private void InstantiateSensors(SensorData[] sensors)
{
var parents = new Dictionary <string, GameObject>()
{
{ string.Empty, gameObject },
};
var Controller = GetComponent <IAgentController>();
var requested = sensors.ToList();
var baseLink = transform.GetComponentInChildren <BaseLink>();
while (requested.Count > 0)
{
// remember how many are still looking to find their parent
int requestedCount = requested.Count;
for (int i = 0; i < requested.Count(); i++)
{
var item = requested[i];
string parentName = item.Parent != null ? item.Parent : string.Empty;
if (!parents.ContainsKey(parentName))
{
continue;
}
var parentObject = parents[parentName];
var name = item.Name;
var type = item.Type;
GameObject prefab = null;
if (item.Plugin.AssetGuid == null)
{
prefab = Config.SensorPrefabs.FirstOrDefault(s => GetSensorType(s) == type).gameObject;
}
else if (Config.SensorTypeLookup.ContainsKey(item.Plugin.AssetGuid))
{
prefab = Config.SensorTypeLookup[item.Plugin.AssetGuid]?.gameObject;
}
else
{
var dir = Path.Combine(Config.PersistentDataPath, "Sensors");
var vfs = VfsEntry.makeRoot(dir);
Config.CheckDir(vfs.GetChild(item.Plugin.AssetGuid), Config.LoadSensorPlugin);
if (Config.SensorTypeLookup.ContainsKey(item.Plugin.AssetGuid))
{
prefab = Config.SensorTypeLookup[item.Plugin.AssetGuid]?.gameObject;
}
}
if (prefab == null)
{
throw new Exception($"Issue loading sensor type {type} for gameobject {gameObject.name} check logs");
}
var sensor = CreateSensor(gameObject, parentObject, prefab, item, baseLink);
var sensorBase = sensor.GetComponent <SensorBase>();
sensorBase.Name = name;
sensor.name = name;
if (AgentBridgeClient != null)
{
sensor.GetComponent <SensorBase>().OnBridgeSetup(AgentBridgeClient.Bridge);
}
parents.Add(name, sensor);
requested.RemoveAt(i);
i--;
var sensorInstanceController = new SensorInstanceController(item, sensorBase);
if (SimulatorManager.InstanceAvailable)
{
SimulatorManager.Instance.Sensors.RegisterSensor(sensorBase);
}
sensorInstanceController.Enable();
Controller?.AgentSensors.Add(sensorBase);
sensorsInstances.Add(name, sensorInstanceController);
}
// no sensors found their parent this round, they also won't find it next round
if (requestedCount == requested.Count)
{
throw new Exception($"Failed to create {requested.Count} sensor(s), cannot determine parent-child relationship");
}
SensorsChanged?.Invoke();
}
}
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);
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();
}
}
