public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.PositionReset.RobotController = CarController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.HighQualityRendering.onValueChanged.AddListener(enabled =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled;
CameraMan?.SetHighQualityRendering(enabled);
});
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <TrafSpawner>()?.ReSpawnTrafficCars();
}
else
{
FindObjectOfType <TrafSpawner>()?.KillTrafficCars();
}
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnNPCPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillNPCPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Ros.IRosClient;
a.OnRosBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.HighQualityRendering.isOn = config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
// needed for npc
foreach (Transform child in transform)
{
if (child.CompareTag("MainCamera"))
{
mainCamera = child.GetComponent <Camera>();
}
}
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.agentController = agentController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.LowQualityRendering.onValueChanged.AddListener(useLowQuality =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = !useLowQuality;
CameraMan?.SetHighQualityRendering(!useLowQuality);
});
ui.LowQualityRendering.onValueChanged.Invoke(ui.LowQualityRendering.isOn);
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCS(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.TrafficPhysicsModeToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCPhysicsMode(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficPhysicsModeToggle.onValueChanged;
otherUI.TrafficPhysicsModeToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficPhysicsModeToggle.isOn = enabled;
otherUI.TrafficPhysicsModeToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Comm.BridgeClient;
a.OnBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.LowQualityRendering.isOn = !config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
if (config != null)
{
if (StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
ui.CheckStaticConfigTraffic();
}
}
// CES
CarInputController cc = GetComponent <CarInputController>();
if (cc != null)
{
cc[InputEvent.TOGGLE_SENSOR_EFFECTS].Press += ToggleSensorEffect;
cc[InputEvent.TOGGLE_TRAFFIC].Press += ToggleTraffic;
cc[InputEvent.TOGGLE_UI].Press += ToggleUI;
}
}
