private void OnDestroy()
{
controls.Disable();
var elapsedTime = GetElapsedTime(SessionStartTime);
SIM.LogSimulation(SIM.Simulation.HeadlessModeStop, value: elapsedTime, state: headless);
SIM.LogSimulation(SIM.Simulation.InteractiveModeStop, value: elapsedTime, state: interactive);
SIM.LogSimulation(SIM.Simulation.UsePredefinedSeedStop, state: useSeed);
SIM.LogSimulation(SIM.Simulation.NPCStop, value: elapsedTime, state: npc);
SIM.LogSimulation(SIM.Simulation.RandomPedestrianStop, value: elapsedTime, state: pedestrian);
SIM.LogSimulation(SIM.Simulation.TimeOfDayStop, timeOfDay == "" ? string.Format("{0:hh}:{0:mm}", TimeSpan.FromHours(EnvironmentEffectsManager.currentTimeOfDay)) : timeOfDay, value: elapsedTime);
SIM.LogSimulation(SIM.Simulation.RainStop, rain == 0f ? EnvironmentEffectsManager.rain.ToString() : rain.ToString(), elapsedTime);
SIM.LogSimulation(SIM.Simulation.WetnessStop, wet == 0f ? EnvironmentEffectsManager.wet.ToString() : wet.ToString(), elapsedTime);
SIM.LogSimulation(SIM.Simulation.FogStop, fog == 0f ? EnvironmentEffectsManager.fog.ToString() : fog.ToString(), elapsedTime);
SIM.LogSimulation(SIM.Simulation.CloudinessStop, cloud == 0f ? EnvironmentEffectsManager.cloud.ToString() : cloud.ToString(), elapsedTime);
SIM.LogSimulation(SIM.Simulation.MapStop, string.IsNullOrEmpty(mapName) ? UnityEngine.SceneManagement.SceneManager.GetActiveScene().name : mapName, elapsedTime);
SIM.LogSimulation(SIM.Simulation.ClusterNameStop, clusterName, elapsedTime);
SIM.LogSimulation(SIM.Simulation.SimulationStop, simulationName, elapsedTime);
SIM.StopSession();
DestroyImmediate(ManagerHolder);
if (IsAPI)
{
Scenario.Clear();
}
}
void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.layer == LayerMask.NameToLayer("Agent"))
{
ApiManager.Instance?.AddCollision(gameObject, collision.gameObject, collision);
SIM.LogSimulation(SIM.Simulation.NPCCollision);
}
}
void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.layer == LayerMask.GetMask("Obstacle", "Agent", "Pedestrian", "NPC"))
{
ApiManager.Instance?.AddCollision(gameObject, collision.gameObject, collision);
SIM.LogSimulation(SIM.Simulation.EgoCollision);
}
}
public static void StopAsync()
{
Debug.Assert(Instance.CurrentSimulation != null);
if (Instance.masterManager != null)
{
Instance.masterManager.BroadcastSimulationStop();
}
Instance.Actions.Enqueue(() =>
{
var simulation = Instance.CurrentSimulation;
using (var db = DatabaseManager.Open())
{
try
{
simulation.Status = "Stopping";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
if (ApiManager.Instance != null)
{
SceneManager.MoveGameObjectToScene(ApiManager.Instance.gameObject, SceneManager.GetActiveScene());
}
SIM.LogSimulation(SIM.Simulation.ApplicationClick, "Exit");
var loader = SceneManager.LoadSceneAsync(Instance.LoaderScene);
loader.completed += op =>
{
if (op.isDone)
{
AssetBundle.UnloadAllAssetBundles(false);
Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.START);
simulation.Status = "Valid";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
Instance.CurrentSimulation = null;
if (Instance.masterManager != null)
{
Instance.masterManager.StopConnection();
}
}
};
}
catch (Exception ex)
{
Debug.Log($"Failed to stop '{simulation.Name}' simulation");
Debug.LogException(ex);
// NOTE: In case of failure we have to update Simulation state
simulation.Status = "Invalid";
simulation.Error = ex.Message;
db.Update(simulation);
// TODO: take ex.Message and append it to response here
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
}
}
});
}
void Start()
{
if (Instance != null)
{
Destroy(gameObject);
return;
}
if (!Config.RunAsMaster)
{
// TODO: change UI and do not run rest of code
var obj = new GameObject("ClientManager");
obj.AddComponent <Network.ClientManager>();
}
DatabaseManager.Init();
try
{
var host = Config.WebHost == "*" ? "localhost" : Config.WebHost;
Address = $"http://{host}:{Config.WebPort}";
var config = new HostConfiguration {
RewriteLocalhost = Config.WebHost == "*"
};
Server = new NancyHost(new UnityBootstrapper(), config, new Uri(Address));
Server.Start();
}
catch (SocketException ex)
{
Debug.LogException(ex);
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
#else
// return non-zero exit code
Application.Quit(1);
#endif
return;
}
DownloadManager.Init();
RestartPendingDownloads();
LoaderScene = SceneManager.GetActiveScene().name;
var version = "Development";
var info = Resources.Load <BuildInfo>("BuildInfo");
if (info != null)
{
version = info.Version;
}
SIM.Init(version);
SIM.LogSimulation(SIM.Simulation.ApplicationStart);
DontDestroyOnLoad(this);
Instance = this;
}
public void SetupSensors(GameObject agent, string sensors, BridgeClient bridgeClient)
{
var available = Simulator.Web.Config.Sensors.ToDictionary(sensor => sensor.Name);
var prefabs = RuntimeSettings.Instance.SensorPrefabs.ToDictionary(sensor => GetSensorType(sensor));
var parents = new Dictionary <string, GameObject>()
{
{ string.Empty, agent },
};
var requested = JSONNode.Parse(sensors).Children.ToList();
while (requested.Count != 0)
{
int requestedCount = requested.Count;
foreach (var parent in parents.Keys.ToArray())
{
var parentObject = parents[parent];
for (int i = 0; i < requested.Count; i++)
{
var item = requested[i];
if (item["parent"].Value == parent)
{
var name = item["name"].Value;
var type = item["type"].Value;
SensorConfig config;
if (!available.TryGetValue(type, out config))
{
throw new Exception($"Unknown sensor type {type} for {gameObject.name} vehicle");
}
var sensor = CreateSensor(agent, parentObject, prefabs[type].gameObject, item);
sensor.GetComponent <SensorBase>().Name = name;
sensor.name = name;
SIM.LogSimulation(SIM.Simulation.SensorStart, name);
if (bridgeClient != null)
{
sensor.GetComponent <SensorBase>().OnBridgeSetup(bridgeClient.Bridge);
}
parents.Add(name, sensor);
requested.RemoveAt(i);
i--;
}
}
}
if (requestedCount == requested.Count)
{
throw new Exception($"Failed to create {requested.Count} sensor(s), cannot determine parent-child relationship");
}
}
}
void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.layer == agentLayer)
{
ApiManager.Instance?.AddCollision(gameObject, collision.gameObject, collision);
SimulatorManager.Instance.AnalysisManager.IncrementNPCCollision();
SIM.LogSimulation(SIM.Simulation.NPCCollision);
ActiveBehaviour?.OnAgentCollision(collision.gameObject);
}
}
private void SetMileTick()
{
float deltaDistance = WheelsRPM / 60.0f * (Axles[1].Left.radius * 2.0f * Mathf.PI) * Time.fixedDeltaTime;
MileTicker += deltaDistance;
if ((MileTicker * 0.00062137f) > 1)
{
MileTicker = 0;
SIM.LogSimulation(SIM.Simulation.MileTick);
}
}
private void OnDisable()
{
SIM.LogSimulation(SIM.Simulation.VehicleStop, Config.Name, elapsedTime);
SIM.LogSimulation(SIM.Simulation.BridgeTypeStop, Config.Bridge != null ? Config.Bridge.Name : "None", elapsedTime);
var sensors = SimpleJSON.JSONNode.Parse(Config.Sensors).Children.ToList();
foreach (var sensor in sensors)
{
SIM.LogSimulation(SIM.Simulation.SensorStop, sensor["name"].Value, elapsedTime);
}
}
void OnTriggerEnter(Collider other)
{
if (other.gameObject.layer == agentLayer)
{
ApiManager.Instance?.AddCollision(rb.gameObject, other.attachedRigidbody.gameObject);
SimulatorManager.Instance.AnalysisManager.IncrementNPCCollision();
SIM.LogSimulation(SIM.Simulation.NPCCollision);
if (_ActiveBehaviour)
{
_ActiveBehaviour.OnAgentCollision(other.gameObject);
}
}
}
private void EditorInit()
{
#if UNITY_EDITOR
stopWatch.Start();
var info = Resources.Load <BuildInfo>("BuildInfo");
SIM.Init(info == null ? "Development" : info.Version);
SIM.LogSimulation(SIM.Simulation.ApplicationStart);
Instance = this;
var sim = Instantiate(Instance.SimulatorManagerPrefab);
sim.name = "SimulatorManager";
bool useSeed = false;
int? seed = null;
bool enableNPCs = false;
bool enablePEDs = false;
var data = UnityEditor.EditorPrefs.GetString("Simulator/DevelopmentSettings");
if (data != null)
{
try
{
var json = JSONNode.Parse(data);
useSeed = json["UseSeed"];
if (useSeed)
{
seed = json["Seed"];
}
enableNPCs = json["EnableNPCs"];
enablePEDs = json["EnablePEDs"];
}
catch (System.Exception ex)
{
Debug.LogException(ex);
}
}
sim.Init(seed);
sim.AgentManager.SetupDevAgents();
sim.NPCManager.NPCActive = enableNPCs;
sim.PedestrianManager.PedestriansActive = enablePEDs;
#endif
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.Config = config;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(go);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
if (!string.IsNullOrEmpty(config.Sensors))
{
SetupSensors(go, config.Sensors, bridgeClient);
}
agentController.AgentSensors.AddRange(agentController.GetComponentsInChildren <SensorBase>(true));
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
return(go);
}
private void OnStartButtonClick()
{
Application.OpenURL(Loader.Instance.Address + "/");
SIM.LogSimulation(SIM.Simulation.ApplicationClick, "Open Browser");
}
void OnApplicationQuit()
{
Server?.Stop();
stopWatch.Stop();
SIM.LogSimulation(SIM.Simulation.ApplicationExit, value: (long)stopWatch.Elapsed.TotalSeconds);
}
void Start()
{
if (Instance != null)
{
Destroy(gameObject);
return;
}
if (!Config.RunAsMaster)
{
// TODO: change UI and do not run rest of code
var clientGameObject = new GameObject("ClientManager");
clientManager = clientGameObject.AddComponent <ClientManager>();
clientManager.SetSettings(NetworkSettings);
clientGameObject.AddComponent <MainThreadDispatcher>();
clientManager.StartConnection();
DontDestroyOnLoad(clientGameObject);
}
DatabaseManager.Init();
DownloadManager.Init();
RestartPendingDownloads();
try
{
var host = Config.WebHost == "*" ? "localhost" : Config.WebHost;
Address = $"http://{host}:{Config.WebPort}";
var config = new HostConfiguration {
RewriteLocalhost = Config.WebHost == "*"
};
Server = new NancyHost(new UnityBootstrapper(), config, new Uri(Address));
if (!string.IsNullOrEmpty(Config.Username))
{
LoginAsync();
}
else
{
Server.Start();
}
}
catch (SocketException ex)
{
Debug.LogException(ex);
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
#else
// return non-zero exit code
Application.Quit(1);
#endif
return;
}
LoaderScene = SceneManager.GetActiveScene().name;
SIM.LogSimulation(SIM.Simulation.ApplicationStart);
DontDestroyOnLoad(this);
Instance = this;
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
agentController.Config.AgentGO = go;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
#if UNITY_EDITOR
// TODO remove hack for editor opaque with alpha clipping 2019.3.3
Array.ForEach(go.GetComponentsInChildren <Renderer>(), renderer =>
{
foreach (var m in renderer.materials)
{
m.shader = Shader.Find(m.shader.name);
}
});
Array.ForEach(go.GetComponentsInChildren <DecalProjector>(), decal =>
{
decal.material.shader = Shader.Find(decal.material.shader.name);
});
#endif
return(go);
}
public void FixedUpdate()
{
if (vehicleController != null)
{
SteerInput = vehicleController.SteerInput;
AccellInput = vehicleController.AccelInput;
}
//air drag (quadratic)
RB.AddForce(-airDragCoeff * RB.velocity * RB.velocity.magnitude);
//downforce (quadratic)
RB.AddForce(-airDownForceCoeff * RB.velocity.sqrMagnitude * transform.up);
//tire drag (Linear)
RB.AddForceAtPosition(-tireDragCoeff * RB.velocity, transform.position);
//calc current gear ratio
float gearRatio = Mathf.Lerp(gearRatios[Mathf.FloorToInt(CurrentGear) - 1], gearRatios[Mathf.CeilToInt(CurrentGear) - 1], CurrentGear - Mathf.Floor(CurrentGear));
if (Reverse)
{
gearRatio = -1.0f * gearRatios[0];
}
//calc engine RPM from wheel rpm
float wheelsRPM = (axles[1].right.rpm + axles[1].left.rpm) / 2f;
if (wheelsRPM < 0)
{
wheelsRPM = 0;
}
// if the engine is on, the fuel injectors are going to be triggered at minRPM
// to keep the engine running. If the engine is OFF, then the engine will eventually
// go all the way down to 0, because there's nothing keeping it spinning.
var minPossibleRPM = IgnitionStatus == IgnitionStatus.On ? minRPM : 0.0f;
CurrentRPM = Mathf.Lerp(CurrentRPM, minPossibleRPM + (wheelsRPM * finalDriveRatio * gearRatio), Time.fixedDeltaTime * RPMSmoothness);
// I don't know why, but logging RPM while engine is off and we're not moving, is showing
// a constant drift between 0.0185 and 0.0192 or so .. so just clamp it down to 0 at that
// point.
if (CurrentRPM < 0.02f)
{
CurrentRPM = 0.0f;
}
//find out which wheels are on the ground
foreach (var axle in axles)
{
axle.isGroundedLeft = axle.left.GetGroundHit(out axle.hitLeft);
axle.isGroundedRight = axle.right.GetGroundHit(out axle.hitRight);
}
//convert inputs to torques
float steer = maxSteeringAngle * SteerInput;
currentTorque = (float.IsNaN(CurrentRPM / maxRPM)) ? 0.0f : rpmCurve.Evaluate(CurrentRPM / maxRPM) * gearRatio * finalDriveRatio * tractionControlAdjustedMaxTorque;
foreach (var axle in axles)
{
if (axle.steering)
{
axle.left.steerAngle = steer;
axle.right.steerAngle = steer;
}
}
if (HandBrake)
{
//Make the accellInput negative so that brakes are applied in ApplyTorque()
AccellInput = -1.0f;
}
// No autodrive while engine is off.
if (IgnitionStatus == IgnitionStatus.On)
{
AutoSteer();
}
ApplyTorque();
TractionControl();
//shift if need be. No auto shifting while engine is off.
if (IgnitionStatus == IgnitionStatus.On)
{
AutoGearBox();
}
//record current speed in MPH
CurrentSpeed = RB.velocity.magnitude * 2.23693629f;
float deltaDistance = wheelsRPM / 60.0f * (axles[1].left.radius * 2.0f * Mathf.PI) * Time.fixedDeltaTime;
odometer += deltaDistance;
mileTicker += deltaDistance;
if ((mileTicker * 0.00062137f) > 1)
{
mileTicker = 0;
SIM.LogSimulation(SIM.Simulation.MileTick);
}
/*
* // why does this not work :(
* float currentRPS = currentRPM / 60.0f;
*
* float accel = Mathf.Max(0.0f, accellInput);
* float angularV = currentRPS * Mathf.PI * 2.0f;
*
* float power = currentTorque //(rpmCurve.Evaluate(currentRPM / maxRPM) * accel * maxMotorTorque) //Nm
* angularV; // Watt
*
* float energy = power * Time.fixedDeltaTime // w/s
* / 1000.0f * 3600.0f; // kw/h
*
* print("p:" + power + " e:" + energy);
* //approximation function for
* // https://en.wikipedia.org/wiki/Brake_specific_fuel_consumption#/media/File:Brake_specific_fuel_consumption.svg
* // range ~ 200-400 g/kWh
* float bsfc = (206.0f + Mathf.Sqrt(Mathf.Pow(currentRPM - 2200, 2.0f)
+ Mathf.Pow((accel - 0.9f) * 10000.0f, 2.0f)) / 80 + currentRPM / 4500); // g/kWh
+
+ float gasolineDensity = 1f / .75f; // cm^3/g
+
+ float deltaConsumption = bsfc * energy // g
* gasolineDensity // cm^3
* / 1000.0f; // l
*/
// FIXME fix the more correct method above...
float deltaConsumption = CurrentRPM * 0.00000001f
+ currentTorque * 0.000000001f * Mathf.Max(0.0f, AccellInput);
// if engine is not powered up, or there's zero acceleration, AND we're not idling
// the engine to keep it on, then the fuel injectors are off, and no fuel is being used
// idling == non-scientific calculation of "minRPM + 25%".
if (IgnitionStatus != IgnitionStatus.On || (AccellInput <= 0.0f && CurrentRPM > minRPM + (minRPM * 0.25)))
{
deltaConsumption = 0.0f;
}
consumptionDistance = deltaConsumption / deltaDistance; // l/m
consumptionTime = deltaConsumption / Time.fixedDeltaTime; // l/s
fuelLevel -= deltaConsumption;
float engineWeight = 200.0f; // kg
float energyDensity = 34.2f * 1000.0f * 1000.0f; // J/l fuel
float specificHeatIron = 448.0f; // J/kg for 1K temperature increase
EngineTemperatureK += (deltaConsumption * energyDensity) / (specificHeatIron * engineWeight);
float coolFactor = 0.00002f; //ambient exchange
if (EngineTemperatureK > ZERO_K + 90.0f && !CoolingMalfunction)
{
coolFactor += 0.00002f + 0.0001f * Mathf.Max(0.0f, CurrentSpeed); // working temperature reached, start cooling
}
EngineTemperatureK = Mathf.Lerp(EngineTemperatureK, AmbientTemperatureK, coolFactor);
//find current road surface type
WheelHit hit;
if (axles[0].left.GetGroundHit(out hit))
{
traction = hit.forwardSlip; // ground
var roadObject = hit.collider.transform.parent == null ? hit.collider.transform : hit.collider.transform.parent;
}
else
{
traction = 0f; // air
}
CurrentSpeedMeasured = ((RB.position - lastRBPosition) / Time.fixedDeltaTime).magnitude;
lastRBPosition = RB.position;
}
private void InstantiateSensors(string sensors)
{
var available = Simulator.Web.Config.Sensors.ToDictionary(sensor => sensor.Name);
var prefabs = Simulator.Web.Config.SensorPrefabs.ToDictionary(sensor => GetSensorType(sensor));
var parents = new Dictionary <string, GameObject>()
{
{ string.Empty, gameObject },
};
var agentController = GetComponent <AgentController>();
var requested = JSONNode.Parse(sensors).Children.ToList();
while (requested.Count != 0)
{
int requestedCount = requested.Count;
foreach (var parent in parents.Keys.ToArray())
{
var parentObject = parents[parent];
for (int i = 0; i < requested.Count; i++)
{
var item = requested[i];
if (item["parent"].Value == parent)
{
var name = item["name"].Value;
var type = item["type"].Value;
SensorConfig config;
if (!available.TryGetValue(type, out config))
{
throw new Exception($"Unknown sensor type {type} for {gameObject.name} vehicle");
}
var sensor = CreateSensor(gameObject, parentObject, prefabs[type].gameObject, item);
var sensorBase = sensor.GetComponent <SensorBase>();
sensorBase.Name = name;
sensor.name = name;
SIM.LogSimulation(SIM.Simulation.SensorStart, name);
if (AgentBridgeClient != null)
{
sensor.GetComponent <SensorBase>().OnBridgeSetup(AgentBridgeClient.Bridge);
}
parents.Add(name, sensor);
requested.RemoveAt(i);
i--;
var sensorInstanceController = new SensorInstanceController(item, sensorBase);
if (SimulatorManager.InstanceAvailable)
{
SimulatorManager.Instance.Sensors.RegisterSensor(sensorBase);
}
sensorInstanceController.Enable();
agentController.AgentSensors.Add(sensorBase);
sensorsInstances.Add(name, sensorInstanceController);
}
}
}
if (requestedCount == requested.Count)
{
throw new Exception(
$"Failed to create {requested.Count} sensor(s), cannot determine parent-child relationship");
}
SensorsChanged?.Invoke();
}
}
public void Init(int?seed = null)
{
if (ApiManager.Instance != null)
{
FixedUpdateManager = ApiManager.Instance;
IsAPI = true;
}
else
{
FixedUpdateManager = Instance;
IsAPI = false;
}
controls = new SimulatorControls();
controls.Enable();
SimulationConfig config = null;
if (Loader.Instance != null)
{
config = Loader.Instance.SimConfig;
}
var masterSeed = seed ?? config?.Seed ?? new System.Random().Next();
RandomGenerator = new System.Random(masterSeed);
//Calculate map bounds and limit position compression
if (Loader.Instance != null && Loader.Instance.Network.IsClusterSimulation)
{
var mapBounds = CalculateMapBounds();
//Add margin to the bounds
mapBounds.size += Vector3.one * 10;
ByteCompression.SetPositionBounds(mapBounds);
}
ManagerHolder = new GameObject("ManagerHolder");
ManagerHolder.transform.SetParent(transform);
AnalysisManager = Instantiate(analysisManagerPrefab, ManagerHolder.transform);
AgentManager = Instantiate(agentManagerPrefab, ManagerHolder.transform);
CameraManager = Instantiate(cameraManagerPrefab, ManagerHolder.transform);
ControllableManager = Instantiate(controllableManagerPrefab, ManagerHolder.transform);
MapManager = Instantiate(mapManagerPrefab, ManagerHolder.transform);
NPCManager = Instantiate(npcManagerPrefab, ManagerHolder.transform);
NPCManager.InitRandomGenerator(RandomGenerator.Next());
PedestrianManager = Instantiate(pedestrianManagerPrefab, ManagerHolder.transform);
PedestrianManager.InitRandomGenerator(RandomGenerator.Next());
EnvironmentEffectsManager = Instantiate(environmentEffectsManagerPrefab, ManagerHolder.transform);
EnvironmentEffectsManager.InitRandomGenerator(RandomGenerator.Next());
UIManager = Instantiate(uiManagerPrefab, ManagerHolder.transform);
if (SystemInfo.operatingSystemFamily == OperatingSystemFamily.Linux && Application.isEditor)
{
// empty
}
else
{
controls.Simulator.ToggleNPCS.performed += ctx => NPCManager.NPCActive = !NPCManager.NPCActive;
controls.Simulator.TogglePedestrians.performed += ctx => PedestrianManager.PedestriansActive = !PedestrianManager.PedestriansActive;
controls.Simulator.ToggleAgent.performed += ctx =>
{
if (int.TryParse(ctx.control.name, out int index))
{
AgentManager.SetCurrentActiveAgent(index - 1);
}
};
controls.Simulator.ToggleReset.performed += ctx => AgentManager.ResetAgent();
controls.Simulator.ToggleControlsUI.performed += ctx => UIManager.UIActive = !UIManager.UIActive;
}
if (config != null)
{
simulationName = config.Name;
clusterName = config.ClusterName;
mapName = config.MapName;
NPCManager.NPCActive = config.UseTraffic;
PedestrianManager.PedestriansActive = config.UsePedestrians;
if (config.Agents != null)
{
AgentManager.SpawnAgents(config.Agents);
}
apiMode = config.ApiOnly;
headless = config.Headless;
interactive = config.Interactive;
useSeed = config.Seed.HasValue;
npc = config.UseTraffic;
pedestrian = config.UsePedestrians;
timeOfDay = config.TimeOfDay.ToString("HH:mm");
rain = config.Rain;
wet = config.Wetness;
fog = config.Fog;
cloud = config.Cloudiness;
if (headless)
{
controls.Disable();
}
}
SIM.APIOnly = apiMode;
SIM.LogSimulation(SIM.Simulation.SimulationStart, simulationName);
SIM.LogSimulation(SIM.Simulation.ClusterNameStart, clusterName);
SIM.LogSimulation(SIM.Simulation.MapStart, string.IsNullOrEmpty(mapName) ? UnityEngine.SceneManagement.SceneManager.GetActiveScene().name : mapName);
SIM.LogSimulation(SIM.Simulation.HeadlessModeStart, state: headless);
SIM.LogSimulation(SIM.Simulation.InteractiveModeStart, state: interactive);
SIM.LogSimulation(SIM.Simulation.UsePredefinedSeedStart, state: useSeed);
SIM.LogSimulation(SIM.Simulation.NPCStart, state: npc);
SIM.LogSimulation(SIM.Simulation.RandomPedestrianStart, state: pedestrian);
SIM.LogSimulation(SIM.Simulation.TimeOfDayStart, timeOfDay == "" ? string.Format("{0:hh}:{0:mm}", TimeSpan.FromHours(EnvironmentEffectsManager.currentTimeOfDay)) : timeOfDay);
SIM.LogSimulation(SIM.Simulation.RainStart, rain == 0f ? EnvironmentEffectsManager.rain.ToString() : rain.ToString());
SIM.LogSimulation(SIM.Simulation.WetnessStart, wet == 0f ? EnvironmentEffectsManager.wet.ToString() : wet.ToString());
SIM.LogSimulation(SIM.Simulation.FogStart, fog == 0f ? EnvironmentEffectsManager.fog.ToString() : fog.ToString());
SIM.LogSimulation(SIM.Simulation.CloudinessStart, cloud == 0f ? EnvironmentEffectsManager.cloud.ToString() : cloud.ToString());
InitSegmenationColors();
WireframeBoxes = gameObject.AddComponent <WireframeBoxes>();
if (Loader.Instance != null)
{
TimeManager.Initialize(Loader.Instance.Network.MessagesManager);
}
Sensors.Initialize();
Loader.ResetMaterials(); // TODO remove Editor hack for 2019.3.3 bug once fixed
IsInitialized = true;
}
public void Init(int?seed = null)
{
controls = new SimulatorControls();
controls.Enable();
var config = Loader.Instance?.SimConfig;
var masterSeed = seed ?? config?.Seed ?? new System.Random().Next();
System.Random rand = new System.Random(masterSeed);
AgentManager = Instantiate(agentManagerPrefab, transform);
CameraManager = Instantiate(cameraManagerPrefab, transform);
MapManager = Instantiate(mapManagerPrefab, transform);
NPCManager = Instantiate(npcManagerPrefab, transform);
NPCManager.InitRandomGenerator(rand.Next());
PedestrianManager = Instantiate(pedestrianManagerPrefab, transform);
PedestrianManager.InitRandomGenerator(rand.Next());
EnvironmentEffectsManager = Instantiate(environmentEffectsManagerPrefab, transform);
EnvironmentEffectsManager.InitRandomGenerator(rand.Next());
UIManager = Instantiate(uiManagerPrefab, transform);
if (ApiManager.Instance != null)
{
IsAPI = true;
}
if (SystemInfo.operatingSystemFamily == OperatingSystemFamily.Linux && Application.isEditor)
{
// empty
}
else
{
controls.Simulator.ToggleNPCS.performed += ctx => NPCManager.NPCActive = !NPCManager.NPCActive;
controls.Simulator.TogglePedestrians.performed += ctx => PedestrianManager.PedestriansActive = !PedestrianManager.PedestriansActive;
controls.Simulator.ToggleAgent.performed += ctx =>
{
if (int.TryParse(ctx.control.name, out int index))
{
AgentManager.SetCurrentActiveAgent(index - 1);
}
};
controls.Simulator.ToggleReset.performed += ctx => AgentManager.ResetAgent();
controls.Simulator.ToggleControlsUI.performed += ctx => UIManager.UIActive = !UIManager.UIActive;
}
if (config != null)
{
simulationName = config.Name;
clusterName = config.ClusterName;
mapName = config.MapName;
NPCManager.NPCActive = config.UseTraffic;
PedestrianManager.PedestriansActive = config.UsePedestrians;
if (config.Agents != null)
{
AgentManager.SpawnAgents(config.Agents);
}
apiMode = config.ApiOnly;
headless = config.Headless;
interactive = config.Interactive;
useSeed = config.Seed.HasValue;
npc = config.UseTraffic;
pedestrian = config.UsePedestrians;
timeOfDay = config.TimeOfDay.ToString("HH:mm");
rain = config.Rain;
wet = config.Wetness;
fog = config.Fog;
cloud = config.Cloudiness;
if (headless)
{
controls.Disable();
}
if (config.Interactive)
{
SetTimeScale(0.0f);
}
}
SIM.APIOnly = apiMode;
SIM.LogSimulation(SIM.Simulation.SimulationStart, simulationName);
SIM.LogSimulation(SIM.Simulation.ClusterNameStart, clusterName);
SIM.LogSimulation(SIM.Simulation.MapStart, string.IsNullOrEmpty(mapName) ? UnityEngine.SceneManagement.SceneManager.GetActiveScene().name : mapName);
SIM.LogSimulation(SIM.Simulation.HeadlessModeStart, state: headless);
SIM.LogSimulation(SIM.Simulation.InteractiveModeStart, state: interactive);
SIM.LogSimulation(SIM.Simulation.UsePredefinedSeedStart, state: useSeed);
SIM.LogSimulation(SIM.Simulation.NPCStart, state: npc);
SIM.LogSimulation(SIM.Simulation.RandomPedestrianStart, state: pedestrian);
SIM.LogSimulation(SIM.Simulation.TimeOfDayStart, timeOfDay == "" ? string.Format("{0:hh}:{0:mm}", TimeSpan.FromHours(EnvironmentEffectsManager.currentTimeOfDay)) : timeOfDay);
SIM.LogSimulation(SIM.Simulation.RainStart, rain == 0f ? EnvironmentEffectsManager.rain.ToString() : rain.ToString());
SIM.LogSimulation(SIM.Simulation.WetnessStart, wet == 0f ? EnvironmentEffectsManager.wet.ToString() : wet.ToString());
SIM.LogSimulation(SIM.Simulation.FogStart, fog == 0f ? EnvironmentEffectsManager.fog.ToString() : fog.ToString());
SIM.LogSimulation(SIM.Simulation.CloudinessStart, cloud == 0f ? EnvironmentEffectsManager.cloud.ToString() : cloud.ToString());
InitSemanticTags();
WireframeBoxes = gameObject.AddComponent <WireframeBoxes>();
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
agentController.Config.AgentGO = go;
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
bridgeClient.Connect(config.Connection);
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
return(go);
}
private void Init()
{
RenderLimiter.RenderLimitEnabled();
if (Instance != null)
{
Destroy(gameObject);
return;
}
stopWatch.Start();
var info = Resources.Load <BuildInfo>("BuildInfo");
SIM.Init(info == null ? "Development" : info.Version);
if (PlayerPrefs.HasKey("Salt"))
{
Config.salt = StringToByteArray(PlayerPrefs.GetString("Salt"));
}
else
{
Config.salt = new byte[8];
RNGCryptoServiceProvider rng = new RNGCryptoServiceProvider();
rng.GetBytes(Config.salt);
PlayerPrefs.SetString("Salt", ByteArrayToString(Config.salt));
PlayerPrefs.Save();
}
if (Config.RunAsMaster)
{
var masterGameObject = new GameObject("MasterManager");
Network.Master = masterGameObject.AddComponent <MasterManager>();
masterGameObject.AddComponent <MainThreadDispatcher>();
Network.Master.SetSettings(NetworkSettings);
Network.Master.StartConnection();
DontDestroyOnLoad(masterGameObject);
}
else
{
var clientGameObject = new GameObject("ClientManager");
Network.Client = clientGameObject.AddComponent <ClientManager>();
clientGameObject.AddComponent <MainThreadDispatcher>();
Network.Client.SetSettings(NetworkSettings);
Network.Client.StartConnection();
Network.Initialize(SimulationNetwork.ClusterNodeType.Client, NetworkSettings);
DontDestroyOnLoad(clientGameObject);
}
DatabaseManager.Init();
DownloadManager.Init();
RestartPendingDownloads();
if (Config.RunAsMaster)
{
try
{
var host = Config.WebHost == "*" ? "localhost" : Config.WebHost;
Address = $"http://{host}:{Config.WebPort}";
var config = new HostConfiguration {
RewriteLocalhost = Config.WebHost == "*"
};
Server = new NancyHost(new UnityBootstrapper(), config, new Uri(Address));
if (!string.IsNullOrEmpty(Config.Username))
{
LoginAsync();
}
else
{
Server.Start();
}
}
catch (SocketException ex)
{
Debug.LogException(ex);
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
#else
// return non-zero exit code
Application.Quit(1);
#endif
return;
}
}
LoaderScene = SceneManager.GetActiveScene().name;
SIM.LogSimulation(SIM.Simulation.ApplicationStart);
DontDestroyOnLoad(this);
Instance = this;
}
private static void LogPlayModeState(PlayModeStateChange state)
{
if (state == PlayModeStateChange.EnteredPlayMode)
{
Scene scene = SceneManager.GetActiveScene();
if (scene.name == "LoaderScene")
{
var data = EditorPrefs.GetString("Simulator/DevelopmentSettings");
if (data != null)
{
var json = JSONNode.Parse(data);
if (json["EnableAPI"].AsBool)
{
var api = Object.Instantiate(Simulator.Loader.Instance.ApiManagerPrefab);
api.name = "ApiManager";
Simulator.Loader.Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.READY);
}
}
}
else
{
var simObj = AssetDatabase.LoadAssetAtPath <GameObject>("Assets/Prefabs/Managers/SimulatorManager.prefab");
if (simObj == null)
{
Debug.LogError("Missing SimulatorManager.prefab in Resources folder!");
return;
}
stopWatch.Start();
var version = "Development";
var info = Resources.Load <BuildInfo>("BuildInfo");
if (info != null)
{
version = info.Version;
}
SIM.Init(version);
SIM.LogSimulation(SIM.Simulation.ApplicationStart);
var sim = Object.Instantiate(simObj).GetComponent <SimulatorManager>();
sim.name = "SimulatorManager";
bool useSeed = false;
int? seed = null;
bool enableNPCs = false;
bool enablePEDs = false;
var data = EditorPrefs.GetString("Simulator/DevelopmentSettings");
if (data != null)
{
try
{
var json = JSONNode.Parse(data);
useSeed = json["UseSeed"];
if (useSeed)
{
seed = json["Seed"];
}
enableNPCs = json["EnableNPCs"];
enablePEDs = json["EnablePEDs"];
}
catch (System.Exception ex)
{
Debug.LogException(ex);
}
}
sim.Init(seed);
sim.AgentManager.SetupDevAgents();
sim.NPCManager.NPCActive = enableNPCs;
sim.PedestrianManager.PedestriansActive = enablePEDs;
}
}
else if (state == PlayModeStateChange.ExitingPlayMode)
{
if (stopWatch.IsRunning)
{
stopWatch.Stop();
SIM.LogSimulation(SIM.Simulation.ApplicationExit, value: (long)stopWatch.Elapsed.TotalSeconds);
}
}
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(go);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = SimulatorManager.Instance.Network;
if (network.IsMaster)
{
if (go.GetComponent <DistributedObject>() == null)
{
go.AddComponent <DistributedObject>();
}
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
}
distributedRigidbody.SimulationType = MockedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
else if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <VehicleDynamics>();
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
//Add mocked components
if (go.GetComponent <MockedObject>() == null)
{
go.AddComponent <MockedObject>();
}
var mockedRigidbody = go.GetComponent <MockedRigidbody>();
if (mockedRigidbody == null)
{
mockedRigidbody = go.AddComponent <MockedRigidbody>();
}
mockedRigidbody.SimulationType = MockedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
return(go);
}