// We have to lock api.ActionsSemaphore before the first continuation (await)
// to make sure API calls are executed one after the other
public async void Execute(JSONNode args)
{
var sim = SimulatorManager.Instance;
var api = ApiManager.Instance;
// instead of relying on ApiMAnager's exception handling,
// we wrap the whole method since we are async
try
{
if (sim == null)
{
throw new Exception("SimulatorManager not found! Is scene loaded?");
}
var name = args["name"].Value;
var type = args["type"].AsInt;
var position = args["state"]["transform"]["position"].ReadVector3();
var rotation = args["state"]["transform"]["rotation"].ReadVector3();
var velocity = args["state"]["velocity"].ReadVector3();
var angular_velocity = args["state"]["angular_velocity"].ReadVector3();
string uid;
var argsUid = args["uid"];
if (argsUid == null)
{
uid = System.Guid.NewGuid().ToString();
// Add uid key to arguments, as it will be distributed to the clients' simulations
if (Loader.Instance.Network.IsMaster)
{
args.Add("uid", uid);
}
}
else
{
uid = argsUid.Value;
}
if (type == (int)AgentType.Ego)
{
var agents = SimulatorManager.Instance.AgentManager;
GameObject agentGO = null;
VehicleDetailData vehicleData = await ConnectionManager.API.GetByIdOrName <VehicleDetailData>(name);
var config = new AgentConfig(vehicleData.ToVehicleData());
if (ApiManager.Instance.CachedVehicles.ContainsKey(vehicleData.Name))
{
config.Prefab = ApiManager.Instance.CachedVehicles[vehicleData.Name];
}
else
{
var progressUpdate = new Progress <Tuple <string, float> > (p => { ConnectionUI.instance.UpdateDownloadProgress(p.Item1, p.Item2); });
var assetModel = await DownloadManager.GetAsset(BundleConfig.BundleTypes.Vehicle, vehicleData.AssetGuid, vehicleData.Name, progressUpdate);
config.Prefab = Loader.LoadVehicleBundle(assetModel.LocalPath);
}
if (config.Prefab == null)
{
throw new Exception($"failed to acquire ego prefab");
}
var downloads = new List <Task>();
List <SensorData> sensorsToDownload = new List <SensorData>();
ConcurrentDictionary <Task, string> assetDownloads = new ConcurrentDictionary <Task, string>();
if (config.Sensors != null)
{
foreach (var plugin in config.Sensors)
{
if (plugin.Plugin.AssetGuid != null && sensorsToDownload.FirstOrDefault(s => s.Plugin.AssetGuid == plugin.Plugin.AssetGuid) == null)
{
sensorsToDownload.Add(plugin);
}
}
}
foreach (var sensor in sensorsToDownload)
{
var pluginProgress = ConnectionUI.instance != null ?
new Progress <Tuple <string, float> >(p => ConnectionUI.instance.UpdateDownloadProgress(p.Item1, p.Item2))
: new Progress <Tuple <string, float> >(p => Debug.Log($"Download: {p.Item1}: {p.Item2}"));
var pluginTask = DownloadManager.GetAsset(BundleConfig.BundleTypes.Sensor, sensor.Plugin.AssetGuid,
sensor.Name, pluginProgress);
downloads.Add(pluginTask);
assetDownloads.TryAdd(pluginTask, sensor.Type);
}
await Task.WhenAll(downloads);
foreach (var download in downloads)
{
assetDownloads.TryRemove(download, out _);
}
agentGO = agents.SpawnAgent(config);
agentGO.transform.position = position;
agentGO.transform.rotation = Quaternion.Euler(rotation);
if (agents.ActiveAgents.Count == 1)
{
agents.SetCurrentActiveAgent(agentGO);
}
var rb = agentGO.GetComponent <Rigidbody>();
if (rb != null)
{
rb.velocity = velocity;
rb.angularVelocity = angular_velocity;
}
Debug.Assert(agentGO != null);
api.Agents.Add(uid, agentGO);
api.AgentUID.Add(agentGO, uid);
var sensors = agentGO.GetComponentsInChildren <SensorBase>(true);
foreach (var sensor in sensors)
{
var sensorUid = System.Guid.NewGuid().ToString();
if (SimulatorManager.InstanceAvailable)
{
SimulatorManager.Instance.Sensors.AppendUid(sensor, sensorUid);
}
}
api.SendResult(this, new JSONString(uid));
}
else if (type == (int)AgentType.Npc)
{
var colorData = args["color"].ReadVector3();
var template = sim.NPCManager.NPCVehicles.Find(obj => obj.Prefab.name == name);
if (template.Prefab == null)
{
throw new Exception($"Unknown '{name}' NPC name");
}
var spawnData = new NPCManager.NPCSpawnData
{
Active = true,
GenId = uid,
Template = template,
Position = position,
Rotation = Quaternion.Euler(rotation),
Color = colorData == new Vector3(-1, -1, -1) ? sim.NPCManager.GetWeightedRandomColor(template.NPCType) : new Color(colorData.x, colorData.y, colorData.z),
Seed = sim.NPCManager.NPCSeedGenerator.Next(),
};
var npcController = SimulatorManager.Instance.NPCManager.SpawnNPC(spawnData);
npcController.IsUserSpecified = true;
npcController.SetBehaviour <NPCManualBehaviour>();
var body = npcController.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
uid = npcController.name;
api.Agents.Add(uid, npcController.gameObject);
api.AgentUID.Add(npcController.gameObject, uid);
api.SendResult(this, new JSONString(uid));
// Override the color argument as NPCController may change the NPC color
if (Loader.Instance.Network.IsMaster)
{
var colorVector = new Vector3(npcController.NPCColor.r, npcController.NPCColor.g, npcController.NPCColor.b);
args["color"].WriteVector3(colorVector);
}
}
else if (type == (int)AgentType.Pedestrian)
{
var pedManager = SimulatorManager.Instance.PedestrianManager;
if (!pedManager.gameObject.activeSelf)
{
var sceneName = SceneManager.GetActiveScene().name;
throw new Exception($"{sceneName} is missing Pedestrian NavMesh");
}
var model = sim.PedestrianManager.PedestrianData.Find(obj => obj.Name == name).Prefab;
if (model == null)
{
throw new Exception($"Unknown '{name}' pedestrian name");
}
var spawnData = new PedestrianManager.PedSpawnData
{
Active = true,
API = true,
GenId = uid,
Model = model,
Position = position,
Rotation = Quaternion.Euler(rotation),
Seed = sim.PedestrianManager.PEDSeedGenerator.Next(),
};
var pedController = pedManager.SpawnPedestrian(spawnData);
if (pedController == null)
{
throw new Exception($"Pedestrian controller error for '{name}'");
}
api.Agents.Add(uid, pedController.gameObject);
api.AgentUID.Add(pedController.gameObject, uid);
api.SendResult(this, new JSONString(uid));
}
else
{
throw new Exception($"Unsupported '{args["type"]}' type");
}
}
catch (Exception e)
{
api.SendError(this, e.Message);
}
finally
{
Executed?.Invoke(this);
}
}
public void Execute(JSONNode args)
{
var sim = Object.FindObjectOfType <SimulatorManager>();
var api = ApiManager.Instance;
if (sim == null)
{
api.SendError(this, "SimulatorManager not found! Is scene loaded?");
return;
}
var name = args["name"].Value;
var type = args["type"].AsInt;
var position = args["state"]["transform"]["position"].ReadVector3();
var rotation = args["state"]["transform"]["rotation"].ReadVector3();
var velocity = args["state"]["velocity"].ReadVector3();
var angular_velocity = args["state"]["angular_velocity"].ReadVector3();
string uid;
var argsUid = args["uid"];
if (argsUid == null)
{
uid = System.Guid.NewGuid().ToString();
// Add uid key to arguments, as it will be distributed to the clients' simulations
if (Loader.Instance.Network.IsMaster)
{
args.Add("uid", uid);
}
}
else
{
uid = argsUid.Value;
}
if (type == (int)AgentType.Ego)
{
var agents = SimulatorManager.Instance.AgentManager;
GameObject agentGO = null;
using (var db = DatabaseManager.Open())
{
var sql = Sql.Builder.From("vehicles").Where("name = @0", name);
var vehicle = db.FirstOrDefault <VehicleModel>(sql);
if (vehicle == null)
{
var url = args["url"];
//Disable using url on master simulation
if (Loader.Instance.Network.IsMaster || string.IsNullOrEmpty(url))
{
api.SendError(this, $"Vehicle '{name}' is not available");
return;
}
DownloadVehicleFromUrl(args, name, url);
return;
}
else
{
var prefab = AquirePrefab(vehicle);
if (prefab == null)
{
return;
}
var config = new AgentConfig()
{
Name = vehicle.Name,
Prefab = prefab,
Sensors = vehicle.Sensors,
};
if (!string.IsNullOrEmpty(vehicle.BridgeType))
{
config.Bridge = BridgePlugins.Get(vehicle.BridgeType);
if (config.Bridge == null)
{
api.SendError(this, $"Bridge '{vehicle.BridgeType}' not available");
return;
}
}
agentGO = agents.SpawnAgent(config);
agentGO.transform.position = position;
agentGO.transform.rotation = Quaternion.Euler(rotation);
if (agents.ActiveAgents.Count == 1)
{
agents.SetCurrentActiveAgent(agentGO);
}
var rb = agentGO.GetComponent <Rigidbody>();
rb.velocity = velocity;
rb.angularVelocity = angular_velocity;
// Add url key to arguments, as it will be distributed to the clients' simulations
if (Loader.Instance.Network.IsMaster)
{
args.Add("url", vehicle.Url);
}
}
}
Debug.Assert(agentGO != null);
api.Agents.Add(uid, agentGO);
api.AgentUID.Add(agentGO, uid);
var sensors = agentGO.GetComponentsInChildren <SensorBase>(true);
foreach (var sensor in sensors)
{
var sensorUid = System.Guid.NewGuid().ToString();
if (SimulatorManager.InstanceAvailable)
{
SimulatorManager.Instance.Sensors.AppendUid(sensor, sensorUid);
}
}
api.SendResult(this, new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentEgo, name);
}
else if (type == (int)AgentType.Npc)
{
var colorData = args["color"].ReadVector3();
var template = sim.NPCManager.NPCVehicles.Find(obj => obj.Prefab.name == name); // TODO need to search all available npcs including npc bundles
if (template.Prefab == null)
{
api.SendError(this, $"Unknown '{name}' NPC name");
return;
}
var spawnData = new NPCManager.NPCSpawnData
{
Active = true,
GenId = uid,
Template = template,
Position = position,
Rotation = Quaternion.Euler(rotation),
Color = colorData == new Vector3(-1, -1, -1) ? sim.NPCManager.GetWeightedRandomColor(template.NPCType) : new Color(colorData.x, colorData.y, colorData.z),
Seed = sim.NPCManager.NPCSeedGenerator.Next(),
};
var npcController = SimulatorManager.Instance.NPCManager.SpawnNPC(spawnData);
npcController.SetBehaviour <NPCManualBehaviour>();
var body = npcController.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
uid = npcController.name;
api.Agents.Add(uid, npcController.gameObject);
api.AgentUID.Add(npcController.gameObject, uid);
api.SendResult(this, new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentNPC, name);
// Override the color argument as NPCController may change the NPC color
if (Loader.Instance.Network.IsMaster)
{
var colorVector = new Vector3(npcController.NPCColor.r, npcController.NPCColor.g, npcController.NPCColor.b);
args["color"].WriteVector3(colorVector);
}
}
else if (type == (int)AgentType.Pedestrian)
{
var pedManager = SimulatorManager.Instance.PedestrianManager;
if (!pedManager.gameObject.activeSelf)
{
var sceneName = SceneManager.GetActiveScene().name;
api.SendError(this, $"{sceneName} is missing Pedestrian NavMesh");
return;
}
var model = sim.PedestrianManager.pedModels.Find(obj => obj.name == name);
if (model == null)
{
api.SendError(this, $"Unknown '{name}' pedestrian name");
return;
}
var spawnData = new PedestrianManager.PedSpawnData
{
Active = true,
API = true,
GenId = uid,
Model = model,
Position = position,
Rotation = Quaternion.Euler(rotation),
Seed = sim.PedestrianManager.PEDSeedGenerator.Next(),
};
var pedController = pedManager.SpawnPedestrian(spawnData);
if (pedController == null)
{
api.SendError(this, $"Pedestrian controller error for '{name}'");
return;
}
api.Agents.Add(uid, pedController.gameObject);
api.AgentUID.Add(pedController.gameObject, uid);
api.SendResult(this, new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentPedestrian, name);
}
else
{
api.SendError(this, $"Unsupported '{args["type"]}' type");
}
}
