/// <summary>
/// Handles a call to a Python function.
/// </summary>
/// <param name="function">The Python function to call (start or update)</param>
private void PythonCall(Header function)
{
if (!this.isSyncConnected)
{
this.HandleError("Not connected to a Python script.");
}
// Tell Python what function to call
this.udpClient.Send(new byte[] { (byte)function }, 1);
// Respond to API calls from Python until we receive a python_finished message
bool pythonFinished = false;
while (!pythonFinished)
{
// Receive a response from Python
byte[] data = this.SafeRecieve();
if (data == null)
{
break;
}
Header header = (Header)data[0];
// Send the appropriate response if it was an API call, or break if it was a python_finished message
byte[] sendData;
switch (header)
{
case Header.error:
HandleError("Error code sent from Python.");
break;
case Header.python_finished:
pythonFinished = true;
break;
case Header.racecar_get_delta_time:
sendData = BitConverter.GetBytes(Time.deltaTime);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.camera_get_color_image:
this.SendFragmented(this.racecar.Camera.ColorImageRaw, 32);
break;
case Header.camera_get_depth_image:
sendData = this.racecar.Camera.DepthImageRaw;
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.camera_get_width:
sendData = BitConverter.GetBytes(CameraModule.ColorWidth);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.camera_get_height:
sendData = BitConverter.GetBytes(CameraModule.ColorHeight);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.controller_is_down:
Controller.Button buttonDown = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(this.racecar.Controller.IsDown(buttonDown));
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.controller_was_pressed:
Controller.Button buttonPressed = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(this.racecar.Controller.WasPressed(buttonPressed));
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.controller_was_released:
Controller.Button buttonReleased = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(this.racecar.Controller.WasReleased(buttonReleased));
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.controller_get_trigger:
Controller.Trigger trigger = (Controller.Trigger)data[1];
sendData = BitConverter.GetBytes(this.racecar.Controller.GetTrigger(trigger));
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.controller_get_joystick:
Controller.Joystick joystick = (Controller.Joystick)data[1];
Vector2 joystickValues = this.racecar.Controller.GetJoystick(joystick);
sendData = new byte[sizeof(float) * 2];
Buffer.BlockCopy(new float[] { joystickValues.x, joystickValues.y }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.drive_set_speed_angle:
this.racecar.Drive.Speed = BitConverter.ToSingle(data, 4);
this.racecar.Drive.Angle = BitConverter.ToSingle(data, 8);
break;
case Header.drive_stop:
this.racecar.Drive.Stop();
break;
case Header.drive_set_max_speed:
this.racecar.Drive.MaxSpeed = BitConverter.ToSingle(data, 4);
break;
case Header.lidar_get_num_samples:
sendData = BitConverter.GetBytes(Lidar.NumSamples);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.lidar_get_samples:
sendData = new byte[sizeof(float) * Lidar.NumSamples];
Buffer.BlockCopy(this.racecar.Lidar.Samples, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.physics_get_linear_acceleration:
Vector3 linearAcceleration = this.racecar.Physics.LinearAccceleration;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { linearAcceleration.x, linearAcceleration.y, linearAcceleration.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length);
break;
case Header.physics_get_angular_velocity:
Vector3 angularVelocity = this.racecar.Physics.AngularVelocity;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { angularVelocity.x, angularVelocity.y, angularVelocity.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length);
break;
default:
Debug.LogError($">> Error: The function {header} is not supported by RacecarSim.");
break;
}
}
}
/// <summary>
/// Returns the value of a trigger.
/// </summary>
/// <param name="trigger">A trigger on an Xbox controller.</param>
/// <returns>The value of the provided trigger, ranging from 0 (unpressed) to 1 (fully pressed).</returns>
public float GetTrigger(Controller.Trigger trigger)
{
return(this.triggerValues[(int)trigger]);
}
/// <summary>
/// Calls a Python function on all connected scripts.
/// </summary>
/// <param name="function">The Python function to call (start or update)</param>
private void PythonCall(Header function)
{
for (int i = 0; i < this.pythonEndPoints.Count; i++)
{
if (this.pythonEndPoints[i] == null)
{
continue;
}
Racecar racecar = LevelManager.GetCar(i);
IPEndPoint endPoint = this.pythonEndPoints[i];
// Tell Python what function to call
this.udpClient.Send(new byte[] { (byte)function }, 1, endPoint);
// Respond to API calls from Python until we receive a python_finished message
bool pythonFinished = false;
while (!pythonFinished)
{
// Receive a response from Python
byte[] data = this.SafeRecieve(endPoint);
if (data == null)
{
break;
}
Header header = (Header)data[0];
bool shouldSendController = LevelManager.LevelManagerMode != LevelManagerMode.Race || Settings.CheatMode;
// Send the appropriate response if it was an API call, or break if it was a python_finished message
byte[] sendData;
switch (header)
{
case Header.error:
Error errorCode = (Error)data[1];
HandleError($"Error code [{errorCode}] sent from the Python script controlling car {i}.", errorCode);
pythonFinished = true;
break;
case Header.python_finished:
pythonFinished = true;
break;
case Header.python_exit:
this.RemoveSyncClient(endPoint.Port);
pythonFinished = true;
break;
case Header.racecar_get_delta_time:
sendData = BitConverter.GetBytes(Time.deltaTime);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_color_image:
pythonFinished = !this.SendFragmented(racecar.Camera.ColorImageRaw, 32, endPoint);
break;
case Header.camera_get_depth_image:
sendData = racecar.Camera.DepthImageRaw;
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_width:
sendData = BitConverter.GetBytes(CameraModule.ColorWidth);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_height:
sendData = BitConverter.GetBytes(CameraModule.ColorHeight);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
// Always return null controller data when in race mode (except in cheat mode)
case Header.controller_is_down:
Controller.Button buttonDown = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.IsDown(buttonDown) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_was_pressed:
Controller.Button buttonPressed = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.WasPressed(buttonPressed) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_was_released:
Controller.Button buttonReleased = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.WasReleased(buttonReleased) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_get_trigger:
Controller.Trigger trigger = (Controller.Trigger)data[1];
float triggerValue = shouldSendController ? Controller.GetTrigger(trigger) : 0;
sendData = BitConverter.GetBytes(triggerValue);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_get_joystick:
Controller.Joystick joystick = (Controller.Joystick)data[1];
Vector2 joystickValues = shouldSendController ? Controller.GetJoystick(joystick) : Vector2.zero;
sendData = new byte[sizeof(float) * 2];
Buffer.BlockCopy(new float[] { joystickValues.x, joystickValues.y }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.drive_set_speed_angle:
racecar.Drive.Speed = BitConverter.ToSingle(data, 4);
racecar.Drive.Angle = BitConverter.ToSingle(data, 8);
break;
case Header.drive_stop:
racecar.Drive.Stop();
break;
case Header.drive_set_max_speed:
racecar.Drive.MaxSpeed = BitConverter.ToSingle(data, 4);
break;
case Header.lidar_get_num_samples:
sendData = BitConverter.GetBytes(Lidar.NumSamples);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.lidar_get_samples:
sendData = new byte[sizeof(float) * Lidar.NumSamples];
Buffer.BlockCopy(racecar.Lidar.Samples, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.physics_get_linear_acceleration:
Vector3 linearAcceleration = racecar.Physics.LinearAccceleration;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { linearAcceleration.x, linearAcceleration.y, linearAcceleration.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.physics_get_angular_velocity:
Vector3 angularVelocity = racecar.Physics.AngularVelocity;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { angularVelocity.x, angularVelocity.y, angularVelocity.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
default:
Debug.LogError($">> Error: The function {header} is not supported by RacecarSim.");
pythonFinished = true;
break;
}
}
}
}
