public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
agentController.Config.AgentGO = go;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
#if UNITY_EDITOR
// TODO remove hack for editor opaque with alpha clipping 2019.3.3
Array.ForEach(go.GetComponentsInChildren <Renderer>(), renderer =>
{
foreach (var m in renderer.materials)
{
m.shader = Shader.Find(m.shader.name);
}
});
Array.ForEach(go.GetComponentsInChildren <DecalProjector>(), decal =>
{
decal.material.shader = Shader.Find(decal.material.shader.name);
});
#endif
return(go);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var agentController = go.GetComponent <AgentController>();
agentController.Config = config;
agentController.Config.AgentGO = go;
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
agentController.Init();
go.SetActive(true);
return(go);
}
public void SetupDevAgents()
{
var sceneAgents = GameObject.FindGameObjectsWithTag("Player");
foreach (var agent in sceneAgents)
{
var config = agent.GetComponent <AgentController>().Config;
config.AgentGO = agent;
ActiveAgents.Add(config);
}
if (ActiveAgents.Count == 0)
{
string data = null;
#if UNITY_EDITOR
data = UnityEditor.EditorPrefs.GetString("Simulator/DevelopmentSettings");
#endif
if (data != null)
{
try
{
var json = JSONNode.Parse(data);
var createVehicle = json["CreateVehicle"];
var vehicleName = json["VehicleName"];
if (createVehicle != null && createVehicle.AsBool && vehicleName != null)
{
using (var db = DatabaseManager.GetConfig(DatabaseManager.GetConnectionString()).Create())
{
var sql = Sql.Builder.From("vehicles").Where("name = @0", vehicleName.Value);
var vehicle = db.SingleOrDefault <VehicleModel>(sql);
if (vehicle == null)
{
Debug.LogError($"Cannot find '{vehicleName.Value}' vehicle in database!");
}
else
{
var bundlePath = vehicle.LocalPath;
using (ZipFile zip = new ZipFile(bundlePath))
{
Manifest manifest;
ZipEntry entry = zip.GetEntry("manifest");
using (var ms = zip.GetInputStream(entry))
{
int streamSize = (int)entry.Size;
byte[] buffer = new byte[streamSize];
streamSize = ms.Read(buffer, 0, streamSize);
manifest = new Deserializer().Deserialize <Manifest>(Encoding.UTF8.GetString(buffer, 0, streamSize));
}
if (manifest.bundleFormat != BundleConfig.Versions[BundleConfig.BundleTypes.Vehicle])
{
throw new Exception("Out of date Vehicle AssetBundle. Please check content website for updated bundle or rebuild the bundle.");
}
AssetBundle textureBundle = null;
if (zip.FindEntry($"{manifest.assetGuid}_vehicle_textures", true) != -1)
{
var texStream = zip.GetInputStream(zip.GetEntry($"{manifest.assetGuid}_vehicle_textures"));
textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
}
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows ? "windows" : "linux";
var mapStream = zip.GetInputStream(zip.GetEntry($"{manifest.assetGuid}_vehicle_main_{platform}"));
var vehicleBundle = AssetBundle.LoadFromStream(mapStream, 0, 1 << 20);
if (vehicleBundle == null)
{
throw new Exception($"Failed to load '{bundlePath}' vehicle asset bundle");
}
try
{
var vehicleAssets = vehicleBundle.GetAllAssetNames();
if (vehicleAssets.Length != 1)
{
throw new Exception($"Unsupported '{bundlePath}' vehicle asset bundle, only 1 asset expected");
}
textureBundle?.LoadAllAssets();
if (manifest.fmuName != "")
{
var fmuDirectory = Path.Combine(Application.persistentDataPath, manifest.assetName);
if (platform == "windows")
{
var dll = zip.GetEntry($"{manifest.fmuName}_windows.dll");
if (dll == null)
{
throw new ArgumentException($"{manifest.fmuName}.dll not found in Zip");
}
using (Stream s = zip.GetInputStream(dll))
{
byte[] buffer = new byte[4096];
Directory.CreateDirectory(fmuDirectory);
var path = Path.Combine(Application.persistentDataPath, manifest.assetName, $"{manifest.fmuName}.dll");
using (FileStream streamWriter = File.Create(path))
{
StreamUtils.Copy(s, streamWriter, buffer);
}
vehicleBundle.LoadAsset <GameObject>(vehicleAssets[0]).GetComponent <VehicleFMU>().FMUData.Path = path;
}
}
else
{
var dll = zip.GetEntry($"{manifest.fmuName}_linux.so");
if (dll == null)
{
throw new ArgumentException($"{manifest.fmuName}.so not found in Zip");
}
using (Stream s = zip.GetInputStream(dll))
{
byte[] buffer = new byte[4096];
Directory.CreateDirectory(fmuDirectory);
var path = Path.Combine(Application.persistentDataPath, manifest.assetName, $"{manifest.fmuName}.so");
using (FileStream streamWriter = File.Create(path))
{
StreamUtils.Copy(s, streamWriter, buffer);
}
vehicleBundle.LoadAsset <GameObject>(vehicleAssets[0]).GetComponent <VehicleFMU>().FMUData.Path = path;
}
}
}
var prefab = vehicleBundle.LoadAsset <GameObject>(vehicleAssets[0]);
var config = new AgentConfig()
{
Name = vehicle.Name,
Prefab = prefab,
Sensors = vehicle.Sensors,
Connection = json["Connection"].Value,
};
if (!string.IsNullOrEmpty(vehicle.BridgeType))
{
config.Bridge = Simulator.Web.Config.Bridges.Find(bridge => bridge.Name == vehicle.BridgeType);
if (config.Bridge == null)
{
throw new Exception($"Bridge {vehicle.BridgeType} not found");
}
}
var spawn = FindObjectsOfType <SpawnInfo>().OrderBy(s => s.name).FirstOrDefault();
config.Position = spawn != null ? spawn.transform.position : Vector3.zero;
config.Rotation = spawn != null ? spawn.transform.rotation : Quaternion.identity;
SpawnAgent(config);
}
finally
{
textureBundle?.Unload(false);
vehicleBundle.Unload(false);
}
}
}
}
}
}
catch (Exception ex)
{
Debug.LogException(ex);
}
}
}
else
{
var config = ActiveAgents[0];
var bridgeClient = config.AgentGO.AddComponent <BridgeClient>();
bridgeClient.Init(new Simulator.Bridge.Ros.RosApolloBridgeFactory());
bridgeClient.Connect("localhost", 9090);
var sensorsController = config.AgentGO.GetComponent <SensorsController>();
if (sensorsController == null)
{
sensorsController = config.AgentGO.AddComponent <SensorsController>();
var agentController = config.AgentGO.GetComponent <AgentController>();
if (agentController != null)
{
agentController.AgentSensorsController = sensorsController;
}
}
sensorsController.SetupSensors(DefaultSensors.Apollo30);
}
ActiveAgents.ForEach(agent => agent.AgentGO.GetComponent <AgentController>().Init());
SetCurrentActiveAgent(0);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var controller = go.GetComponent <IAgentController>();
if (controller == null)
{
Debug.LogWarning($"{nameof(IAgentController)} implementation not found on the {config.Name} vehicle. This vehicle can't be used as an ego vehicle.");
}
else
{
controller.Config = config;
controller.Config.AgentGO = go;
ActiveAgents.Add(controller.Config);
controller.GTID = ++SimulatorManager.Instance.GTIDs;
controller.Config.GTID = controller.GTID;
}
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
var sensorsController = go.GetComponent <ISensorsController>() ?? go.AddComponent <SensorsController>();
if (controller != null)
{
controller.AgentSensorsController = sensorsController;
}
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
if (network.IsClient)
{
controller?.DisableControl();
}
}
BridgeClient bridgeClient = null;
if (config.BridgeData != null)
{
var dir = Path.Combine(Simulator.Web.Config.PersistentDataPath, "Bridges");
var vfs = VfsEntry.makeRoot(dir);
Simulator.Web.Config.CheckDir(vfs.GetChild(config.BridgeData.AssetGuid), Simulator.Web.Config.LoadBridgePlugin);
bridgeClient = go.AddComponent <BridgeClient>();
config.Bridge = BridgePlugins.Get(config.BridgeData.Type);
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
controller?.Init();
if (SimulatorManager.Instance.IsAPI)
{
SimulatorManager.Instance.EnvironmentEffectsManager.InitRainVFX(go.transform);
}
go.SetActive(true);
return(go);
}