// Use this for initialization
public void StartServer(MemoryBridge memoryBridge)
{
fileHeader = MemoryMappedFile.Create(MapProtection.PageReadWrite, 16, "FileHeader");
fileValueFloat = MemoryMappedFile.Create(MapProtection.PageReadWrite, 16, "FileValuesFloat3");
this.memoryBridge = memoryBridge;
keysFloat = new List <string>();
valueAddressFloat = new Dictionary <string, int>();
keysToAdd = new Dictionary <string, float>();
UpdateHeaderFile();
}
public void ControlStart(Vessel vessel, MemoryBridge memoryBridge)
{
this.vessel = vessel;
this.memoryBridge = memoryBridge;
// var IVAcam = vessel.gameObject.GetComponentInChildren<IVACamera>();
// if (IVAcam)
// Debug.Log("IVA cam found on " + IVAcam.name);
//Create a vessel vector that can be adjusted
GameObject adjustedVesselObject = new GameObject();
adjustedVessel = adjustedVesselObject.transform;
adjustedVessel.SetParent(vessel.vesselTransform);
adjustedVessel.localEulerAngles = Vector3.zero;
adjustedVessel.localPosition = Vector3.zero;
if (vessel.name.ToLower().Contains("aircraft"))
{
adjustedVessel.localEulerAngles += new Vector3(-90, 0, 0);
}
//DebugVector.DrawVector(adjustedVessel);
//Create a transform for the vessels COM, placed as a child of the Vessel
GameObject COMobject = new GameObject();
vesselCOM = COMobject.transform;
vesselCOM.SetParent(vessel.vesselTransform);
vesselCOM.localEulerAngles = Vector3.zero;
vesselCOM.localPosition = vessel.localCoM;
// DebugVector.DrawVector(vesselCOM);
GameObject gimbalObject = new GameObject();
gimbal = gimbalObject.transform;
gimbal.SetParent(vesselCOM);
gimbal.localPosition = Vector3.zero;
gimbal.localEulerAngles = Vector3.zero;
//DebugVector.DrawVector(gimbal);
if (vessel.name.ToLower().Contains("aircraft"))
{
vesselCOM.localEulerAngles += new Vector3(-90, 0, 0);
}
vesselSerializer = gameObject.AddComponent(typeof(VesselSerializer)) as VesselSerializer;
vesselSerializer.SerializeVessel(this.vessel, this.memoryBridge, this);
IRmanager = gameObject.AddComponent(typeof(IR_Manager)) as IR_Manager;
IRmanager.CustomStart(vessel.Parts, memoryBridge);
ToggleAutoPilot(true);
}
public void SerializeVessel(Vessel vessel, ref MemoryBridge memoryBridge, VesselControl vesselControl)
{
Debug.Log("Vessel Control Awake");
this.vessel = vessel;
this.memoryBridge = memoryBridge;
this.vesselControl = vesselControl;
Debug.Log("Current Vessel " + vessel.name);
// var kspPartList = this.vessel.Parts;
Debug.Log("try to serialize custom part");
//WORKS
BuildVessel();
}
void StartProgram()
{
Debug.Log("Init wrapper");
var success = IRWrapper.InitWrapper();// IRWrapper.InitWrapper();
// Debug.Log(".net version " + Application.)
serverStarted = true;
Debug.Log("start server " + Time.frameCount);
Debug.Log("Unity version " + Application.version);
Debug.Log("Unity version " + Application.unityVersion);
memoryBridge = gameObject.AddComponent(typeof(MemoryBridge)) as MemoryBridge;
memoryBridge.StartServer("Test");
}
public void BuildCameraFeed(MemoryBridge memoryBridge, string fileName)
{
//Debug.Log("Build Camera Feed");
this.memoryBridge = memoryBridge;
this.fileName = fileName;
threadList = new List <int>();
threadList.Add(0);
threadList.Add(1);
// threadList.Add(2);
// threadList.Add(3);
GameObject camObject = new GameObject();
DebugVector.DrawVector(camObject.transform);
camObject.transform.SetParent(FlightGlobals.ActiveVessel.vesselTransform);
feedCam = camObject.AddComponent <Camera>();
rendTextHeight = feedCam.pixelHeight;
rendTextWidth = feedCam.pixelWidth;
//Debug.Log("height " + rendTextHeight + " width " + rendTextWidth);
rendText = new RenderTexture(rendTextWidth, rendTextHeight, 16, RenderTextureFormat.ARGB32);
rendText.Create();
feedCam.targetTexture = rendText;
tex = new Texture2D(rendTextWidth, rendTextWidth, TextureFormat.RGB24, false);
texCopy = new Texture2D(rendTextWidth, rendTextHeight, TextureFormat.RGB24, false);
RenderTexture.active = rendText;
//Debug.Log("Render width " + rendTextWidth);
//Debug.Log("render height " + rendTextHeight);
tex.ReadPixels(new Rect(0, 0, rendTextWidth, rendTextHeight), 0, 0);
tex.Apply();
camTexture = tex;
// var colorBuffer = rendText.colorBuffer;
var textureByte = camTexture.GetRawTextureData();
camFeedFile = MemoryMappedFile.Create(MapProtection.PageReadWrite, textureByte.Length, "CamFeedFile" + fileName + memoryBridge.cameraFeeds.Count);
memoryBridge.SetFloat("rendTextHeight" + fileName + memoryBridge.cameraFeeds.Count, rendTextHeight);
memoryBridge.SetFloat("rendTextWidth" + fileName + memoryBridge.cameraFeeds.Count, rendTextWidth);
memoryBridge.SetFloat("feedByteCount" + fileName + memoryBridge.cameraFeeds.Count, textureByte.Length);
////Debug.Log("ByteSize " + textureByte.Length);
//Debug.Log("mem map loaded");
}
private void Start()
{
//for (int i = 0; i < 1000; i++)
//{
// memoryBridge.SetValue("KeyCount" + i, i);
//}
//Debug.Log("Values set");
Debug.Log("Init wrapper");
var success = IRWrapper.InitWrapper();// IRWrapper.InitWrapper();
serverStarted = true;
Debug.Log("start server " + Time.frameCount);
memoryBridge = gameObject.AddComponent(typeof(MemoryBridge)) as MemoryBridge;
memoryBridge.StartServer("Test");
// if ()
// UnityEngine.Debug.Log("Hexapod IR ready to go");
}
public void CustomStart(IRWrapper.IServo servo, MemoryBridge memoryBridge)
{
this.servo = servo;
this.servo.Speed = 20;
this.servo.Acceleration = 20;
servoName = servo.Name + servo.HostPart.gameObject.GetInstanceID();
part = servo.HostPart;
this.memoryBridge = memoryBridge;
memoryBridge.SetFloat(servoName + "unityServoPos", servo.Position);
memoryBridge.SetFloat(servoName + "minPos", servo.MinPosition);
Debug.Log("servo min pos " + servo.MinPosition);
memoryBridge.SetFloat(servoName + "maxPos", servo.MaxPosition);
Debug.Log("servo max pos " + servo.MaxPosition);
// memoryBridge.SetFloat(servoName + "ServoSetPos", 210f);
// memoryBridge.SetFloat(servoName + "ServoSetSpeed", 210f);
//search the parent part for a transform named "Base"
var partParent = part.parent;
var parentChildren = partParent.GetComponentsInChildren <Transform>();
var bases = new List <Transform>();
foreach (var child in parentChildren)
{
if (child.name.ToLower().Contains("base"))
{
bases.Add(child);
}
}
Debug.Log("Bases count " + bases.Count);
if (bases.Count == 0)
{
Debug.Log(servo.Name + " does not have a base");
}
else
{
//If there are multiple bases on the parent, use the closest one
if (bases.Count > 1)
{
var minDist = Mathf.Infinity;
foreach (var basePart in bases)
{
var dist = Vector3.Distance(transform.position, basePart.position);
if (dist < minDist)
{
servoBase = basePart;
minDist = dist;
}
}
}
else
{
servoBase = bases[0];
}
var newObject = new GameObject();
newObject.name = "Servo Anchor";
servoAnchor = newObject.transform;
servoAnchor.SetParent(servoBase);
servoAnchor.localPosition = Vector3.zero;
servoAnchor.localEulerAngles = Vector3.zero;
newObject = new GameObject();
newObject.name = "Servo Child";
anchorChild = newObject.transform;
anchorChild.SetParent(servoAnchor);
anchorChild.localPosition = Vector3.zero;
anchorChild.rotation = part.transform.rotation;
Debug.Log(this.servo.HostPart.name);
//Move the x axis of the rotatron part. This happens in Unity script as well in Parts
if (this.servo.HostPart.name == "IR.Rotatron.Basic.v3")
{
servoAnchor.localEulerAngles += new Vector3(0, 0, 90);
anchorChild.localEulerAngles += new Vector3(0, 0, 90);
// DebugVector.DrawVector(servoAnchor);
// DebugVector.DrawVector(anchorChild);
Debug.Log("Draw Vector");
}
DebugVector.DrawVector(servoAnchor);
}
}
// List<Part> parts;
public void CustomAwake(IRWrapper.IControlGroup limbGroup, IRWrapper.IServo servoBase, IRWrapper.IServo servoWrist, MemoryBridge memoryBridge)
{
this.memoryBridge = memoryBridge;
limbName = limbGroup.Name + memoryBridge.fileName;
limbServos = new List<RoboticServo>();
//Add wrist servo
var newServo = servoBase.HostPart.gameObject.AddComponent(typeof(RoboticServo)) as RoboticServo;
newServo.CustomStart(servoBase, memoryBridge);
limbServos.Add(newServo);
//parts = new List<Part>();
Part tempPart = servoBase.HostPart;
bool done = false;
int count = 0;
do
{
count++;
var armParts = tempPart.children;
armParts.Remove(tempPart);
foreach (var part in armParts)
{
Debug.Log(part.name + " is a child of " + tempPart.name);
IRWrapper.IServo testServo = null;
foreach (var servo in limbGroup.Servos)
{
if (part == servo.HostPart)
{
testServo = servo;
//break;
}
}
if (testServo != null)
{
tempPart = part;
// if (!testServo.Name.ToLower().Contains("skip"))
// {
Debug.Log("found servo on part");
newServo = part.gameObject.AddComponent(typeof(RoboticServo)) as RoboticServo;
newServo.CustomStart(testServo, memoryBridge);
limbServos.Add(newServo);
// }
if (testServo.Name.ToLower().Contains("wrist"))
{
Debug.Log("wrist servo found");
wristServo = newServo;
done = true;
}
//if (servo.Name.ToLower().Contains("wrist"))
//{
// wristPart = servo;
//}
}
}
} while (count < 30);
//newServo = gameObject.AddComponent(typeof(RoboticServo)) as RoboticServo;
//newServo.CustomStart(servoWrist);
//limbServos.Add(newServo);
int byteCount = 0;
Debug.Log(limbGroup.Name + " servo hierarchy " + limbServos.Count);
for (int i = 0; i < limbServos.Count; i++)
{
Debug.Log(limbServos[i].servo.Name);
string parentName = "null";
if (i != 0)
{
parentName = limbServos[i - 1].servoName;
limbServos[i].parentID = limbServos[i - 1].servo.HostPart.gameObject.GetInstanceID();
limbServos[i].ParentSet(limbServos[i - 1].servo.HostPart.transform);
}
limbServos[i].parentServoName = parentName;
byteCount += 8;
//parent id
byteCount += 4;
byteCount += limbServos[i].servoName.Length;
// byteCount += limbServos[i].parentServoName.Length;
}
byteCount += 16;
LimbFile = MemoryMappedFile.Create(MapProtection.PageReadWrite, byteCount, limbName);
using (Stream mapStream = LimbFile.MapView(MapAccess.FileMapAllAccess, 0, byteCount))
{
var bytePackage = BitConverter.GetBytes((float)byteCount);
mapStream.Write(bytePackage, 0, 4);
bytePackage = BitConverter.GetBytes((float)limbServos.Count);
mapStream.Write(bytePackage, 0, 4);
mapStream.Position = 16;
for (int i = 0; i < limbServos.Count; i++)
{
var nameBytePackage = Encoding.ASCII.GetBytes(limbServos[i].servoName);
bytePackage = BitConverter.GetBytes((float)nameBytePackage.Length);
mapStream.Write(bytePackage, 0, 4);
mapStream.Write(nameBytePackage, 0, nameBytePackage.Length);
// nameBytePackage = Encoding.ASCII.GetBytes(limbServos[i].parentServoName);
bytePackage = BitConverter.GetBytes((float)limbServos[i].servo.HostPart.gameObject.GetInstanceID());
mapStream.Write(bytePackage, 0, 4);
// mapStream.Write(nameBytePackage, 0, nameBytePackage.Length);
bytePackage = BitConverter.GetBytes((float)limbServos[i].parentID);
mapStream.Write(bytePackage, 0, 4);
}
}
//var contactPoint = memoryBridge.GetVector3(wristServo.servoName + "contactPoint");
//if (contactPoint != Vector3.zero)
// {
// Debug.Log("Set ground point to " + contactPoint);
//wristServo.contactPoint = contactPoint;
wristServo.CreateContactPoint();
// contactPointSet = true;
//}
}
public void CustomStart(List <Part> parts, MemoryBridge memoryBridge)
{
Debug.Log("IR Manager custom start");
limbs = new List <RoboticArm>();
if (IRWrapper.IRController == null)
{
Debug.Log("IR3Controller is not null");
}
Debug.Log(IRWrapper.IRController.ServoGroups.Count);
foreach (IRWrapper.IControlGroup group in IRWrapper.IRController.ServoGroups)
{
Debug.Log("Servo Group : " + group.Name);
if (group.Name.ToLower().Contains("ik"))
{
IRWrapper.IServo basePart = null;
IRWrapper.IServo wristPart = null;
foreach (var servo in group.Servos)
{
if (servo.Name.ToLower().Contains("base"))
{
basePart = servo;
}
if (servo.Name.ToLower().Contains("wrist"))
{
wristPart = servo;
}
}
var newLimb = gameObject.AddComponent(typeof(RoboticArm)) as RoboticArm;
newLimb.CustomAwake(group, basePart, wristPart, memoryBridge);
limbs.Add(newLimb);
byteCount += 4;
byteCount += newLimb.limbName.Length;
}
}
byteCount += 16;
IRFile = MemoryMappedFile.Create(MapProtection.PageReadWrite, byteCount, "IRFile" + memoryBridge.fileName);
using (Stream mapStream = IRFile.MapView(MapAccess.FileMapAllAccess, 0, byteCount))
{
var bytePackage = BitConverter.GetBytes(byteCount);
mapStream.Write(bytePackage, 0, 4);
bytePackage = BitConverter.GetBytes(limbs.Count);
mapStream.Write(bytePackage, 0, 4);
mapStream.Position = 16;
foreach (var limb in limbs)
{
var nameBytePackage = Encoding.ASCII.GetBytes(limb.limbName);
bytePackage = BitConverter.GetBytes((float)nameBytePackage.Length);
mapStream.Write(bytePackage, 0, 4);
mapStream.Write(nameBytePackage, 0, nameBytePackage.Length);
}
}
//legs = new List<MechLeg>();
//foreach (IRWrapper.IControlGroup group in IRWrapper.IRController.ServoGroups)
//{
// if (group.Name == "Leg One")
// {
// legOne = new MechLeg(memoryBridge, group, this, "Leg One");
// legs.Add(legOne);
// }
// else if (group.Name == "Leg Two")
// {
// legTwo = new MechLeg(memoryBridge, group, this, "Leg Two");
// legs.Add(legTwo);
// }
// else if (group.Name == "Leg Three")
// {
// legThree = new MechLeg(memoryBridge, group, this, "Leg Three");
// legs.Add(legThree);
// }
// else if (group.Name == "Leg Four")
// {
// legFour = new MechLeg(memoryBridge, group, this, "Leg Four");
// legs.Add(legFour);
// }
// else if (group.Name == "Leg Five")
// {
// legFive = new MechLeg(memoryBridge, group, this, "Leg Five");
// legs.Add(legFive);
// }
// else if (group.Name == "Leg Six")
// {
// legSix = new MechLeg(memoryBridge, group, this, "Leg Six");
// legs.Add(legSix);
// }
// else if (group.Name == "Arm")
// {
// armOne = new MechArm(memoryBridge, group, this);
// }
//}
}
