public void Enable(bool enabled)
{
isEnabled = enabled;
objId = 0;
if (isEnabled && isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
groundTruthCamera.enabled = enabled;
cameraPreview.gameObject.SetActive(enabled);
if (detectedObjects != null)
{
detectedObjects.Clear();
}
if (cameraDetectedColliders != null)
{
cameraDetectedColliders.Clear();
}
}
public void Enable(bool enabled)
{
isEnabled = enabled;
objId = 0;
if (isEnabled && isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
if (detectedObjects != null)
{
detectedObjects.Clear();
}
if (lidarDetectedColliders != null)
{
lidarDetectedColliders.Clear();
}
}
internal void CreateChild(AgentSetup setup)
{
counterChilds++;
var childRef = Agent.Behaviour.ChildMaker(arg1: Agent.Context, arg2: setup);
Agent.Send(instruction: BasicInstruction.Initialize.Create(target: childRef, message: setup.Behaviour));
}
private void StartProductionAgent(FArticle fArticle)
{
_forwardScheduleTimeCalculator = new ForwardScheduleTimeCalculator(fArticle: fArticle);
// check for Children
if (fArticle.Article.ArticleBoms.Any())
{
Agent.DebugMessage(
msg: "Article: " + fArticle.Article.Name + " (" + fArticle.Key + ") is last leave in BOM.");
}
if (fArticle.Article.Operations == null)
{
throw new Exception("Production agent without operations");
}
// Ask the Directory Agent for Service
RequestHubAgentsFromDirectoryFor(agent: Agent, operations: fArticle.Article.Operations);
// And create Operations
CreateJobsFromArticle(fArticle: fArticle);
var requiredDispoAgents = OperationManager.CreateRequiredArticles(articleToProduce: fArticle
, requestingAgent: Agent.Context.Self
, currentTime: Agent.CurrentTime);
for (var i = 0; i < requiredDispoAgents; i++)
{
// create Dispo Agents for to provide required articles
var agentSetup = AgentSetup.Create(agent: Agent,
behaviour: DispoAgent.Behaviour.Factory.Get(simType: SimulationType.None));
var instruction = Guardian.Instruction.CreateChild.Create(setup: agentSetup,
target: ((IAgent)Agent).Guardian, source: Agent.Context.Self);
Agent.Send(instruction: instruction);
}
}
private void Awake()
{
if (Agent == null)
{
Agent = transform.root.gameObject;
}
agentSetup = Agent?.GetComponent <AgentSetup>();
AddUIElement();
}
internal void CreateChild(AgentSetup setup)
{
_counterChilds++;
//System.Diagnostics.Debug.WriteLine($"({Agent.CurrentTime}) {Agent.Context.Self.Path.Name} add child and has {counterChilds} now");
var childRef = Agent.Behaviour.ChildMaker(arg1: Agent.Context, arg2: setup);
Agent.Send(instruction: BasicInstruction.Initialize.Create(target: childRef, message: setup.Behaviour));
}
/// <summary>
/// Startup with Creating Dispo Agent for current Item.
/// </summary>
/// <param name="agent"></param>
/// <param name="orderItem"></param>
public void StartOrder(T_CustomerOrderPart orderItem)
{
// create Request Item
_fArticle = orderItem.ToRequestItem(requester: Agent.Context.Self, currentTime: Agent.CurrentTime);
// Tell Guardian to create Dispo Agent
var agentSetup = AgentSetup.Create(agent: Agent, behaviour: DispoAgent.Behaviour.Factory.Get(simType: Agent.Behaviour.SimulationType));
var instruction = Guardian.Instruction.CreateChild.Create(setup: agentSetup, target: ((IAgent)Agent).Guardian, source: Agent.Context.Self);
Agent.Send(instruction: instruction);
// init end
}
private void CreateContractAgent(T_CustomerOrderPart orderPart)
{
_orderQueue.Enqueue(item: orderPart);
DebugMessage(msg: $"Creating Contract Agent for order {orderPart.CustomerOrderId} with {orderPart.Article.Name} DueTime {orderPart.CustomerOrder.DueTime}");
var agentSetup = AgentSetup.Create(agent: this, behaviour: ContractAgent.Behaviour.Factory.Get(simType: _simulationType));
var instruction = CreateChild.Create(setup: agentSetup
, target: ActorPaths.Guardians
.Single(predicate: x => x.Key == GuardianType.Contract)
.Value
, source: this.Self);
Send(instruction: instruction);
}
private void SetLEDColor(LEDColorTypes colorIndex)
{
if (isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
currentLEDColor = colorIndex;
}
public RosBridgeConnector(AgentSetup type)
{
agentType = type;
lastEnvironment = agentType.TargetRosEnv;
if (type.TargetRosEnv == ROSTargetEnvironment.APOLLO35)
{
Bridge = new Comm.Cyber.CyberBridge();
}
else
{
Bridge = new Comm.Ros.RosBridge();
}
}
void Awake()
{
LidarBitmask = ~(1 << LayerMask.NameToLayer("Lidar Ignore") | 1 << LayerMask.NameToLayer("Sensor Effects")) | 1 << LayerMask.NameToLayer("Lidar Only") | 1 << LayerMask.NameToLayer("PlayerConstrain");
PointCloudLayerMask = 1 << LayerMask.NameToLayer("Sensor Effects");
PointCloudMaterial = Object.Instantiate(PointCloudMaterial);
if (Agent == null)
{
Agent = transform.root.gameObject;
}
agentSetup = Agent?.GetComponent <AgentSetup>();
var lidarCheckbox = Agent.GetComponent <UserInterfaceTweakables>().AddCheckbox("ToggleLidar", "Enable LIDAR:", false);
lidarCheckbox.onValueChanged.AddListener(x => enabled = x);
}
private void CreateContractAgent(T_CustomerOrder order)
{
_productionContext.CustomerOrders.Add(order);
_productionContext.SaveChanges();
var orderPart = order.CustomerOrderParts.First();
_orderQueue.Enqueue(item: orderPart);
Agent.DebugMessage(msg: $"Creating Contract Agent for order {orderPart.CustomerOrderId} with {orderPart.Article.Name} DueTime {orderPart.CustomerOrder.DueTime}");
var agentSetup = AgentSetup.Create(agent: Agent, behaviour: ContractAgent.Behaviour.Factory.Get(simType: _simulationType));
var instruction = Instruction.CreateChild.Create(setup: agentSetup
, target: Agent.ActorPaths.Guardians
.Single(predicate: x => x.Key == GuardianType.Contract)
.Value
, source: Agent.Context.Self);
Agent.Send(instruction: instruction);
}
internal void ResponseFromSystemForBom(M_Article article)
{
// Update
var dueTime = _fArticle.DueTime;
if (article.Operations != null)
{
dueTime = _fArticle.DueTime - article.Operations.Sum(selector: x => x.Duration + x.AverageTransitionDuration);
}
// TODO: Object that handles the different operations- current assumption is all operations are handled as a sequence (no alternative/parallel plans)
_fArticle = _fArticle.UpdateCustomerOrderAndDue(id: _fArticle.CustomerOrderId, due: dueTime, storage: _fArticle.StorageAgent)
.UpdateArticle(article: article);
// Creates a Production Agent for each element that has to be produced
for (var i = 0; i < _quantityToProduce; i++)
{
var agentSetup = AgentSetup.Create(agent: Agent, behaviour: ProductionAgent.Behaviour.Factory.Get(simType: SimulationType.None));
var instruction = CreateChild.Create(setup: agentSetup, target: ((IAgent)Agent).Guardian, source: Agent.Context.Self);
Agent.Send(instruction: instruction);
}
}
private void Awake()
{
if (Agent == null)
{
Agent = transform.root.gameObject;
}
agentSetup = Agent?.GetComponent <AgentSetup>();
AddUIElement();
detectedObjects = new List <Ros.Detection3D>();
lidarDetectedColliders = new Dictionary <Collider, Ros.Detection3D>();
lidarPredictedObjects = new List <Ros.Detection3D>();
lidarPredictedVisuals = new List <Ros.Detection3D>();
lidarRangeTrigger.SetCallback(onLidarRangeTriggered);
if (lidarSensor && lidarSensor.GetComponent <LidarSensor>())
{
lidarRangeTrigger.transform.localScale = new Vector3(
lidarSensor.GetComponent <LidarSensor>().MaxDistance * 2,
lidarSensor.GetComponent <LidarSensor>().MaxDistance * 2,
lidarSensor.GetComponent <LidarSensor>().MaxDistance * 2
);
}
}
public void EnableLidarPrediction(bool enabled)
{
isLidarPredictionEnabled = enabled;
if (isLidarPredictionEnabled && isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
if (lidarPredictedVisuals != null)
{
lidarPredictedVisuals.Clear();
}
if (lidarPredictedObjects != null)
{
lidarPredictedObjects.Clear();
}
}
void Awake()
{
PointCloudMaterial = Object.Instantiate(PointCloudMaterial);
if (Agent == null)
{
Agent = transform.root.gameObject;
}
agentSetup = Agent?.GetComponent <AgentSetup>();
var lidarCheckbox = Agent.GetComponent <UserInterfaceTweakables>().AddCheckbox("ToggleLidar", "Enable LIDAR:", false);
lidarCheckbox.onValueChanged.AddListener(x => enabled = x);
PointCloudLayerMask = 1 << LayerMask.NameToLayer("Sensor Effects");
Camera.enabled = false;
Camera.renderingPath = RenderingPath.Forward;
Camera.clearFlags = CameraClearFlags.Color;
Camera.backgroundColor = Color.black;
Camera.allowMSAA = false;
Camera.allowHDR = false;
Reset();
}
private void SetTopLightMode(bool enabled)
{
isEnabled = enabled;
if (isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
if (enabled == false)
{
StopAllCoroutines();
ToggleTopLight(enabled);
lightRenderer.material.color = offColor;
}
else
{
StartCoroutine(BlinkTopLight());
}
}
public RosBridgeConnector(string address, int port, AgentSetup type) : this()
{
Address = address;
Port = port;
agentType = type;
}
public static CreateChild Create(AgentSetup setup, IActorRef target, IActorRef source)
{
return(new CreateChild(message: setup, target: target, source: source));
}
