public GameObject ReceiveFile(string filepath)
{
this.filepath = filepath;
io = new IO("#;");
if (!io.Load(filepath))
{
return(null);
}
string[] args;
driveType = RobotDriveType.None;
while ((args = io.ReadNextArguments())[0] != "ENDOFFILE")
{
if (!process(args))
{
Debug.Log("Error processing: " + args[0]);
robotConfig = null;
Destroy(robotObject);
robotObject = null;
io = null;
return(null);
}
}
robotObject.GetComponent <PlaceableObject>().PostBuild();
ObjectManager.instance.StoreCustomRobot(robotObject);
io = null;
return(robotObject);
}
// Run each line - return true if worked, false on failure
public bool process(string[] args)
{
// Line processing in try block: Catch only FormatException from bad float parsing
try
{
switch (args[0])
{
// Type of robot
case "drive":
{
robotDrive = true;
if (!CheckArguments(args, 2, "drive"))
{
return(false);
}
switch (args[1])
{
case "DIFFERENTIAL_DRIVE":
driveType = RobotDriveType.Differential;
robotObject = Instantiate(diffDriveBase);
Debug.Log("Diff Drive");
break;
case "ACKERMANN_DRIVE":
driveType = RobotDriveType.Ackermann;
robotObject = Instantiate(ackDriveBase);
Debug.Log("Ackermann Drive");
break;
case "OMNI_DRIVE":
driveType = RobotDriveType.Omni;
robotObject = Instantiate(omniDriveBase);
Debug.Log("Omni Drive");
return(false);
default:
Debug.Log("Unknown Drive received: " + args[1]);
return(false);
}
robotConfig = robotObject.GetComponent <ConfigureableRobot>();
robotObject.name = "Custom Robot " + ObjectManager.instance.customRobots.Count + 1;
robotObject.SetActive(false);
return(true);
}
case "name":
{
if (!CheckArguments(args, 2, "name"))
{
return(false);
}
// Check if name already exists
if (args[1].ToLower() == "labbot" || args[1].ToLower() == "s4")
{
EyesimLogger.instance.Log("Error loading robot - Robot with name " + args[1] + " already exists");
return(false);
}
foreach (GameObject obj in ObjectManager.instance.customRobots)
{
if (obj.name.ToLower() == args[1].ToLower())
{
EyesimLogger.instance.Log("Error loading robot - Robot with name " + args[1] + " already exists");
return(false);
}
}
robotObject.name = args[1];
return(true);
}
// Path to robot model (.obj file)
case "model":
{
if (!(CheckArguments(args, 2, "model") || CheckArguments(args, 8, "model")))
{
return(false);
}
// Load object model
string modelPath = io.SearchForFile(args[1], "");
if (modelPath == "")
{
EyesimLogger.instance.Log("Failed to find model for robot in " + filepath);
return(false);
}
GameObject modelObj = OBJLoader.LoadOBJFile(modelPath);
if (modelObj == null)
{
return(false);
}
if (args.Length == 2)
{
robotConfig.ConfigureModel(modelObj, Vector3.zero, Vector3.zero);
}
else
{
Vector3 modelPos = new Vector3(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale, float.Parse(args[4]) / Eyesim.Scale);
Vector3 modelRot = new Vector3(float.Parse(args[5]), float.Parse(args[6]), float.Parse(args[7]));
robotConfig.ConfigureModel(modelObj, modelPos, modelRot);
}
return(true);
}
// Add a collider to the robot : box, sphere, or capsule
case "collider":
{
if (args[1] == "box")
{
if (!CheckArguments(args, 8, "collider box"))
{
return(false);
}
robotConfig.AddBox(new Vector3(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale, float.Parse(args[4]) / Eyesim.Scale),
new Vector3(float.Parse(args[5]) / Eyesim.Scale, float.Parse(args[6]) / Eyesim.Scale, float.Parse(args[7]) / Eyesim.Scale), noFriction);
}
else if (args[1] == "sphere")
{
if (!CheckArguments(args, 6, "collider sphere"))
{
return(false);
}
robotConfig.AddSphere(float.Parse(args[2]) / Eyesim.Scale,
new Vector3(float.Parse(args[3]) / Eyesim.Scale, float.Parse(args[4]) / Eyesim.Scale, float.Parse(args[5]) / Eyesim.Scale), noFriction);
}
else if (args[1] == "capsule")
{
if (!CheckArguments(args, 7, "collider capsule"))
{
return(false);
}
robotConfig.AddCapsule(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale,
new Vector3(float.Parse(args[4]) / Eyesim.Scale, float.Parse(args[5]) / Eyesim.Scale, float.Parse(args[6]) / Eyesim.Scale), noFriction);
}
else
{
EyesimLogger.instance.Log(filepath + "." + io.LineNum + "Bad arguments for collider in ");
return(false);
}
return(true);
}
// Centre of mass, and mass in kg
case "mass":
{
if (!CheckArguments(args, 5, "mass"))
{
return(false);
}
Vector3 com = new Vector3(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale, float.Parse(args[4]) / Eyesim.Scale);
robotConfig.ConfigureMass(float.Parse(args[1]), com);
return(true);
}
// Location of robot's axis
case "axis":
{
if (!CheckArguments(args, 3, "axis"))
{
return(false);
}
else if (driveType != RobotDriveType.Differential)
{
Debug.Log("axis on non diff-drive robot");
return(false);
}
robotConfig.ConfigureAxel(float.Parse(args[1]) / Eyesim.Scale, float.Parse(args[2]) / Eyesim.Scale, AxelType.None);
return(true);
}
// Location of an axel, and type (drive / turn)
case "axel":
{
if (!CheckArguments(args, 4, "axel"))
{
return(false);
}
else if (driveType != RobotDriveType.Ackermann)
{
Debug.Log("axel on non ackermann-drive robot");
return(false);
}
if (args[1] == "turn")
{
robotConfig.ConfigureAxel(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale, AxelType.Turn);
}
else if (args[1] == "drive")
{
robotConfig.ConfigureAxel(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale, AxelType.Drive);
}
else
{
Debug.Log("Bad axel designation (" + args[1] + "). Must be turn or drive.");
return(false);
}
return(true);
}
// Add a PSD sensor
case "psd":
{
if (!CheckArguments(args, 7, "psd"))
{
return(false);
}
Vector3 pos = new Vector3(float.Parse(args[3]) / Eyesim.Scale, float.Parse(args[4]) / Eyesim.Scale, float.Parse(args[5]) / Eyesim.Scale);
robotConfig.AddPSDSensor(int.Parse(args[2]), args[1], pos, float.Parse(args[6]));
}
return(true);
// Configure wheels
case "wheel":
{
if (driveType == RobotDriveType.Differential)
{
if (!CheckArguments(args, 5, "wheel"))
{
return(false);
}
robotConfig.ConfigureWheels(float.Parse(args[1]) / Eyesim.Scale, float.Parse(args[2]), int.Parse(args[3]), float.Parse(args[4]) / Eyesim.Scale, AxelType.None);
}
else if (driveType == RobotDriveType.Ackermann)
{
if (!CheckArguments(args, 6, "wheel"))
{
return(false);
}
if (args[1].ToLower() == "drive")
{
robotConfig.ConfigureWheels(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]), int.Parse(args[4]), float.Parse(args[5]) / Eyesim.Scale, AxelType.Drive);
}
else if (args[1].ToLower() == "turn")
{
robotConfig.ConfigureWheels(float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]), int.Parse(args[4]), float.Parse(args[5]) / Eyesim.Scale, AxelType.Turn);
}
else
{
EyesimLogger.instance.Log(filepath + "." + io.LineNum + ":" + "Bad arguments for wheel - must specify axel type (turn or drive)");
}
}
}
return(true);
// Add camera
case "camera":
{
if (!CheckArguments(args, 8, "camera"))
{
return(false);
}
Vector3 pos = new Vector3(float.Parse(args[1]) / Eyesim.Scale, float.Parse(args[2]) / Eyesim.Scale, float.Parse(args[3]) / Eyesim.Scale);
robotConfig.ConfigureCamera(pos, float.Parse(args[4]), float.Parse(args[5]), float.Parse(args[6]), float.Parse(args[7]));
}
return(true);
case "lidar":
{
if (!CheckArguments(args, 4, "lidar"))
{
return(false);
}
robotConfig.ConfigureLidar(int.Parse(args[1]), int.Parse(args[2]), int.Parse(args[3]));
}
return(true);
default:
Debug.Log("Unknown argument: " + args[0]);
return(true);
}
}
// Catch parsing errors
catch (FormatException e)
{
Debug.Log("Error parsing arguments for " + args[0] + ": " + e.Message);
foreach (string s in args)
{
Debug.Log(s);
}
return(false);
}
}
