/// <summary>
/// Add a new camera to the robot using the default position (0, 0.5, 0) and rotation
/// </summary>
/// <returns></returns>
public GameObject AddCamera(SimulatorRobot robot, Transform anchor)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <UnityEngine.Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = new Vector3(0f, 0f, 0f);
newCamera.transform.localRotation = Quaternion.identity;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
//Set the camera parent robot, which is necessary when changing robot and restoring the configuration
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
//Make sure current camera is the first one on the list
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
/// <summary>
/// Add a new camera to the robot
/// </summary>
/// <param name="anchor"></param> The robot node to which the camera attaches
/// <param name="positionOffset"></param>
/// <param name="rotationOffset"></param>
/// <returns></returns>
public GameObject AddCamera(SimulatorRobot robot, Transform anchor, Vector3 positionOffset, Vector3 rotationOffset)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <UnityEngine.Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = positionOffset;
newCamera.transform.localRotation = Quaternion.Euler(rotationOffset);
newCamera.GetComponent <UnityEngine.Camera>().fieldOfView = 60;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
//Set the camera parent robot, which is necessary when changing robot and restoring the configuration
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
/// <summary>
/// Detach the robot camera from a given robot in preparation for changing robot or other operation that needs to take out a specific group of robot camera
/// </summary>
/// <param name="parent"></param> A robot where cameras are going to be detached from
public void DetachCamerasFromRobot(SimulatorRobot parent)
{
List <GameObject> detachingCameras = GetRobotCamerasFromRobot(parent);
foreach (GameObject camera in detachingCameras)
{
camera.GetComponent <RobotCamera>().DetachCamera();
}
}
/// <summary>
/// Get a list of sensors attached to the given robot
/// </summary>
/// <param name="robot"></param> The robot where sensors are attached to
/// <returns></returns> A list of sensors attached to the robot
public List <GameObject> GetSensorsFromRobot(SimulatorRobot robot)
{
List <GameObject> sensorsOnRobot = new List <GameObject>();
foreach (GameObject sensor in activeSensorList)
{
if (sensor.GetComponent <SensorBase>().Robot.Equals(robot))
{
sensorsOnRobot.Add(sensor);
}
}
return(sensorsOnRobot);
}
/// <summary>
/// Return a list of robot cameras attached to a given robot
/// </summary>
/// <param name="parent"></param> A robot on which cameras are attached to
/// <returns></returns> A list of camera attach to that robot
public List <GameObject> GetRobotCamerasFromRobot(SimulatorRobot parent)
{
List <GameObject> camerasOnRobot = new List <GameObject>();
foreach (GameObject camera in robotCameraList)
{
RobotCamera config = camera.GetComponent <RobotCamera>();
if (config.robot.Equals(parent))
{
camerasOnRobot.Add(camera);
}
}
return(camerasOnRobot);
}
/// <summary>
/// Remove all sensors attached to the given robot and destroy them, reset all lists
/// </summary>
/// <param name="robot"></param> The robot where sensors are attached to
public void RemoveSensorsFromRobot(SimulatorRobot robot)
{
List <GameObject> sensorsOnRobot = GetSensorsFromRobot(robot);
foreach (GameObject removingSensors in sensorsOnRobot)
{
if (activeSensorList.Contains(removingSensors))
{
activeSensorList.Remove(removingSensors);
removingSensors.transform.parent = null;
Destroy(removingSensors.gameObject);
inactiveSensorList.Add(removingSensors);
}
}
}
/// <summary>
/// Remove the current sensor from the robot
/// </summary>
/// <param name="robot"></param>
public void RemoveSensorsFromRobot(SimulatorRobot robot)
{
List <GameObject> sensorsOnRobot = sensorManager.GetSensorsFromRobot(robot);
foreach (GameObject removingSensors in sensorsOnRobot)
{
string type = removingSensors.GetComponent <SensorBase>().sensorType;
Destroy(removingSensors);
sensorManager.RemoveSensor(removingSensors, type);
ShiftOutputPanels();
if (currentSensor != null && currentSensor.Equals(removingSensors.GetComponent <SensorBase>()))
{
currentSensor = null; EndProcesses();
}
tabStateMachine.FindState <SensorToolbarState>().RemoveSensorFromDropdown(type,
sensorManager.ultrasonicList, sensorManager.beamBreakerList, sensorManager.gyroList);
}
}
/// <summary>
/// Remove all cameras from a given robot, used when a robot is removed. Use DetachCamerasFromRobot when changing a robot!
/// </summary>
/// <param name="parent"></param> The robot whose cameras you want to remove
public void RemoveCamerasFromRobot(SimulatorRobot parent)
{
List <GameObject> removingCameras = GetRobotCamerasFromRobot(parent);
//Take out the camera indicator in case it gets destroyed with one of the robots
cameraIndicator.transform.parent = robotCameraListObject.transform;
foreach (GameObject camera in removingCameras)
{
//Remove those useless cameras from the list and destroy them
if (robotCameraList.Contains(camera))
{
robotCameraList.Remove(camera);
Destroy(camera);
}
}
//Reset the current camera to the first one on the list in case the current one gets destroyed already
if (robotCameraList.Count > 0)
{
CurrentCamera = robotCameraList[0];
}
}
/// <summary>
/// Remove the current sensor from the robot
/// </summary>
/// <param name="robot"></param>
public void RemoveSensorsFromRobot(SimulatorRobot robot)
{
List <GameObject> sensorsOnRobot = sensorManager.GetSensorsFromRobot(robot);
foreach (GameObject removingSensors in sensorsOnRobot)
{
string type = removingSensors.GetComponent <SensorBase>().sensorType;
Destroy(removingSensors);
sensorManager.RemoveSensor(removingSensors, type);
ShiftOutputPanels();
if (currentSensor != null && currentSensor.Equals(removingSensors.GetComponent <SensorBase>()))
{
currentSensor = null; EndProcesses();
}
tabStateMachine.FindState <SensorToolbarState>().RemoveSensorFromDropdown(type,
sensorManager.ultrasonicList, sensorManager.beamBreakerList, sensorManager.gyroList);
}
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.SensorTab,
AnalyticsLedger.EventAction.Removed,
"Sensors",
AnalyticsLedger.getMilliseconds().ToString());
}
/// <summary>
/// Set the parent robot of the robot cameras
/// </summary>
/// <param name="robot"></param>
public void SetParentRobot(SimulatorRobot robot)
{
this.robot = robot;
}
