public void UpdateScoreboard(Racecar winner)
{
int idx = Array.IndexOf(cars, winner);
carDisplays[idx].text = winner.carName + ": " + winner.numRacesWon;
replay.SetActive(true);
}
private void OnTriggerEnter(Collider other)
{
Racecar player = other.attachedRigidbody.GetComponent <Racecar>();
if (player != null)
{
player.HandleFinish(level);
}
}
private void OnTriggerEnter(Collider other)
{
Racecar car = other.GetComponentInParent <Racecar>();
if (car != null)
{
cars.Add(car);
}
}
private void OnTriggerExit(Collider other)
{
Racecar car = other.GetComponentInParent <Racecar>();
if (car != null)
{
cars.Remove(car);
}
}
private void OnTriggerEnter(Collider other)
{
Racecar racecar = other.GetComponentInParent <Racecar>();
if (racecar != null)
{
LevelManager.ResetCar(racecar.Index);
}
}
void OnTriggerEnter(Collider winner)
{
Racecar car = winner.transform.parent.GetComponent <Racecar>();
print(car.carName);
raceInProgress = false;
car.numRacesWon++;
scoreboard.UpdateScoreboard(car);
}
private void OnTriggerEnter(Collider other)
{
Racecar player = other.attachedRigidbody.GetComponent <Racecar>();
if (player != null)
{
VariableManager.SetKeyTime(index, Time.time);
}
}
private void OnTriggerEnter(Collider other)
{
Racecar racecar = other.GetComponentInParent <Racecar>();
if (racecar != null)
{
AutograderManager.CompleteTask(this);
}
}
private void OnCollisionEnter(Collision collision)
{
// If the collider is a player, cause the player to fail
Racecar player = collision.collider.GetComponentInParent <Racecar>();
if (player != null)
{
player.Hud.ShowFailureMessage(FailOnCollide.failureMessage);
}
}
private void OnCollisionEnter(Collision collision)
{
// If the collider is a player, cause the player to fail
Racecar player = collision.collider.GetComponentInParent <Racecar>();
if (player != null)
{
LevelManager.HandleFailure(player.Index, FailOnCollide.failureMessage);
}
}
private void OnTriggerEnter(Collider other)
{
// If the collider is a player, cause the player to fail
Racecar player = other.GetComponentInParent <Racecar>();
if (player != null)
{
player.Hud.ShowFailureMessage(isRed ? SlalomCone.redMessage : SlalomCone.blueMessage);
}
}
private void Awake()
{
// Find components
this.texts = GetComponentsInChildren <Text>();
this.images = this.GetComponentsInChildren <RawImage>();
this.images[Images.LidarMap.GetHashCode()].texture = new Texture2D(CameraModule.ColorWidth / Hud.lidarMapScale, CameraModule.ColorHeight / Hud.lidarMapScale);
this.images[Images.DepthFeed.GetHashCode()].texture = new Texture2D(CameraModule.DepthWidth, CameraModule.DepthHeight);
this.racecar = this.transform.parent.GetComponentInChildren <Racecar>();
}
private void OnTriggerEnter(Collider other)
{
Racecar player = other.attachedRigidbody.GetComponent <Racecar>();
if (player != null)
{
player.HandleFinish(level);
VariableManager.SetKeyTime(VariableManager.KeyTime.Finish, Time.time);
}
}
private void OnTriggerEnter(Collider other)
{
Racecar player = other.attachedRigidbody.GetComponent <Racecar>();
if (player != null)
{
GameObject raceManager = GameObject.FindGameObjectWithTag("RaceManager");
if (raceManager != null)
{
raceManager.GetComponent <VariableManager>().SetKeyTime(index, Time.time);
}
}
}
private void OnTriggerEnter(Collider other)
{
Racecar car = other.attachedRigidbody.GetComponent <Racecar>();
if (car != null)
{
switch (this.Type)
{
case KeyPointType.Finish:
LevelManager.HandleFinish(car.Index);
break;
case KeyPointType.Checkpoint:
LevelManager.HandleCheckpoint(car.Index, this.checkpointIndex);
break;
}
}
}
/// <summary>
/// Creates a Python Interface for a player.
/// </summary>
/// <param name="racecar">The car which the python interface will control.</param>
public PythonInterface(Racecar racecar)
{
this.wasExitHandled = false;
this.isSyncConnected = false;
this.racecar = racecar;
// Establish and configure a UDP port
this.udpClient = new UdpClient(new IPEndPoint(PythonInterface.ipAddress, PythonInterface.unityPort));
this.udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
this.udpClient.Client.ReceiveTimeout = PythonInterface.timeoutTime;
// Initialize client to handle async calls
this.asyncClientThread = new Thread(new ThreadStart(this.ProcessAsyncCalls))
{
IsBackground = true
};
this.asyncClientThread.Start();
}
static public ICarType getCarTypeObj(string carType)
{
ICarType objCarType = null;
if (carType.ToLower() == "sedan")
{
objCarType = new Sedan();
}
else if (carType.ToLower() == "racecar")
{
objCarType = new Racecar();
}
else
{
objCarType = new InvalidCarType();
}
return(objCarType);
}
private void OnTriggerEnter(Collider other)
{
// If the collider is a player, cause the player to fail
Racecar player = other.GetComponentInParent <Racecar>();
if (player != null)
{
if (this.isTimePenalty)
{
VariableManager.AddPenalty(SlalomCone.timePenalty);
Destroy(this.gameObject);
}
else
{
player.Hud.ShowFailureMessage(isRed ? SlalomCone.redMessage : SlalomCone.blueMessage);
}
}
}
private void OnTriggerStay(Collider other)
{
Racecar racecar = other.GetComponentInParent <Racecar>();
if (racecar != null)
{
if (racecar.Physics.LinearVelocity.magnitude < this.maxStopSpeed)
{
this.startTime = Mathf.Min(this.startTime, Time.time);
if (Time.time - this.startTime >= DestinationStop.stopDuration)
{
AutograderManager.CompleteTask(this);
}
}
else
{
this.startTime = float.MaxValue;
}
this.material.color = new Color(this.material.color.r, this.material.color.g, this.material.color.b, this.Alapha);
}
}
private void OnTriggerEnter(Collider other)
{
// If the collider is a player, cause the player to fail
Racecar player = other.GetComponentInParent <Racecar>();
if (player != null)
{
switch (this.penalty)
{
case SlalomConePenalty.Disqualify:
LevelManager.HandleFailure(player.Index, isRed ? SlalomCone.redMessage : SlalomCone.blueMessage);
break;
case SlalomConePenalty.Reset:
LevelManager.ResetCar(player.Index);
break;
case SlalomConePenalty.TimePenalty:
LevelManager.AddTimePenalty(this.timePenalty);
Destroy(this.gameObject);
break;
}
}
}
/// <summary>
/// Set the pointer to the parent Racecar object.
/// </summary>
protected virtual void FindParent()
{
this.racecar = this.GetComponent <Racecar>();
}
public void DriveRacecar()
{
Racecar raceCar = new Racecar();
Assert.True(raceCar.Drive());
}
private void Awake()
{
this.player = GameObject.FindGameObjectWithTag("Player").GetComponent <Racecar>();
}
/// <summary>
/// Calls a Python function on all connected scripts.
/// </summary>
/// <param name="function">The Python function to call (start or update)</param>
private void PythonCall(Header function)
{
for (int i = 0; i < this.pythonEndPoints.Count; i++)
{
if (this.pythonEndPoints[i] == null)
{
continue;
}
Racecar racecar = LevelManager.GetCar(i);
IPEndPoint endPoint = this.pythonEndPoints[i];
// Tell Python what function to call
this.udpClient.Send(new byte[] { (byte)function }, 1, endPoint);
// Respond to API calls from Python until we receive a python_finished message
bool pythonFinished = false;
while (!pythonFinished)
{
// Receive a response from Python
byte[] data = this.SafeRecieve(endPoint);
if (data == null)
{
break;
}
Header header = (Header)data[0];
bool shouldSendController = LevelManager.LevelManagerMode != LevelManagerMode.Race || Settings.CheatMode;
// Send the appropriate response if it was an API call, or break if it was a python_finished message
byte[] sendData;
switch (header)
{
case Header.error:
Error errorCode = (Error)data[1];
HandleError($"Error code [{errorCode}] sent from the Python script controlling car {i}.", errorCode);
pythonFinished = true;
break;
case Header.python_finished:
pythonFinished = true;
break;
case Header.python_exit:
this.RemoveSyncClient(endPoint.Port);
pythonFinished = true;
break;
case Header.racecar_get_delta_time:
sendData = BitConverter.GetBytes(Time.deltaTime);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_color_image:
pythonFinished = !this.SendFragmented(racecar.Camera.ColorImageRaw, 32, endPoint);
break;
case Header.camera_get_depth_image:
sendData = racecar.Camera.DepthImageRaw;
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_width:
sendData = BitConverter.GetBytes(CameraModule.ColorWidth);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.camera_get_height:
sendData = BitConverter.GetBytes(CameraModule.ColorHeight);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
// Always return null controller data when in race mode (except in cheat mode)
case Header.controller_is_down:
Controller.Button buttonDown = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.IsDown(buttonDown) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_was_pressed:
Controller.Button buttonPressed = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.WasPressed(buttonPressed) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_was_released:
Controller.Button buttonReleased = (Controller.Button)data[1];
sendData = BitConverter.GetBytes(Controller.WasReleased(buttonReleased) && shouldSendController);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_get_trigger:
Controller.Trigger trigger = (Controller.Trigger)data[1];
float triggerValue = shouldSendController ? Controller.GetTrigger(trigger) : 0;
sendData = BitConverter.GetBytes(triggerValue);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.controller_get_joystick:
Controller.Joystick joystick = (Controller.Joystick)data[1];
Vector2 joystickValues = shouldSendController ? Controller.GetJoystick(joystick) : Vector2.zero;
sendData = new byte[sizeof(float) * 2];
Buffer.BlockCopy(new float[] { joystickValues.x, joystickValues.y }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.drive_set_speed_angle:
racecar.Drive.Speed = BitConverter.ToSingle(data, 4);
racecar.Drive.Angle = BitConverter.ToSingle(data, 8);
break;
case Header.drive_stop:
racecar.Drive.Stop();
break;
case Header.drive_set_max_speed:
racecar.Drive.MaxSpeed = BitConverter.ToSingle(data, 4);
break;
case Header.lidar_get_num_samples:
sendData = BitConverter.GetBytes(Lidar.NumSamples);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.lidar_get_samples:
sendData = new byte[sizeof(float) * Lidar.NumSamples];
Buffer.BlockCopy(racecar.Lidar.Samples, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.physics_get_linear_acceleration:
Vector3 linearAcceleration = racecar.Physics.LinearAccceleration;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { linearAcceleration.x, linearAcceleration.y, linearAcceleration.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
case Header.physics_get_angular_velocity:
Vector3 angularVelocity = racecar.Physics.AngularVelocity;
sendData = new byte[sizeof(float) * 3];
Buffer.BlockCopy(new float[] { angularVelocity.x, angularVelocity.y, angularVelocity.z }, 0, sendData, 0, sendData.Length);
this.udpClient.Send(sendData, sendData.Length, endPoint);
break;
default:
Debug.LogError($">> Error: The function {header} is not supported by RacecarSim.");
pythonFinished = true;
break;
}
}
}
}
/// <summary>
/// Creates a UDP client to process asynchronous API calls from Python (for use by Jupyter).
/// </summary>
private void ProcessAsyncCalls()
{
this.udpClientAsync = new UdpClient(new IPEndPoint(PythonInterface.ipAddress, PythonInterface.unityPortAsync));
this.udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
while (true)
{
IPEndPoint receiveEndPoint = new IPEndPoint(PythonInterface.ipAddress, 0);
byte[] data = this.udpClientAsync.Receive(ref receiveEndPoint);
Header header = (Header)data[0];
Racecar racecar = LevelManager.GetCar();
byte[] sendData;
switch (header)
{
case Header.connect:
int pythonVersion = data.Length > 1 ? data[1] : 0;
if (PythonInterface.version == pythonVersion)
{
int?index = this.ConnectSyncClient(receiveEndPoint.Port);
if (index.HasValue)
{
sendData = new byte[] { (byte)Header.connect, (byte)index };
}
else
{
// TODO: display this message to the screen?
Debug.LogError($"Attempted to connect a Python script from port [{receiveEndPoint.Port}], but every racecar already has a connected Python script.");
sendData = new byte[] { (byte)Header.error, (byte)Error.no_free_car };
}
}
else if (PythonInterface.version > pythonVersion)
{
// TODO: display this message to the screen?
Debug.LogError("The Python script is using an outdated and incompatible version of racecar_core. Please update you Python racecar libraries to the newest version.");
sendData = new byte[] { (byte)Header.error, (byte)Error.python_outdated };
}
else
{
// TODO: display this message to the screen?
Debug.LogError("The Python script is using a newer and incompatible version of racecar_core. Please download the newest version of RacecarSim.");
sendData = new byte[] { (byte)Header.error, (byte)Error.racecarsim_outdated };
}
this.udpClientAsync.Send(sendData, sendData.Length, receiveEndPoint);
break;
case Header.python_exit:
this.RemoveSyncClient(receiveEndPoint.Port);
break;
case Header.camera_get_color_image:
this.SendFragmentedAsync(racecar.Camera.GetColorImageRawAsync(), 32, receiveEndPoint);
break;
case Header.camera_get_depth_image:
sendData = racecar.Camera.GetDepthImageRawAsync();
this.udpClientAsync.Send(sendData, sendData.Length, receiveEndPoint);
break;
case Header.lidar_get_samples:
sendData = new byte[sizeof(float) * Lidar.NumSamples];
Buffer.BlockCopy(racecar.Lidar.Samples, 0, sendData, 0, sendData.Length);
this.udpClientAsync.Send(sendData, sendData.Length, receiveEndPoint);
break;
default:
Debug.LogError($">> Error: The function {header} is not supported by RacecarSim for async calls.");
break;
}
}
}
public void GoFastRacecar()
{
Racecar raceCar = new Racecar();
Assert.True(raceCar.GoFast());
}
public void HonkRacecar()
{
Racecar raceCar = new Racecar();
Assert.True(raceCar.Honk());
}
private void Awake()
{
this.racecar = this.GetComponentInParent <Racecar>();
}
public void DraftRacecar()
{
Racecar raceCar = new Racecar();
Assert.True(raceCar.Draft());
}
public RacecarBuilder()
{
Car = new Racecar();
RandomCarName();
}
