/// <summary>
/// Loads a new robot and manipulator from given directorys
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobotWithManipulator(string baseDirectory, string manipulatorDirectory)
{
if (SpawnedRobots.Count >= MAX_ROBOTS)
{
return(false);
}
robotPath = baseDirectory;
GameObject robotObject = new GameObject("Robot");
MaMRobot robot = robotObject.AddComponent <MaMRobot>();
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(baseDirectory))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
SpawnedRobots.Add(robot);
DPMDataHandler.Load(robotPath);
return(robot.InitializeManipulator(manipulatorDirectory));
}
/// <summary>
/// If there are two robots or more, remove and delete the robot at that index
/// </summary>
public void RemoveRobot(int index)
{
if (index < SpawnedRobots.Count)
{
robotCameraManager.RemoveCamerasFromRobot(SpawnedRobots[index]);
sensorManager.RemoveSensorsFromRobot(SpawnedRobots[index]);
// TODO: The camera is a bit weird when changing robots. Fix that. Then test other aspects of the simulator and fix anything else that needs fixing.
MaMRobot mamRobot = SpawnedRobots[index] as MaMRobot;
if (mamRobot != null && mamRobot.RobotHasManipulator)
{
UnityEngine.Object.Destroy(mamRobot.ManipulatorObject);
}
UnityEngine.Object.Destroy(SpawnedRobots[index].gameObject);
SpawnedRobots.RemoveAt(index);
ActiveRobot = null;
SwitchActiveRobot();
int i = 0;
foreach (SimulatorRobot robot in SpawnedRobots)
{
robot.ControlIndex = i;
i++;
}
}
}
/// <summary>
/// Changes the drive base, destroys old manipulator and creates new manipulator, sets wheels
/// </summary>
public void MaMChangeRobot(string robotDirectory, string manipulatorDirectory)
{
MaMRobot mamRobot = State.ActiveRobot as MaMRobot;
robotCameraManager.DetachCamerasFromRobot(State.ActiveRobot);
sensorManager.RemoveSensorsFromRobot(State.ActiveRobot);
//If the current robot has a manipulator, destroy the manipulator
if (mamRobot != null && mamRobot.RobotHasManipulator)
{
State.DeleteManipulatorNodes();
}
State.ChangeRobot(robotDirectory, true);
//If the new robot has a manipulator, load the manipulator
if (RobotTypeManager.HasManipulator)
{
State.LoadManipulator(manipulatorDirectory);
}
else if (mamRobot != null)
{
mamRobot.RobotHasManipulator = false;
}
}
/// <summary>
/// Changes the drive base, destroys old manipulator and creates new manipulator, sets wheels
/// </summary>
public void MaMChangeRobot(string robotDirectory, string manipulatorDirectory)
{
MaMRobot mamRobot = State.ActiveRobot as MaMRobot;
robotCameraManager.DetachCamerasFromRobot(State.ActiveRobot);
sensorManager.RemoveSensorsFromRobot(State.ActiveRobot);
//If the current robot has a manipulator, destroy the manipulator
if (mamRobot != null && mamRobot.RobotHasManipulator)
{
State.DeleteManipulatorNodes();
}
if (!State.ChangeRobot(robotDirectory, true))
{
AppModel.ErrorToMenu("ROBOT_SELECT|Failed to load Mix & Match robot");
}
//If the new robot has a manipulator, load the manipulator
if (RobotTypeManager.HasManipulator)
{
State.LoadManipulator(manipulatorDirectory);
}
else if (mamRobot != null)
{
mamRobot.RobotHasManipulator = false;
}
}
/// <summary>
/// If there are two robots or more, remove and delete the robot at that index
/// </summary>
public void RemoveRobot(int index)
{
if (index < SpawnedRobots.Count)
{
//remove attached sensors/cameras
robotCameraManager.RemoveCamerasFromRobot(SpawnedRobots[index]);
sensorManager.RemoveSensorsFromRobot(SpawnedRobots[index]);
MaMRobot mamRobot = SpawnedRobots[index] as MaMRobot;
if (mamRobot != null && mamRobot.RobotHasManipulator)
{
UnityEngine.Object.Destroy(mamRobot.ManipulatorObject);
}
UnityEngine.Object.Destroy(SpawnedRobots[index].gameObject);
SpawnedRobots.RemoveAt(index);
ActiveRobot = null;
SwitchActiveRobot(index < SpawnedRobots.Count() ? index : SpawnedRobots.Count() - 1); //switch to either old location or last active robot
int i = 0;
foreach (SimulatorRobot robot in SpawnedRobots)
{
robot.ControlIndex = i;
i++;
}
}
}
/// <summary>
/// Loads a manipulator for Mix and Match mode and maps it to the robot.
/// </summary>
/// <param name="directory"></param>
/// <returns></returns>
public bool LoadManipulator(string directory)
{
MaMRobot mamRobot = ActiveRobot as MaMRobot;
if (mamRobot == null)
{
return(false);
}
mamRobot.RobotHasManipulator = true;
return(mamRobot.InitializeManipulator(directory));
}
/// <summary>
/// Loads a new robot from a given directory
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobot(string directory, bool isMixAndMatch)
{
if (SpawnedRobots.Count < MAX_ROBOTS)
{
GameObject robotObject = new GameObject("Robot");
SimulatorRobot robot;
if (isMixAndMatch)
{
robotPath = RobotTypeManager.RobotPath;
MaMRobot mamRobot = robotObject.AddComponent <MaMRobot>();
mamRobot.RobotHasManipulator = false; // Defaults to false
robot = mamRobot;
}
else
{
robotPath = directory;
robot = robotObject.AddComponent <SimulatorRobot>();
}
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(robotPath))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
SpawnedRobots.Add(robot);
DPMDataHandler.Load(robotPath);
if (!isMixAndMatch && !PlayerPrefs.HasKey(robot.RootNode.GUID.ToString()) && !SampleRobotGUIDs.Contains(robot.RootNode.GUID.ToString()))
{
if (PlayerPrefs.GetInt("analytics") == 1)
{
PlayerPrefs.SetString(robot.RootNode.GUID.ToString(), "analyzed");
Analytics.CustomEvent(robot.RootNode.exportedWith.ToString(), new Dictionary <string, object> {
});
}
}
return(true);
}
return(false);
}
/// <summary>
/// Changes the active robot to a new robot with a given directory
/// </summary>
/// <param name="directory"></param>
/// <returns>whether the process was successful</returns>
public bool ChangeRobot(string directory, bool isMixAndMatch)
{
sensorManager.RemoveSensorsFromRobot(ActiveRobot);
sensorManagerGUI.ShiftOutputPanels();
sensorManagerGUI.EndProcesses();
int index = SpawnedRobots.IndexOf(ActiveRobot);
robotCameraManager.RemoveCamerasFromRobot(SpawnedRobots[index]);
sensorManager.RemoveSensorsFromRobot(SpawnedRobots[index]);
MaMRobot mamRobot = SpawnedRobots[index] as MaMRobot;
if (mamRobot != null && mamRobot.RobotHasManipulator)
{
UnityEngine.Object.Destroy(mamRobot.ManipulatorObject);
}
UnityEngine.Object.Destroy(SpawnedRobots[index].gameObject);
ActiveRobot = null;
if (LoadRobot(directory, isMixAndMatch, index))
{
DynamicCamera.ControlEnabled = true;
int i = 0;
foreach (SimulatorRobot robot in SpawnedRobots)
{
robot.ControlIndex = i;
i++;
}
return(true);
}
return(false);
}
/// <summary>
/// Used to delete manipulator nodes in MaM mode
/// </summary>
public void DeleteManipulatorNodes()
{
MaMRobot mamRobot = ActiveRobot as MaMRobot;
mamRobot?.DeleteManipulatorNodes();
}
/// <summary>
/// Loads a new robot from a given directory
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobot(string directory, bool isMixAndMatch, int replacementIndex)
{
bool b = true;
if (!Directory.Exists(directory))
{
return(false);
}
else
{
string[] files = Directory.GetFiles(directory);
foreach (string a in files)
{
string name = Path.GetFileName(a);
if (name.ToLower().Contains("skeleton"))
{
b = false;
}
}
}
if (b)
{
return(false);
}
if (SpawnedRobots.Count < MAX_ROBOTS)
{
GameObject robotObject = new GameObject("Robot");
SimulatorRobot robot;
if (isMixAndMatch)
{
robotPath = RobotTypeManager.RobotPath;
MaMRobot mamRobot = robotObject.AddComponent <MaMRobot>();
mamRobot.RobotHasManipulator = false; // Defaults to false
robot = mamRobot;
if (AnalyticsManager.GlobalInstance != null)
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
"Robot - Mix and Match",
AnalyticsLedger.getMilliseconds().ToString());
}
}
else
{
robotPath = directory;
robot = robotObject.AddComponent <SimulatorRobot>();
if (AnalyticsManager.GlobalInstance != null)
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
"Robot - Exported",
AnalyticsLedger.getMilliseconds().ToString());
}
}
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(robotPath))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
if (replacementIndex != -1)
{
SpawnedRobots[replacementIndex] = robot;
}
else
{
SpawnedRobots.Add(robot);
}
DPMDataHandler.Load(robotPath);
if (!isMixAndMatch && !PlayerPrefs.HasKey(robot.RootNode.GUID.ToString()) && !SampleRobotGUIDs.Contains(robot.RootNode.GUID.ToString()))
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
robot.RootNode.GUID.ToString(),
AnalyticsLedger.getMilliseconds().ToString());
}
return(true);
}
return(false);
}