 0);
button.image.sprite = bot.GetComponent <RobotSetup>().robotUISprite;
uiObject.enabled = i == 0;
var colors = button.colors;
colors.normalColor = i == 0 ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
button.colors = colors;
var name = new GameObject($"robot_{i}_name");
name.transform.parent = robotListCanvas.transform.FindDeepChild("Panel").transform;
bridgeConnector.UiName = name.AddComponent <Text>();
bridgeConnector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
bridgeConnector.UiName.text = Robots.Robots[i].PrettyAddress;
bridgeConnector.UiName.fontSize = 16;
bridgeConnector.UiName.fontStyle = FontStyle.Bold;
bridgeConnector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
bridgeConnector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
bridgeConnector.Robot = bot;
SimulatorManager.Instance?.AddActiveRobot(bot);
}
// hack for dev
SimulatorManager.Instance.SpawnDashUI();
UserInterfaceSetup.ChangeFocusUI(Robots.Robots[0], Robots);
SteeringWheelInputController.ChangeFocusSteerWheel(Robots.Robots[0].Robot.GetComponentInChildren <SteeringWheelInputController>());
SimulatorManager.Instance.SetCurrentActiveRobot(Robots.Robots[0].Robot);
//destroy spawn information after use
foreach (var spawnInfo in spawnInfos)
{
Destroy(spawnInfo.gameObject);
}
//Configure shadow settings due to huge difference between different cars
bool useRealSizeSetting = false;
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotSetup = Robots.Robots[i].robotType;
if (robotSetup.GetComponentInChildren <SimpleCarController>() == null)
{
useRealSizeSetting = true;
break;
}
}
if (useRealSizeSetting)
{
RealSizeGlobalShadowSettings();
}
UserInterfaceSetup.FocusUI.Invoke("CheckStaticConfigTraffic", 0.5f);
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector)
{
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.WheelScale.onValueChanged.AddListener(value =>
{
try
{
CarController.SetWheelScale(float.Parse(value));
}
catch (System.Exception)
{
Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
}
});
if (FollowCamera != null)
{
ui.SensorEffectsToggle.onValueChanged.AddListener(on =>
{
if (on)
{
FollowCamera.cullingMask = MainCam.cullingMask | 1 << LayerMask.NameToLayer("Sensor Effects");
}
else
{
FollowCamera.cullingMask = MainCam.cullingMask & ~(1 << LayerMask.NameToLayer("Sensor Effects"));
}
});
}
if (MainCam != null)
{
ui.CameraPreview.renderCamera = ui.CameraPreview.renderCamera == null ? MainCam : ui.CameraPreview.renderCamera;
MainCam.GetComponent <VideoToROS>().Init();
ui.MainCameraToggle.onValueChanged.AddListener(enabled =>
{
MainCam.enabled = enabled;
MainCam.GetComponent <VideoToROS>().enabled = enabled;
ui.CameraPreview.gameObject.SetActive(enabled);
});
}
SideCams.ForEach(cam =>
{
cam.GetComponent <VideoToROS>().Init();
ui.SideCameraToggle.onValueChanged.AddListener(enabled =>
{
cam.enabled = enabled;
cam.GetComponent <VideoToROS>().enabled = enabled;
});
});
if (TelephotoCam != null)
{
TelephotoCam.GetComponent <VideoToROS>().Init();
ui.TelephotoCamera.onValueChanged.AddListener(enabled =>
{
TelephotoCam.enabled = enabled;
TelephotoCam.GetComponent <VideoToROS>().enabled = enabled;
});
}
if (ColorSegmentCam != null)
{
var segmentColorer = FindObjectOfType <SegmentColorer>();
if (segmentColorer != null)
{
segmentColorer.ApplyToCamera(ColorSegmentCam);
ColorSegmentCam.GetComponent <VideoToROS>().Init();
ui.ColorSegmentPreview.renderCamera = ColorSegmentCam;
ui.ColorSegmentCamera.onValueChanged.AddListener(enabled =>
{
ColorSegmentCam.enabled = enabled;
ColorSegmentCam.GetComponent <VideoToROS>().enabled = enabled;
ui.ColorSegmentPreview.gameObject.SetActive(enabled);
});
}
}
if (DepthCameraEnabler != null)
{
DepthCameraEnabler.TextureDisplay = ui.ColorSegmentPreview;
}
if (imuSensor != null)
{
ui.Imu.onValueChanged.AddListener(imuSensor.Enable);
}
if (LidarSensor != null)
{
ui.Lidar.onValueChanged.AddListener(LidarSensor.Enable);
}
if (RidarSensor != null)
{
ui.Radar.onValueChanged.AddListener(RidarSensor.Enable);
}
ui.Gps.onValueChanged.AddListener(enabled => GpsDevice.PublishMessage = enabled);
ui.PositionReset.RobotController = CarController;
var Cameras = new List <Camera>();
if (MainCam != null)
{
Cameras.Add(MainCam);
}
if (TelephotoCam != null)
{
Cameras.Add(TelephotoCam);
}
if (SideCams != null)
{
Cameras.AddRange(SideCams);
}
ui.HDToggle.onValueChanged.AddListener(enabled =>
{
ui.CameraPreview.renderTexture = null;
if (enabled)
{
Cameras.ForEach(cam =>
{
if (cam != null)
{
var vs = cam.GetComponent <VideoToROS>();
vs.SwitchResolution(1920, 1080); //HD
ui.CameraPreview.SwitchResolution(vs.videoResolution.Item1, vs.videoResolution.Item2);
}
});
}
else
{
Cameras.ForEach(cam =>
{
if (cam != null)
{
var vs = cam.GetComponent <VideoToROS>();
vs.SwitchResolution();
ui.CameraPreview.SwitchResolution(vs.videoResolution.Item1, vs.videoResolution.Item2);
}
});
}
});
Cameras.ForEach(c =>
{
var pp = c.GetComponent <PostProcessingListener>();
if (pp != null)
{
ui.CameraSaturation.onValueChanged.AddListener(x =>
{
pp.SetSaturationValue(x);
});
}
ui.CameraFramerate.onValueChanged.AddListener(value =>
{
try
{
c.GetComponent <VideoToROS>().FPSChangeCallback(int.Parse(value));
}
catch (System.Exception)
{
Debug.Log("Duckiebot Cam FPS: Please input valid number!");
}
});
var ppb = c.GetComponent <PostProcessingBehaviour>();
if (ppb != null)
{
ui.HighQualityRendering.onValueChanged.AddListener(enabled => ppb.enabled = enabled);
}
});
ui.HighQualityRendering.onValueChanged.AddListener(enabled => FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled);
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <TrafSpawner>()?.ReSpawnTrafficCars();
}
else
{
FindObjectOfType <TrafSpawner>()?.KillTrafficCars();
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Ros.IRosClient;
a.OnRosBridgeAvailable(bridge);
}
}
private void InitScene()
{
if (ROSAgentManager.Instance.currentMode == StartModeTypes.Dev)
{
return;
}
var agentListCanvas = Instantiate(UserInterfaceAgentList);
var agentList = agentListCanvas.transform.FindDeepChild("Content"); // TODO needs to change !!! asap
float height = 0;
if (ROSAgentManager.Instance.activeAgents.Count > 1)
{
height = agentListCanvas.transform.FindDeepChild("AgentList").GetComponent <RectTransform>().rect.height; // TODO needs to change !!! asap
}
else
{
agentListCanvas.enabled = false;
}
// TODO: update spawn position from static config
Vector3 defaultSpawnPosition = new Vector3(1.0f, 0.018f, 0.7f);
Quaternion defaultSpawnRotation = Quaternion.identity;
var spawnInfos = FindObjectsOfType <SpawnInfo>();
var spawnInfoList = spawnInfos.ToList();
spawnInfoList.Reverse();
for (int i = 0; i < ROSAgentManager.Instance.activeAgents.Count; i++)
{
var agentImage = Instantiate(AgentUI, agentList);
agentImage.transform.FindDeepChild("Address").GetComponent <Text>().text = ROSAgentManager.Instance.activeAgents[i].PrettyAddress;
var ilocal = i;
var button = agentImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(ROSAgentManager.Instance.activeAgents[ilocal]);
SteeringWheelInputController.ChangeFocusSteerWheel(ROSAgentManager.Instance.activeAgents[ilocal].Agent.GetComponentInChildren <SteeringWheelInputController>());
});
var agentSetup = ROSAgentManager.Instance.activeAgents[i].agentType;
var spawnPos = defaultSpawnPosition;
var spawnRot = defaultSpawnRotation;
if (spawnInfoList.Count > 0)
{
spawnPos = spawnInfoList[spawnInfoList.Count - 1].transform.position;
spawnRot = spawnInfoList[spawnInfoList.Count - 1].transform.rotation;
spawnInfoList.RemoveAt(spawnInfoList.Count - 1);
}
GameObject bot = new GameObject();
if (FindObjectOfType <StaticConfigManager>() != null)
{
if (StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
var gps = agentSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = StaticConfigManager.Instance.staticConfig.vehicles[i].position;
if (pos.e != 0.0 || pos.n != 0.0)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = StaticConfigManager.Instance.staticConfig.vehicles[i].orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, spawnPos, spawnRot);
}
}
else
{
bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, spawnPos - new Vector3(0.25f * i, 0, 0), spawnRot); // TODO better system
}
AnalyticsManager.Instance?.EgoStartEvent(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject.name : agentSetup.gameObject.name);
var bridgeConnector = ROSAgentManager.Instance.activeAgents[i];
var uiObject = Instantiate(UserInterfaceAgent);
uiObject.GetComponent <RfbClient>().Address = ROSAgentManager.Instance.activeAgents[i].Address;
var ui = uiObject.transform;
ui.GetComponent <UserInterfaceSetup>().agent = bot;
if (bot.name.Contains("duckiebot"))
{
HelpScreenUpdate helpScreen = uiObject.GetComponent <HelpScreenUpdate>();
helpScreen.Help = helpScreen.DuckieHelp;
helpScreen.agentsText = helpScreen.duckieText;
}
// offset for multiple vehicle UI
RectTransform rect = uiObject.GetComponent <UserInterfaceSetup>().MainPanel;
if (rect != null)
{
rect.offsetMax = new Vector2(0, rect.offsetMax.y - height);
}
bridgeConnector.UiObject = uiObject;
bridgeConnector.UiButton = agentImage;
bridgeConnector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
var isVehicleConfig = false;
if (FindObjectOfType <StaticConfigManager>() != null)
{
isVehicleConfig = StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig;
}
bot.GetComponent <AgentSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), bridgeConnector, isVehicleConfig ? StaticConfigManager.Instance.staticConfig.vehicles[i] : null);
bot.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(i == 0);
button.image.sprite = bot.GetComponent <AgentSetup>().agentUISprite;
uiObject.enabled = i == 0;
var colors = button.colors;
colors.normalColor = i == 0 ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
button.colors = colors;
var name = new GameObject($"agent_{i}_name");
name.transform.parent = agentListCanvas.transform.FindDeepChild("Panel").transform;
bridgeConnector.UiName = name.AddComponent <Text>();
bridgeConnector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
bridgeConnector.UiName.text = ROSAgentManager.Instance.activeAgents[i].PrettyAddress;
bridgeConnector.UiName.fontSize = 16;
bridgeConnector.UiName.fontStyle = FontStyle.Bold;
bridgeConnector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
bridgeConnector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
bridgeConnector.Agent = bot;
}
UserInterfaceSetup.ChangeFocusUI(ROSAgentManager.Instance.activeAgents[0]);
SteeringWheelInputController.ChangeFocusSteerWheel(ROSAgentManager.Instance.activeAgents[0].Agent.GetComponentInChildren <SteeringWheelInputController>());
ROSAgentManager.Instance?.SetCurrentActiveAgent(ROSAgentManager.Instance.activeAgents[0]);
//destroy spawn information after use
foreach (var spawnInfo in spawnInfos)
{
Destroy(spawnInfo.gameObject);
}
InitGlobalShadowSettings(); // TODO better way for small maps
}
