/// <summary>
/// Start logging.
/// </summary>
public static void Start()
{
if (logging)
{
Debug.LogWarning("Already logging!");
return;
}
Debug.Log("Log Started.");
string br = Strings.newline + Strings.csvComment;
char d = Strings.csvDelimiter;
Simulation.Settings info = Simulation.settings;
header = Strings.csvComment + Strings.projectTitle + " " + Strings.projectVersion + " - Data Log " + d +
DateTime.Now.ToShortDateString() + d + DateTime.Now.ToShortTimeString();
header += br + info.title + d + info.date + " " + info.time;
header += br + Strings.csvXmlCommentTag + info.fileName;
header += br + "Test number" + d + Simulation.testNumber + d + "of" + d + info.numberOfTests;
header += br + "Robot" + d + info.robotName;
header += br + "Navigation Assembly" + d + info.navigationAssemblyName;
header += br + "Environment" + d + info.environmentName;
header += br + "Randomize Origin" + d + info.randomizeOrigin;
header += br + "Randomize Destination" + d + info.randomizeDestination;
header += br + "Maximum Test Time" + d + info.maximumTestTime;
header += br + "Continue on NavObjectiveComplete" + d + info.continueOnNavObjectiveComplete;
header += br + "Continue on RobotIsStuck" + d + info.continueOnRobotIsStuck;
logging = true;
Simulation.Instance.StartCoroutine(LogRoutine());
}
public UI_SimulationBatch()
{
_settings = new Simulation.Settings();
_editSettings = new UI_SimulationSettings(_settings);
_files = new List <string>();
_folders = new List <string>();
_windows = new Stack <GUI.WindowFunction>();
_windows.Push(BatchListWindow);
// hide window initially
hidden = true;
}
/// <summary>
/// Browse for XML files to deserialize into Simulation.Settings
/// </summary>
void XmlBrowser(int windowID)
{
// back button
GUILayout.BeginHorizontal(GUILayout.Width(UI_Toolbar.I.innerWidth));
if (GUILayout.Button("<", GUILayout.Width(30f)))
{
_windows.Pop();
}
// refresh files and folders
if (GUILayout.Button("R", GUILayout.Width(30f)))
{
Refresh();
}
GUILayout.EndHorizontal();
// go up one directory
if (_subPath != "")
{
if (GUILayout.Button(".."))
{
_subPath = Directory.GetParent(_subPath).Name;
Refresh();
}
}
// list subdirectories
for (int i = 0; i < _folders.Count; i++)
{
// enter subdirectory
if (GUILayout.Button(_folders[i]))
{
_subPath += "\\" + new DirectoryInfo(_folders[i]).Name;
Refresh();
}
}
// list files
for (int i = 0; i < _files.Count; i++)
{
// try paths from file
if (GUILayout.Button(_files[i]))
{
string path = currentDir + "\\" + _files[i];
Simulation.Settings settings = ObjectSerializer.DeSerializeObject <Simulation.Settings>(path);
if (settings != null)
{
settings.active = false;
Simulation.batch.Add(settings);
_windows.Pop();
}
}
}
}
/// <summary>
/// Main routine for loading a CSV log file.
/// </summary>
/// <param name="csvFilePath">Csv file path.</param>
static IEnumerator LoadCsvRoutine(string csvFilePath)
{
loading = true;
string csvPath = Path.GetDirectoryName(csvFilePath);
string csvFileName = Path.GetFileName(csvFilePath);
// try opening the file with StreamReader
StreamReader sr;
try {
sr = new StreamReader(csvFilePath);
}
catch (Exception e) {
// log exception
Debug.LogException(e);
UI_Toolbar.I.additionalWindows.Add(
new UI_Prompt(
PromptResponse,
UI_Prompt.Type.Close,
"File Load Exception!",
"See log for details"
)
);
// stop loading
loading = false;
yield break;
}
// inspect CSV header
string line;
string header = "";
string xmlFileName = null;
while ((line = sr.ReadLine()) != null)
{
// stop inspecting when comments are no longer found
if (!line.StartsWith(Strings.csvComment))
{
break;
}
header += line;
// find XML filename stored in CSV
if (line.Contains(Strings.csvXmlCommentTag))
{
xmlFileName = line.Substring(
line.IndexOf(Strings.csvXmlCommentTag) +
Strings.csvXmlCommentTag.Length);
Debug.Log("XML filename from CSV is: " + xmlFileName);
}
}
// temporary settings object for deserialization
Simulation.Settings settings;
// if xml filename was not found in csv...
if (xmlFileName == null)
{
settings = new Simulation.Settings();
// prompt user whether to select environment
_waitingForResponse = true;
UI_Toolbar.I.additionalWindows.Add(
new UI_Prompt(
PromptResponse,
UI_Prompt.Type.YesNo,
"XML filename not found in CSV header!",
header + "\n Select environment to load?"
)
);
while (_waitingForResponse)
{
yield return(new WaitForSeconds(0.1f));
}
if (_response)
{
/// not yet implemented
// browse environments and load selection
Debug.Log("Not yet implemented: browse and load environment");
}
}
else
{
// try loading environment
settings = ObjectSerializer.DeSerializeObject <Simulation.Settings>(csvPath + "\\" + xmlFileName);
// if environment is different to the currently loaded environment
// prompt user for action (discard other paths, or load new env and paths?)
// (not yet implemented)
if (environment)
{
if (environment.name != settings.environmentName)
{
_waitingForResponse = true;
UI_Toolbar.I.additionalWindows.Add(
new UI_Prompt(
PromptResponse,
UI_Prompt.Type.OkCancel,
"Load new environment and paths?",
"CSV log is for a different environment. Load new environment and paths instead?"
)
);
while (_waitingForResponse)
{
yield return(new WaitForSeconds(0.1f));
}
if (_response)
{
// load environment and clear paths if YES
paths.Clear();
CamController.ClearAreaList();
LoadEnvironment(settings.environmentName);
}
else
{
// stop loading if NO
loading = false;
yield break;
}
}
}
else
{
LoadEnvironment(settings.environmentName);
}
}
// load paths from CSV and display them
// go to line with SimulationTime as first string
while ((line = sr.ReadLine()) != null)
{
if (line.StartsWith(Log.Parameters.SimulationTime.ToString()))
{
break;
}
}
// extract headings and store column indexes for path types
int robotPositionIndex;
string[] row = line.Split(Strings.csvDelimiter);
for (robotPositionIndex = 0; robotPositionIndex < row.Length; robotPositionIndex++)
{
if (row[robotPositionIndex] == Log.Parameters.RobotPosition.ToString())
{
break;
}
}
BotPath botpos = new BotPath();
botpos.csvName = csvFileName;
// Build BotPath objects for each path type columns found
while ((line = sr.ReadLine()) != null)
{
row = line.Split(Strings.csvDelimiter);
if (robotPositionIndex > row.Length)
{
Debug.LogWarning("LogLoader: row length too short?");
continue;
}
// try deserializing this vector3 data
// (catch parsing errors not yet implemented)
Vector3 pos = ParseVector3(row[robotPositionIndex]);
// remove " chars from "12.3", for example
// (catch parsing errors not yet implemented)
float time = float.Parse(row[0].Substring(1, row[0].Length - 2));
botpos.AddNode(pos, time);
}
AddPath(botpos);
UpdatePathColors();
loading = false;
}
public UI_SimulationSettings(Simulation.Settings simSettings)
{
_windows = new Stack <GUI.WindowFunction>();
_windows.Push(SimulationSettingsWindow);
_settings = simSettings;
}
/// <summary>
/// List Simulation.Settings in Simulation.batch and provide controls and editing the Simulation.batch
/// </summary>
void BatchListWindow(int windowID)
{
GUILayout.BeginHorizontal(GUILayout.Width(UI_Toolbar.I.innerWidth));
// add a new simulation to batch
if (GUILayout.Button("Add new simulation"))
{
_settings = new Simulation.Settings();
_editSettings = new UI_SimulationSettings(_settings);
UI_Toolbar.I.additionalWindows.Add((IWindowFunction)_editSettings);
}
// load a simulation from xml file
if (GUILayout.Button("Add to batch from file..."))
{
Refresh();
_windows.Push(XmlBrowser);
}
GUILayout.EndHorizontal();
// Batch list
GUILayout.Label("Currently in batch:");
if (Simulation.batch.Count < 1)
{
GUILayout.Label("None");
}
for (int i = 0; i < Simulation.batch.Count; i++)
{
Simulation.Settings batchItem = Simulation.batch[i];
// batch list table row by row
GUILayout.BeginHorizontal(GUILayout.Width(UI_Toolbar.I.innerWidth));
// display batch position
if (i + 1 == Simulation.simulationNumber)
{
GUILayout.Label("->");
}
// label
string label = i + 1 + ". " + batchItem.title + ", " + batchItem.time;
if (batchItem.active)
{
label += ", RUNNING";
}
GUILayout.Label(label);
// edit these settings
if (GUILayout.Button("Edit"))
{
_settings = batchItem;
_editSettings = new UI_SimulationSettings(_settings);
UI_Toolbar.I.additionalWindows.Add((IWindowFunction)_editSettings);
}
if (GUILayout.Button("X"))
{
Simulation.batch.RemoveAt(i);
}
// indicate which have been executed already
// if (batchItem.executed)
GUILayout.EndHorizontal();
}
GUILayout.Space(10);
// start simulating
if (Simulation.batch.Count > 0)
{
if (GUILayout.Button("Start Batch"))
{
BotNavSim.state = BotNavSim.State.Simulating;
Simulation.Begin();
}
GUILayout.Space(20);
// remove all simulations from batch
GUILayout.Space(20);
if (GUILayout.Button("Clear Batch"))
{
Simulation.batch.Clear();
}
}
}
