public void OnButtonClick()
{
//UnityEngine.Debug.Log("Button clicked");
if (isInitialized == false)
{
this.Initialize();
GameObject root = GameObject.Find("Robot");
foreach (Transform child in root.transform)
{
HakoniwaRobotConfigInfo robot_cfg = hakoniwa_cfg.GetRobotConfig(child.name);
if (robot_cfg != null)
{
this.activate_one(robot_cfg);
}
}
}
}
public void Initialize()
{
this.root = GameObject.Find("Robot");
this.myObject = GameObject.Find("Robot/" + this.transform.name);
this.parts = myObject.GetComponentInChildren <Hakoniwa.Assets.EV3.IEV3Parts>();
this.isConnected = false;
this.InitActuator();
this.InitSensor();
GameObject hakoniwa = GameObject.Find("Hakoniwa");
HakoniwaConfig hakoniwa_cfg = hakoniwa.GetComponentInChildren <Hakoniwa.Core.HakoniwaConfig>();
if (hakoniwa_cfg == null)
{
UnityEngine.Debug.LogError("Not found hakoniwa_cfg : " + hakoniwa_cfg);
return;
}
this.writer = this.myObject.GetComponentInChildren <IoWriter>();
this.reader = this.myObject.GetComponentInChildren <IoReader>();
this.robotConfig = hakoniwa_cfg.GetRobotConfig(this.transform.name);
if (robotConfig == null)
{
UnityEngine.Debug.LogError("Not found hakoniwa_robot_cfg : " + robotConfig);
return;
}
if (hakoniwa_cfg.IsMmap(robotConfig))
{
this.writer.filepath = hakoniwa_cfg.GetRobotMmapWriterFilePath(this.transform.name);
this.reader.filepath = hakoniwa_cfg.GetRobotMmapReaderFilePath(this.transform.name);
this.writer.InitializeMmap();
this.reader.InitializeMmap();
}
else
{
this.writer.host = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.AthrillIpAddr;
this.writer.port = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.AthrillPort;
this.reader.port = hakoniwa_cfg.GetRobotConfig(this.transform.name).Udp.UnityPort;
this.writer.Initialize();
this.reader.Initialize();
}
this.reader.SetCallback(UdpServerCallback);
}
private void activate_one(HakoniwaRobotConfigInfo robot_cfg)
{
string arg = null;
if (this.hakoniwa_cfg.IsMmap(robot_cfg))
{
arg = string.Format("{0} -c1 -t -1 -m {1}/{2}/memory_mmap.txt -d {1}/{2}/device_config_mmap.txt {1}/{3} ",
athrillPath,
robot_cfg.WorkspacePathUnix,
robot_cfg.ApplicationName,
robot_cfg.BinaryName);
}
else
{
arg = string.Format("{0} -c1 -t -1 -m {1}/{2}/memory.txt -d {1}/{2}/device_config.txt {1}/{3} ",
athrillPath,
robot_cfg.WorkspacePathUnix,
robot_cfg.ApplicationName,
robot_cfg.BinaryName);
}
if (this.terminal.Contains("wsl"))
{
exProcess = Process.Start(this.terminal, arg);
}
else if (this.terminal.Contains("open"))
{
string exec_cmd = hakoniwa_cfg.GetCurrentPath() + "/athrill.command";
StreamWriter writer = new StreamWriter(exec_cmd);
writer.Write(arg);
writer.Close();
exProcess = Process.Start("/usr/bin/open", exec_cmd);
UnityEngine.Debug.Log("exec= " + exec_cmd);
}
isInitialized = true;
UnityEngine.Debug.Log("arg=" + arg);
//UnityEngine.Debug.Log("exProcess=" + exProcess);
}
