private void SurveySingle(AnchorScript c0scr)
{
// Method 1: Cheap easy way. Just find the next anchor in the list
// and use the origin and closest already surveyed node to the new anchor.
AnchorScript a0scr = OriginAnchor.GetComponent <AnchorScript> ();
// a0 is origin, b0 is closest surveyed node
AnchorDistance a0 = c0scr.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == OriginAnchor.name);
AnchorDistance b0 = PickCloserThan(c0scr.AnchorDistances, 0, true, true);
//Debug.Log (string.Format("a {0} {1:0.000}\t b {2} {3:0.000}", a0.anchor.gameObject.name, a0.distance, b0.anchor.gameObject.name, b0.distance));
// Grab the lengths
float ab = a0.anchor.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == b0.anchor.gameObject.name).distance;
float ac = a0.distance;
float bc = c0scr.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == b0.anchor.gameObject.name).distance;
//Debug.Log (string.Format ("ab {0:0.000} ac {1:0.000} bc {2:0.000}", ab, ac, bc));
// Find the angle at a
float angle = FindAngle(ab, ac, bc);
//Debug.Log(string.Format("Angle: {0:0.000} rad {1:0.000} deg", angle, Mathf.Rad2Deg *angle));
// Calculate the position of c .. rotate from ab .. two possibilities
// Get the pos of one possibility, check it's distance from another known anchor not involved in this tri.
// If the distance is wrong, change the sign of the angle and re-compute.
// Vector3 cPos = CalculatePosition (a0scr.SurveyMarker, b0.anchor.SurveyMarker, ac, angle);
Vector3 cPos = CalculatePosition(a0scr.gameObject, b0.anchor.gameObject, ac, angle);
GameObject xGo = Anchors.Find(delegate(GameObject obj) {
if (obj.GetComponent <AnchorScript>().IsSurveyed)
{
int id = obj.GetInstanceID();
if (a0.anchor.gameObject.GetInstanceID() != id && b0.anchor.gameObject.GetInstanceID() != id && c0scr.gameObject.GetInstanceID() != id)
{
return(true);
}
}
return(false);
});
AnchorScript xAs = xGo.GetComponent <AnchorScript> ();
// float cxDist = (cPos - xAs.SurveyMarker.transform.position).magnitude;
float cxDist = (cPos - xAs.gameObject.transform.position).magnitude;
AnchorDistance x0 = c0scr.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == xGo.name);
if (Mathf.Abs(cxDist - x0.distance) > 1f)
{
// Distance is wrong, flip the angle
// Debug.Log("Flipping angle!");
// cPos = CalculatePosition (a0scr.SurveyMarker, b0.anchor.SurveyMarker, ac, angle * (-1));
cPos = CalculatePosition(a0scr.gameObject, b0.anchor.gameObject, ac, angle * (-1));
}
c0scr.IsSurveyed = true;
// c0scr.SurveyMarker = CreateMaker (cPos);
c0scr.gameObject.transform.position = cPos;
// SurveyMarkers.Add (c0scr.gameObject);
}
private void SurveyFirstThree(GameObject a0)
{
// Special case first survey. We need three anchors to get the first triangle.
// Once these anchors are set, we can use the geometry to continue adding anchors one at a time.
AnchorScript a0scr = a0.GetComponent <AnchorScript> ();
// Find the closest two nodes
AnchorDistance b0 = PickCloserThan(a0scr.AnchorDistances, 0);
AnchorDistance c0 = PickCloserThan(a0scr.AnchorDistances, b0.distance);
//Debug.Log (string.Format("Closest two:\t{0} {1:0.000}\t{2} {3:0.000}", b0.anchor.gameObject.name, b0.distance, c0.anchor.gameObject.name, c0.distance));
// Setup the lengh variables, grab the distance between b and c
float ab = b0.distance;
float ac = c0.distance;
float bc = b0.anchor.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == c0.anchor.gameObject.name).distance;
//Debug.Log (string.Format ("ab {0:0.000} ac {1:0.000} bc {2:0.000}", ab, ac, bc));
// Find the angle at a
float angle = FindAngle(ab, ac, bc);
//Debug.Log(string.Format("Angle: {0:0.000} rad {1:0.000} deg", angle, Mathf.Rad2Deg *angle));
// Calculate position of a - this is the origin, so just set it
Vector3 aPos = a0.transform.position;
aPos.y = 1.0f;
a0scr.IsSurveyed = true;
//a0scr.SurveyMarker = CreateMaker (aPos);
a0scr.gameObject.transform.position = aPos;
// SurveyMarkers.Add (a0scr.gameObject);
// Calculate position of b - no rotational context, so just align along z axis
Vector3 bPos = aPos + (ab * Vector3.forward);
bPos.y = 1.0f;
b0.anchor.IsSurveyed = true;
// b0.anchor.SurveyMarker = CreateMaker (bPos);
b0.anchor.gameObject.transform.position = bPos;
// SurveyMarkers.Add (b0.anchor.gameObject);
// Calculate position of c - using the angle, extend a directional vector for this final point
Vector3 cDir = Quaternion.AngleAxis((angle * Mathf.Rad2Deg), Vector3.up) * Vector3.forward;
//Debug.Log ("cDir: " + cDir);
Vector3 cPos = aPos + (ac * cDir);
cPos.y = 1.0f;
c0.anchor.IsSurveyed = true;
// c0.anchor.SurveyMarker = CreateMaker (cPos);
c0.anchor.gameObject.transform.position = cPos;
// SurveyMarkers.Add (c0.anchor.gameObject);
}
// Use this for initialization
void Start()
{
// Create matrix of ranges .. Normally, this would come in from the field
// but for simulation sake, just calculate magnitude between each anchor.
if (UseAnchorIds == false)
{
AnchorIds.Clear();
}
if (Simulate)
{
foreach (GameObject g1 in Anchors)
{
AnchorScript g1as = g1.GetComponent <AnchorScript> ();
foreach (GameObject g2 in Anchors)
{
//TODO: Use sqrMagnitude for quicker math later
float dist = (g1.transform.position - g2.transform.position).magnitude;
AnchorDistance ad = new AnchorDistance();
ad.anchor = g2.GetComponent <AnchorScript> ();
ad.distance = dist;
g1as.AnchorDistances.Add(ad);
ad.anchor.IsSurveyed = false;
}
}
}
else
{
Anchors.Clear();
OriginAnchor = null;
}
// Create the group to hold the markers
markerGroup = new GameObject();
markerGroup.name = "Markers";
markerGroup.transform.position = Vector3.zero;
markerGroup.transform.rotation = Quaternion.identity;
tcpServerScript = GetComponent <TcpServer> ();
bitstormScript = GetComponent <BitStormAPI>();
if (!Simulate && AnchorIds.Count == 0 && bitstormScript != null)
{
StartCoroutine(DoRetrieveAnchors());
}
}
public void PrintSurveyRanges()
{
string output = "";
foreach (GameObject go in Anchors)
{
output += go.name + ":";
AnchorScript as1 = go.GetComponent <AnchorScript>();
foreach (AnchorDistance ad in as1.AnchorDistances)
{
output += "\t" + ad.anchor.gameObject.name + ": " + ad.distance.ToString("0.00m");
}
Debug.Log(output);
output = "";
}
}
public void DoNextSurvey()
{
// For now, just iterate through all the anchors, surveying the ones not surveyed yet
foreach (GameObject g in Anchors)
{
AnchorScript a = g.GetComponent <AnchorScript>();
if (a.IsSurveyed == false)
{
//Debug.Log("Surveying " + a.gameObject.name);
SurveySingle(a);
return;
}
}
Debug.Log("NO NODES TO SURVEY");
}
void Start()
{
textMesh = GetComponent <TextMesh> ();
anchorScript = Anchor.GetComponent <AnchorScript> ();
}
// private GameObject CreateMaker(Vector3 pos) {
// GameObject m = Instantiate (Marker, pos, Quaternion.identity) as GameObject;
// m.transform.parent = markerGroup.transform;
// return m;
// }
IEnumerator GetRanges()
{
int i = 0;
int j = 0;
bool done = false;
surveyStatus = SurveyStatus.Running;
while (done == false)
{
done = true;
i = 0;
while (i < Anchors.Count)
{
GameObject go1 = Anchors [i++];
AnchorScript as1 = go1.GetComponent <AnchorScript> ();
j = 0;
while (j < Anchors.Count)
{
GameObject go2 = Anchors [j++];
// Don't range with ourselves
if (go1.name == go2.name)
{
continue;
}
// Don't range if we already have a result
AnchorDistance adTest = as1.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == go2.name);
if (adTest != null)
{
continue;
}
// Okay, range!
anchorSurveyId = go1.name;
targetSurveyId = go2.name;
anchorSurveyDist = 0;
surveyStatus = SurveyStatus.Running;
done = false;
//Debug.Log(string.Format("Submitting survey request {0} to {1}", anchorSurveyId, targetSurveyId));
if (bitstormScript != null)
{
yield return(StartCoroutine(bitstormScript.DoSurvey(anchorSurveyId, targetSurveyId, RangeReps, RangeDelayMs)));
if (bitstormScript.LastError.Length > 0)
{
Debug.Log("Error submitting survey request. Skip");
}
else
{
yield return(new WaitForSeconds(RangeTimeout));
yield return(StartCoroutine(bitstormScript.DoGetAnchor(anchorSurveyId)));
if (bitstormScript.LastError.Length > 0)
{
Debug.Log("Could not fetch anchor info from server. Skip.");
}
else
{
var anchorServerInfo = JSON.Parse(bitstormScript.LastResult);
anchorSurveyDist = anchorServerInfo["distances"][targetSurveyId].AsFloat;
Debug.Log(string.Format("Survey results for {0} to {1} are {2}", anchorSurveyId, targetSurveyId, anchorSurveyDist));
surveyStatus = SurveyStatus.Complete;
}
}
}
else if (tcpServerScript != null)
{
tcpServerScript.SendSurveyRequest(go1.name, go2.name, RangeReps, RangeDelayMs);
// Wait for results
float startTime = Time.time;
while (surveyStatus == SurveyStatus.Running)
{
float elapsed = Time.time - startTime;
if (elapsed > RangeTimeout)
{
Debug.Log("GetRanges: timeout");
break;
}
yield return(null);
}
}
else
{
Debug.Log("No BitStormAPI or TcpServer scripts attached. Done.");
yield return(null);
}
// If we didn't time out and received a proper distance, add it to the list
if (surveyStatus == SurveyStatus.Complete)
{
if (anchorSurveyDist != 0f)
{
AnchorDistance ad1 = new AnchorDistance();
ad1.anchor = go2.GetComponent <AnchorScript> ();
ad1.distance = anchorSurveyDist;
as1.AnchorDistances.Add(ad1);
//Debug.Log ("Added " + ad1.anchor.gameObject.name + ":" + ad1.distance.ToString ("0.00m") + " to " + as1.gameObject.name);
// Add the distance to the other anchor's distances as well
adTest = ad1.anchor.AnchorDistances.Find((AnchorDistance obj) => obj.anchor.gameObject.name == go1.name);
if (adTest == null)
{
AnchorDistance ad2 = new AnchorDistance();
ad2.anchor = as1;
ad2.distance = ad1.distance;
ad1.anchor.AnchorDistances.Add(ad2);
//Debug.Log ("Added [converse] " + ad2.anchor.gameObject.name + ":" + ad2.distance.ToString ("0.00m") + " to " + ad1.anchor.gameObject.name);
}
}
}
}
}
}
surveyStatus = SurveyStatus.None;
Survey.ExecuteOnMainThread.Enqueue(() => DoFirstSurvey());
Survey.ExecuteOnMainThread.Enqueue(() => DoNextSurvey());
Survey.ExecuteOnMainThread.Enqueue(() => CenterCamera());
Survey.ExecuteOnMainThread.Enqueue(() => PrintSurveyRanges());
}
