//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this, vehicle_name);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
if (isServerStarted == false)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
#else
Application.Quit();
#endif
}
AirSimGlobal.Instance.Weather.AttachToVehicle(this);
count = UnityEngine.Random.Range(0, 10);
}
/* AirSimServer()
{
}*/
void Start()
{
vehicleList = new List<Transform>();
pedestrianList = new List<Transform>();
comp = new ServerCompanion();
VehicleCompanion.InitDelegators();
var settings = AirSimSettings.GetSettings();
if (IP == "")
IP = settings.LocalHostIP;
if (Port == -1)
Port = settings.GetPort(AirSimSettings.AgentType.Server);
// Start server
bool status = PInvokeWrapper.StartMainServer(Port);
Debug.LogWarning("Main server started on port " + Port.ToString());
if(!status)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("AirSim main failed to start on port " + Port.ToString() + "!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
#else
Application.Quit();
#endif
}
}
public static VehicleCompanion GetVehicleCompanion(string vehicleName, IVehicleInterface vehicleInterface)
{
var companion = new VehicleCompanion(vehicleInterface);
companion.vehicleName = vehicleName;
Vehicles.Add(companion);
return(companion);
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(vehicleName, this);
isServerStarted = true;
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(vehicleName, this);
isServerStarted = true;
AirSimGlobal.Instance.Weather.AttachToVehicle(this);
}
public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface)
{
var companion = new VehicleCompanion(vehicleInterface);
if (AirSimSettings.GetSettings().SimMode == "Car")
{
companion.vehicleName = "PhysXCar";
}
else if (AirSimSettings.GetSettings().SimMode == "Multirotor")
{
companion.vehicleName = "SimpleFlight";
}
Vehicles.Add(companion);
return(companion);
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
if (isServerStarted == false)
{
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
}
}
//Thread to capture the images and save them to documents. This will be started by pressing the Record button on HUD.
private IEnumerator CaptureFrames()
{
AirSimSettings.CamerasSettings recordCamSettings = AirSimSettings.GetSettings().Recording.Cameras[0];
SetUpRenderType((ImageType)recordCamSettings.ImageType);
SetUpRenderTextureForCapture((ImageType)recordCamSettings.ImageType);
while (isCapturing)
{
yield return(waitForEndOfFrame);
RenderTexture.active = renderTexture;
screenShot.ReadPixels(captureRect, 0, 0);
screenShot.Apply();
byte[] bytes = screenShot.EncodeToPNG();
RenderTexture.active = null;
DataRecorder.ImageData data = VehicleCompanion.GetRecordingData();
data.image = bytes;
recorder.AddImageDataToQueue(data);
yield return(waitUntilNext);
}
}
public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface, string vehicleName)
{
var companion = new VehicleCompanion(vehicleInterface);
if (AirSimSettings.GetSettings().SimMode == "Car")
{
companion.vehicleType = "PhysXCar";
companion.vehicleName = vehicleName;
}
else if (AirSimSettings.GetSettings().SimMode == "Multirotor")
{
companion.vehicleType = "SimpleFlight";
}
Vehicles.Add(companion);
Debug.LogWarning("Number of cars: " + Vehicles.Count.ToString() + "Sim mode - " + AirSimSettings.GetSettings().SimMode + ". Added - " + companion.vehicleName);
return(companion);
}
//This method is linked through OnClick for RecordButton in AirSimHUD prefab.
public void ToggleRecording()
{
VehicleCompanion.GetCameraCaptureForRecording().ToggleRecording();
}
// Remove vehicle
private static bool RemoveVehicle(string vehicle_name, string vehicle_type) // Take in init pose and path?
{
VehicleCompanion.DestroyVehicle(vehicle_name);
return true;
}