private void AddUIElement()
{
if (controller == null)
{
return;
}
var targetEnv = transform.GetComponent <AgentSetup>().TargetRosEnv;
if (targetEnv == ROSTargetEnvironment.LGSVL || targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO)
{
cruiseControlCheckbox = GetComponent <UserInterfaceTweakables>().AddCheckbox("CruiseControl", "Cruise Control:", false);
cruiseControlCheckbox.onValueChanged.AddListener(isOn =>
{
if (isOn)
{
controller.EnableCruiseControl(controller.cruiseTargetSpeed);
}
else
{
controller.DisableCruiseControl();
}
// controller.ToggleCruiseMode(controller.cruiseTargetSpeed);
});
float initCruiseSpeed = 10f;
cruiseControlSpeedSlider = GetComponent <UserInterfaceTweakables>().AddFloatSlider("CruiseControlSpeed", "Cruise Control Speed (mph):", 0f, 50f, initCruiseSpeed);
cruiseControlSpeedSlider.onValueChanged.AddListener(speed =>
{
controller.cruiseTargetSpeed = speed;
});
controller.cruiseTargetSpeed = initCruiseSpeed;
}
}
