public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var uid = args["uid"].Value;
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
api.StopLine.Add(obj);
api.SendResult();
SIM.LogAPI(SIM.API.OnStopLineSet);
}
else
{
api.SendError($"Agent '{uid}' not found");
}
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var uid = args["uid"].Value;
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
api.Waypoints.Add(obj);
api.SendResult(this);
SIM.LogAPI(SIM.API.OnWaypointReached, obj.tag);
}
else
{
api.SendError(this, $"Agent '{uid}' not found");
}
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var timeScale = args["time_scale"];
if (timeScale == null || timeScale.IsNull)
{
api.TimeScale = 1f;
}
else
{
api.TimeScale = timeScale.AsFloat;
}
SimulatorManager.SetTimeScale(api.TimeScale);
var timeLimit = args["time_limit"].AsFloat;
if (timeLimit != 0)
{
var frameLimit = (int)(timeLimit / Time.fixedDeltaTime);
api.FrameLimit = api.CurrentFrame + frameLimit;
}
else
{
api.FrameLimit = 0;
}
//Start the scenario runner here
var use_case_id = args["use_case_id"].AsInt;
var scenario_id = args["scenario_id"].AsInt;
var test_case_id = args["test_case_id"].AsInt;
//ArrayList results;
SimulatorManager.Instance.Scenario_Config(use_case_id, scenario_id, test_case_id);
// var results_json = new JSONArray();
// foreach(String result in results)
// {
// results_json.Add(new JSONString(result));
// }
// api.SendResult(results_json);
SIM.LogAPI(SIM.API.SimulationRun, timeLimit.ToString());
}
public void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var waypoints = args["waypoints"].AsArray;
var loop = args["loop"].AsBool;
var api = ApiManager.Instance;
if (waypoints.Count == 0)
{
api.SendError(this, $"Waypoint list is empty");
return;
}
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
var ped = obj.GetComponent <PedestrianController>();
if (ped == null)
{
api.SendError(this, $"Agent '{uid}' is not a pedestrian agent");
return;
}
var wp = new List <WalkWaypoint>();
for (int i = 0; i < waypoints.Count; i++)
{
wp.Add(new WalkWaypoint()
{
Position = waypoints[i]["position"].ReadVector3(),
Speed = waypoints[i]["speed"].AsFloat,
Idle = waypoints[i]["idle"].AsFloat,
TriggerDistance = waypoints[i]["trigger_distance"].AsFloat,
Trigger = DeserializeTrigger(waypoints[i]["trigger"])
});
}
ped.FollowWaypoints(wp, loop);
api.RegisterAgentWithWaypoints(ped.gameObject);
api.SendResult(this);
SIM.LogAPI(SIM.API.FollowWaypoints, "Pedestrian");
}
else
{
api.SendError(this, $"Agent '{uid}' not found");
}
}
public void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var waypoints = args["waypoints"].AsArray;
var loop = args["loop"].AsBool;
var api = ApiManager.Instance;
if (waypoints.Count == 0)
{
api.SendError($"Waypoint list is empty");
return;
}
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
var npc = obj.GetComponent <NPCController>();
if (npc == null)
{
api.SendError($"Agent '{uid}' is not a NPC agent");
return;
}
var wp = new List <DriveWaypoint>();
for (int i = 0; i < waypoints.Count; i++)
{
wp.Add(new DriveWaypoint()
{
Position = waypoints[i]["position"].ReadVector3(),
Speed = waypoints[i]["speed"].AsFloat,
Angle = waypoints[i]["angle"].ReadVector3(),
Idle = waypoints[i]["idle"].AsFloat,
Deactivate = waypoints[i]["deactivate"].AsBool,
TriggerDistance = waypoints[i]["trigger_distance"].AsFloat
});
}
npc.SetFollowWaypoints(wp, loop);
api.SendResult();
SIM.LogAPI(SIM.API.FollowWaypoints, "NPC");
}
else
{
api.SendError($"Agent '{uid}' not found");
}
}
public static void Run()
{
var api = ApiManager.Instance;
foreach (var kv in api.Agents)
{
var obj = kv.Value;
var sensors = obj.GetComponentsInChildren <SensorBase>();
foreach (var sensor in sensors)
{
var suid = api.SensorUID[sensor];
api.Sensors.Remove(suid);
api.SensorUID.Remove(sensor);
}
}
api.Reset();
SIM.LogAPI(SIM.API.SimulationReset);
}
public void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var api = ApiManager.Instance;
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
var sensors = obj.GetComponentsInChildren <SensorBase>();
if (SimulatorManager.InstanceAvailable)
{
foreach (var sensor in sensors)
{
SimulatorManager.Instance.Sensors.UnregisterSensor(sensor);
}
}
SimulatorManager.Instance.AgentManager.DestroyAgent(obj);
var npc = obj.GetComponent <NPCController>();
if (npc != null)
{
SimulatorManager.Instance.NPCManager.DespawnVehicle(npc);
}
var ped = obj.GetComponent <PedestrianController>();
if (ped != null)
{
SimulatorManager.Instance.PedestrianManager.DespawnPedestrianApi(ped);
}
api.Agents.Remove(uid);
api.AgentUID.Remove(obj);
api.SendResult(this);
SIM.LogAPI(SIM.API.RemoveAgent, obj.name);
}
else
{
api.SendError(this, $"Agent '{uid}' not found");
}
}
public static void Run()
{
var api = ApiManager.Instance;
foreach (var kv in api.Agents)
{
var obj = kv.Value;
var sensors = obj.GetComponentsInChildren <SensorBase>();
foreach (var sensor in sensors)
{
var suid = api.SensorUID[sensor];
api.Sensors.Remove(suid);
api.SensorUID.Remove(sensor);
}
var sim = SimulatorManager.Instance;
if (obj.GetComponent <VehicleController>() != null)
{
sim.AgentManager.DestroyAgent(obj);
}
var npc = obj.GetComponent <NPCController>();
if (npc != null)
{
sim.NPCManager.DespawnVehicle(npc);
}
var ped = obj.GetComponent <PedestrianController>();
if (ped != null)
{
sim.PedestrianManager.DespawnPedestrianApi(ped);
}
}
api.Reset();
SIM.LogAPI(SIM.API.SimulationReset);
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var sim = SimulatorManager.Instance;
var timeScale = args["time_scale"];
if (timeScale == null || timeScale.IsNull)
{
api.TimeScale = 1f;
}
else
{
api.TimeScale = timeScale.AsFloat;
}
SimulatorManager.SetTimeScale(api.TimeScale);
var timeLimit = args["time_limit"].AsFloat;
if (timeLimit != 0)
{
var frameLimit = (int)(timeLimit / Time.fixedDeltaTime);
api.FrameLimit = api.CurrentFrame + frameLimit;
}
else
{
api.FrameLimit = 0;
}
SIM.LogAPI(SIM.API.SimulationRun, timeLimit.ToString());
if (sim.NPCManager.startTime == 0f)
{
sim.NPCManager.startTime = sim.CurrentTime;
}
//sim.AnalysisManager.AnalysisInit();
}
public void Execute(JSONNode args)
{
var uid = args["uid"].Value;
var isLeft = args["isLeftChange"].AsBool;
var api = ApiManager.Instance;
if (api.Agents.TryGetValue(uid, out GameObject obj))
{
var npc = obj.GetComponent <NPCController>();
if (npc == null)
{
api.SendError(this, $"Agent '{uid}' is not a NPC agent");
return;
}
npc.ForceLaneChange(isLeft);
api.SendResult(this);
SIM.LogAPI(SIM.API.OnLaneChangeSet);
}
else
{
api.SendError(this, $"Agent '{uid}' not found");
}
}
public void Execute(JSONNode args)
{
var sim = Object.FindObjectOfType <SimulatorManager>();
var api = ApiManager.Instance;
if (sim == null)
{
api.SendError("SimulatorManager not found! Is scene loaded?");
return;
}
var name = args["name"].Value;
var type = args["type"].AsInt;
var position = args["state"]["transform"]["position"].ReadVector3();
var rotation = args["state"]["transform"]["rotation"].ReadVector3();
var velocity = args["state"]["velocity"].ReadVector3();
var angular_velocity = args["state"]["angular_velocity"].ReadVector3();
if (type == (int)AgentType.Ego)
{
var agents = SimulatorManager.Instance.AgentManager;
GameObject agentGO = null;
using (var db = DatabaseManager.Open())
{
var sql = Sql.Builder.From("vehicles").Where("name = @0", name);
var vehicle = db.SingleOrDefault <VehicleModel>(sql);
if (vehicle == null)
{
api.SendError($"Vehicle '{name}' is not available");
return;
}
else
{
var prefab = AquirePrefab(vehicle);
if (prefab == null)
{
return;
}
var config = new AgentConfig()
{
Name = vehicle.Name,
Prefab = prefab,
Sensors = vehicle.Sensors,
};
if (vehicle.BridgeType != null)
{
config.Bridge = Web.Config.Bridges.Find(bridge => bridge.Name == vehicle.BridgeType);
if (config.Bridge == null)
{
api.SendError($"Bridge '{vehicle.BridgeType}' not available");
return;
}
}
agentGO = agents.SpawnAgent(config);
agentGO.transform.position = position;
agentGO.transform.rotation = Quaternion.Euler(rotation);
if (agents.ActiveAgents.Count == 1)
{
agents.SetCurrentActiveAgent(agentGO);
}
var rb = agentGO.GetComponent <Rigidbody>();
rb.velocity = velocity;
rb.angularVelocity = angular_velocity;
}
}
var uid = System.Guid.NewGuid().ToString();
Debug.Assert(agentGO != null);
api.Agents.Add(uid, agentGO);
api.AgentUID.Add(agentGO, uid);
var sensors = agentGO.GetComponentsInChildren <SensorBase>();
foreach (var sensor in sensors)
{
var sensor_uid = System.Guid.NewGuid().ToString();
api.SensorUID.Add(sensor, sensor_uid);
api.Sensors.Add(sensor_uid, sensor);
}
api.SendResult(new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentEgo, name);
}
else if (type == (int)AgentType.Npc)
{
var go = SimulatorManager.Instance.NPCManager.SpawnVehicle(name, position, Quaternion.Euler(rotation));
var npc = go.GetComponent <NPCController>();
npc.Control = NPCController.ControlType.Manual;
var body = go.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
var uid = go.name;
api.Agents.Add(uid, go);
api.AgentUID.Add(go, uid);
api.SendResult(new JSONString(go.name));
SIM.LogAPI(SIM.API.AddAgentNPC, name);
}
else if (type == (int)AgentType.Pedestrian)
{
var pedManager = SimulatorManager.Instance.PedestrianManager;
if (!pedManager.gameObject.activeSelf)
{
var sceneName = SceneManager.GetActiveScene().name;
api.SendError($"{sceneName} is missing Pedestrian NavMesh");
return;
}
var ped = pedManager.SpawnPedestrianApi(name, position, Quaternion.Euler(rotation));
if (ped == null)
{
api.SendError($"Unknown '{name}' pedestrian name");
return;
}
var uid = System.Guid.NewGuid().ToString();
api.Agents.Add(uid, ped);
api.AgentUID.Add(ped, uid);
api.SendResult(new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentPedestrian, name);
}
else
{
api.SendError($"Unsupported '{args["type"]}' type");
}
}
static IEnumerator LoadMapAssets(LoadScene sourceCommand, MapModel map, string name, int?seed = null)
{
var api = ApiManager.Instance;
AssetBundle textureBundle = null;
AssetBundle mapBundle = null;
ZipFile zip = new ZipFile(map.LocalPath);
try
{
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));
}
if (manifest.bundleFormat != BundleConfig.MapBundleFormatVersion)
{
api.SendError(sourceCommand,
"Out of date Map AssetBundle. Please check content website for updated bundle or rebuild the bundle.");
api.ActionsSemaphore.Unlock();
yield break;
}
if (zip.FindEntry($"{manifest.assetGuid}_environment_textures", true) != -1)
{
var texStream = zip.GetInputStream(zip.GetEntry($"{manifest.assetGuid}_environment_textures"));
textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
}
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows
? "windows"
: "linux";
var mapStream =
zip.GetInputStream(zip.GetEntry($"{manifest.assetGuid}_environment_main_{platform}"));
mapBundle = AssetBundle.LoadFromStream(mapStream, 0, 1 << 20);
if (mapBundle == null)
{
api.SendError(sourceCommand, $"Failed to load environment from '{map.Name}' asset bundle");
api.ActionsSemaphore.Unlock();
yield break;
}
textureBundle?.LoadAllAssets();
var scenes = mapBundle.GetAllScenePaths();
if (scenes.Length != 1)
{
api.SendError(sourceCommand, $"Unsupported environment in '{map.Name}' asset bundle, only 1 scene expected");
api.ActionsSemaphore.Unlock();
yield break;
}
var sceneName = Path.GetFileNameWithoutExtension(scenes[0]);
var clusters = Loader.Instance.SimConfig?.Clusters;
var isMasterSimulation = clusters != null && clusters.Length != 0;
var loadAdditive = isMasterSimulation &&
SceneManager.GetSceneByName(Loader.Instance.LoaderScene).isLoaded;
var loader = SceneManager.LoadSceneAsync(sceneName,
loadAdditive ? LoadSceneMode.Additive : LoadSceneMode.Single);
yield return(new WaitUntil(() => loader.isDone));
if (loadAdditive)
{
SceneManager.SetActiveScene(SceneManager.GetSceneByName(sceneName));
}
SIM.LogAPI(SIM.API.SimulationLoad, sceneName);
if (Loader.Instance.SimConfig != null)
{
Loader.Instance.SimConfig.Seed = seed;
Loader.Instance.SimConfig.MapName = name;
Loader.Instance.SimConfig.MapUrl = map.Url;
}
var sim = Loader.CreateSimulatorManager();
sim.Init(seed);
if (isMasterSimulation)
{
Loader.Instance.Network.Master.InitializeSimulation(sim.gameObject);
}
else if (Loader.Instance.Network.IsClient)
{
Loader.Instance.Network.Client.InitializeSimulation(sim.gameObject);
}
}
finally
{
textureBundle?.Unload(false);
mapBundle?.Unload(false);
zip.Close();
}
api.Reset();
api.CurrentScene = name;
api.ActionsSemaphore.Unlock();
api.SendResult(sourceCommand);
}
static IEnumerator DoLoad(string name, int?seed = null)
{
var api = ApiManager.Instance;
using (var db = Database.DatabaseManager.Open())
{
var sql = Sql.Builder.From("maps").Where("name = @0", name);
var map = db.FirstOrDefault <Database.MapModel>(sql);
if (map == null)
{
api.SendError($"Environment '{name}' is not available");
yield break;
}
AssetBundle textureBundle = null;
AssetBundle mapBundle = null;
ZipFile zip = new ZipFile(map.LocalPath);
try
{
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));
}
if (manifest.bundleFormat != BundleConfig.MapBundleFormatVersion)
{
api.SendError("Out of date Map AssetBundle. Please check content website for updated bundle or rebuild the bundle.");
yield break;
}
var texStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_environment_textures"));
textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows ? "windows" : "linux";
var mapStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_environment_main_{platform}"));
mapBundle = AssetBundle.LoadFromStream(mapStream, 0, 1 << 20);
if (mapBundle == null || textureBundle == null)
{
api.SendError($"Failed to load environment from '{map.Name}' asset bundle");
yield break;
}
textureBundle.LoadAllAssets();
var scenes = mapBundle.GetAllScenePaths();
if (scenes.Length != 1)
{
api.SendError($"Unsupported environment in '{map.Name}' asset bundle, only 1 scene expected");
yield break;
}
var sceneName = Path.GetFileNameWithoutExtension(scenes[0]);
var loader = SceneManager.LoadSceneAsync(sceneName);
yield return(new WaitUntil(() => loader.isDone));
SIM.LogAPI(SIM.API.SimulationLoad, sceneName);
var sim = UnityEngine.Object.Instantiate(Loader.Instance.SimulatorManagerPrefab);
sim.name = "SimulatorManager";
sim.Init(seed);
}
finally
{
textureBundle?.Unload(false);
mapBundle?.Unload(false);
zip.Close();
}
// TODO deactivate environment props if needed
api.Reset();
api.CurrentScene = name;
api.SendResult();
}
}
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 = Web.Config.Bridges.Find(bridge => bridge.Name == 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 color = new Color();
if (colorData != new Vector3(-1, -1, -1))
{
color = new Color(colorData.x, colorData.y, colorData.z);
}
var go = SimulatorManager.Instance.NPCManager.SpawnVehicle(name, uid, position, Quaternion.Euler(rotation), color);
var npc = go.GetComponent <NPCController>();
npc.Control = NPCController.ControlType.Manual;
var body = go.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
uid = go.name;
api.Agents.Add(uid, go);
api.AgentUID.Add(go, uid);
api.SendResult(this, new JSONString(go.name));
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(npc.NPCColor.r, npc.NPCColor.g, npc.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 ped = pedManager.SpawnPedestrianApi(name, uid, position, Quaternion.Euler(rotation));
if (ped == null)
{
api.SendError(this, $"Unknown '{name}' pedestrian name");
return;
}
api.Agents.Add(uid, ped);
api.AgentUID.Add(ped, uid);
api.SendResult(this, new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentPedestrian, name);
}
else
{
api.SendError(this, $"Unsupported '{args["type"]}' type");
}
}
public void Execute(JSONNode args)
{
var sim = Object.FindObjectOfType <SimulatorManager>();
var api = ApiManager.Instance;
if (sim == null)
{
api.SendError("SimulatorManager not found! Is scene loaded?");
return;
}
var name = args["name"].Value;
var type = args["type"].AsInt;
var position = args["state"]["transform"]["position"].ReadVector3();
var rotation = args["state"]["transform"]["rotation"].ReadVector3();
var velocity = args["state"]["velocity"].ReadVector3();
var angular_velocity = args["state"]["angular_velocity"].ReadVector3();
if (type == (int)AgentType.Ego)
{
var agents = SimulatorManager.Instance.AgentManager;
GameObject agentGO = null;
using (var db = Database.DatabaseManager.Open())
{
var sql = Sql.Builder.From("vehicles").Where("name = @0", name);
var vehicle = db.SingleOrDefault <Database.VehicleModel>(sql);
if (vehicle == null)
{
api.SendError($"Vehicle '{name}' is not available");
return;
}
var bundlePath = vehicle.LocalPath;
AssetBundle textureBundle = null;
AssetBundle vehicleBundle = null;
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));
}
var texStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_vehicle_textures"));
textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows ? "windows" : "linux";
var mapStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_vehicle_main_{platform}"));
vehicleBundle = AssetBundle.LoadFromStream(mapStream, 0, 1 << 20);
if (vehicleBundle == null)
{
api.SendError($"Failed to load vehicle from '{bundlePath}' asset bundle");
return;
}
try
{
var vehicleAssets = vehicleBundle.GetAllAssetNames();
if (vehicleAssets.Length != 1)
{
api.SendError($"Unsupported '{bundlePath}' vehicle asset bundle, only 1 asset expected");
return;
}
if (!AssetBundle.GetAllLoadedAssetBundles().Contains(textureBundle))
{
textureBundle.LoadAllAssets();
}
var prefab = vehicleBundle.LoadAsset <GameObject>(vehicleAssets[0]);
var config = new AgentConfig()
{
Name = vehicle.Name,
Prefab = prefab,
Sensors = vehicle.Sensors,
};
if (vehicle.BridgeType != null)
{
config.Bridge = Web.Config.Bridges.Find(bridge => bridge.Name == vehicle.BridgeType);
if (config.Bridge == null)
{
api.SendError($"Bridge '{vehicle.BridgeType}' not available");
return;
}
}
agentGO = agents.SpawnAgent(config);
agentGO.transform.position = position;
agentGO.transform.rotation = Quaternion.Euler(rotation);
if (agents.ActiveAgents.Count == 1)
{
agents.SetCurrentActiveAgent(agentGO);
}
var rb = agentGO.GetComponent <Rigidbody>();
rb.velocity = velocity;
rb.angularVelocity = angular_velocity;
}
finally
{
textureBundle.Unload(false);
vehicleBundle.Unload(false);
}
}
}
var uid = System.Guid.NewGuid().ToString();
Debug.Assert(agentGO != null);
api.Agents.Add(uid, agentGO);
api.AgentUID.Add(agentGO, uid);
var sensors = agentGO.GetComponentsInChildren <SensorBase>();
foreach (var sensor in sensors)
{
var sensor_uid = System.Guid.NewGuid().ToString();
api.SensorUID.Add(sensor, sensor_uid);
api.Sensors.Add(sensor_uid, sensor);
}
api.SendResult(new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentEgo, name);
}
else if (type == (int)AgentType.Npc)
{
var go = SimulatorManager.Instance.NPCManager.SpawnVehicle(name, position, Quaternion.Euler(rotation));
var npc = go.GetComponent <NPCController>();
npc.Control = NPCController.ControlType.Manual;
var body = go.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
var uid = go.name;
api.Agents.Add(uid, go);
api.AgentUID.Add(go, uid);
api.SendResult(new JSONString(go.name));
SIM.LogAPI(SIM.API.AddAgentNPC, name);
}
else if (type == (int)AgentType.Pedestrian)
{
var ped = SimulatorManager.Instance.PedestrianManager.SpawnPedestrianApi(name, position, Quaternion.Euler(rotation));
if (ped == null)
{
api.SendError($"Unknown '{name}' pedestrian name");
return;
}
var uid = System.Guid.NewGuid().ToString();
api.Agents.Add(uid, ped);
api.AgentUID.Add(ped, uid);
api.SendResult(new JSONString(uid));
SIM.LogAPI(SIM.API.AddAgentPedestrian, name);
}
else
{
api.SendError($"Unsupported '{args["type"]}' type");
}
}
