public void QueueMessage(SimMessage m)
{
lock (this)
{
messages.Add(m);
}
}
private void SendFELoaded()
{
SimMessage m = new SimMessage();
m.json = new JSONObject(JSONObject.Type.OBJECT);
m.messageId = "SceneSelectionReady";
m.json.AddField("loaded", "1");
QueueMessage(m);
}
private void SendProtocolVersion()
{
SimMessage m = new SimMessage();
m.json = new JSONObject(JSONObject.Type.OBJECT);
m.messageId = "ProtocolVersion";
m.json.AddField("version", "1");
QueueMessage(m);
}
void OnLoaded()
{
SimMessage m = new SimMessage();
m.json = new JSONObject(JSONObject.Type.OBJECT);
m.messageId = "SceneLoaded";
m.json.AddField("none", "none");
car.SavePosRot();
QueueMessage(m);
}
private void SendSceneNames()
{
SimMessage m = new SimMessage();
m.messageId = "SceneNames";
JSONObject scenes = new JSONObject(JSONObject.Type.ARRAY);
scenes.Add("generated_road");
scenes.Add("warehouse");
scenes.Add("sparkfun_avc");
m.json = new JSONObject(JSONObject.Type.OBJECT);
m.json.AddField("scene_names", scenes);
QueueMessage(m);
}
public void QueueMessage(SimMessage m)
{
lock (this)
{
if (bVerbose)
{
Debug.Log("Queueing message: " + m.messageId);
}
if (messages != null)
{
messages.Add(m);
}
else
{
Debug.LogWarning("message queue not inited yet.");
}
}
}
private void Update()
{
if (collectData)
{
collectData = false;
SimMessage m = new SimMessage();
m.json = new JSONObject(JSONObject.Type.OBJECT);
m.messageId = "Telemetry";
m.json.AddField("steering_angle", car.GetSteering());
m.json.AddField("throttle", car.GetThrottle());
m.json.AddField("speed", car.GetVelocity().magnitude);
m.json.AddField("image", System.Convert.ToBase64String(CameraHelper.CaptureFrame(camSensor)));
m.json.AddField("hit", car.GetLastCollision());
car.ClearLastCollision();
Transform tm = car.GetTransform();
m.json.AddField("pos_x", tm.position.x);
m.json.AddField("pos_y", tm.position.y);
m.json.AddField("pos_z", tm.position.z);
m.json.AddField("time", Time.timeSinceLevelLoad);
if (pm != null)
{
float cte = 0.0f;
if (pm.path.GetCrossTrackErr(tm.position, ref cte))
{
m.json.AddField("cte", cte);
}
else
{
pm.path.ResetActiveSpan();
m.json.AddField("cte", 0.0f);
}
}
QueueMessage(m);
}
}