/* 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
}
}
//Register the delegate functions to AirLib, based on IVehicleInterface
private static void InitDelegators()
{
PInvokeWrapper.InitVehicleManager(
Marshal.GetFunctionPointerForDelegate(new Func <AirSimPose, bool, string, bool>(SetPose)),
Marshal.GetFunctionPointerForDelegate(new Func <string, AirSimPose>(GetPose)),
Marshal.GetFunctionPointerForDelegate(new Func <string, CollisionInfo>(GetCollisionInfo)),
Marshal.GetFunctionPointerForDelegate(new Func <string, AirSimRCData>(GetRCData)),
Marshal.GetFunctionPointerForDelegate(new Func <ImageRequest, string, ImageResponse>(GetSimImages)),
Marshal.GetFunctionPointerForDelegate(new Func <int, RotorInfo, string, bool>(SetRotorSpeed)),
Marshal.GetFunctionPointerForDelegate(new Func <bool, string, bool>(SetEnableApi)),
Marshal.GetFunctionPointerForDelegate(new Func <CarControls, string, bool>(SetCarApiControls)),
Marshal.GetFunctionPointerForDelegate(new Func <string, CarState>(GetCarState)),
Marshal.GetFunctionPointerForDelegate(new Func <string, string, CameraInfo>(GetCameraInfo)),
Marshal.GetFunctionPointerForDelegate(new Func <string, AirSimPose, string, bool>(SetCameraPose)),
Marshal.GetFunctionPointerForDelegate(new Func <string, float, string, bool>(SetCameraFoV)),
Marshal.GetFunctionPointerForDelegate(new Func <string, int, bool, bool>(SetSegmentationObjectId)),
Marshal.GetFunctionPointerForDelegate(new Func <string, int>(GetSegmentationObjectId)),
Marshal.GetFunctionPointerForDelegate(new Func <string, string, string, int, bool>(PrintLogMessage)),
Marshal.GetFunctionPointerForDelegate(new Func <string, UnityTransform>(GetTransformFromUnity)),
Marshal.GetFunctionPointerForDelegate(new Func <string, bool>(Reset)),
Marshal.GetFunctionPointerForDelegate(new Func <string, AirSimVector>(GetVelocity)),
Marshal.GetFunctionPointerForDelegate(new Func <AirSimVector, AirSimVector, string, RayCastHitResult>(GetRayCastHit)),
Marshal.GetFunctionPointerForDelegate(new Func <string, float, bool>(Pause))
);
}
public void StopPedestrianServer()
{
if (serverStarted == true)
{
PInvokeWrapper.StopPedestrianServer();
Debug.Log("Pedestrian server halted");
serverStarted = false;
}
}
public bool StartPedestrianServer(int hostIP)
{
if (serverStarted == false)
{
serverStarted = PInvokeWrapper.StartPedestrianServer(basePortId);
Debug.Log("Pedestrian server startedv on port: " + basePortId);
return(serverStarted);
}
return(true);
}
//Ensure to call this method as the last statement, from derived class `LateUpdate()` method.
protected void LateUpdate()
{
if (isServerStarted)
{
if (timeScale_changed)
{
Time.timeScale = time_scale;
timeScale_changed = false;
}
if (isSegmentationUpdated)
{
UpdateSegmentationView();
isSegmentationUpdated = false;
}
if (isCapturingImages)
{
var captureCamera = captureCameras.Find(element => element.GetCameraName() == imageRequest.camera_name);
imageResponse = captureCamera.GetImageBasedOnRequest(imageRequest);
captureResetEvent.Set(); //Release the GetSimulationImages thread with the image response.
isCapturingImages = false;
}
if (calculateRayCast)
{
hitResult = Physics.Linecast(startVec, endVec, out hitInfo);
calculateRayCast = false;
}
if (Input.GetKeyDown(KeyCode.T))
{
print_log_messages_ = !print_log_messages_;
}
if (count > 10)
{
count = 0;
foreach (var p in captureCameras)
{
string camera = p.GetCameraName();
var imageRequest = new ImageRequest(camera, ImageType.Scene, false, false);
imageResponse = p.GetImageBasedOnRequest(imageRequest);
PInvokeWrapper.StoreVehicleImage(vehicle_name, camera, imageResponse);
}
}
count++;
// Update images
airsimInterface.InvokeTickInAirSim(Time.deltaTime); //TODOME check this
}
}
public bool StartVehicleServer(string hostIP)
{
if (serverStarted == false)
{
Debug.LogWarning("Starting server for " + vehicleType + AirSimSettings.GetSettings().SimMode);
serverStarted = PInvokeWrapper.StartServer(vehicleType, AirSimSettings.GetSettings().SimMode, basePortId);
Debug.LogWarning("Server started: " + serverStarted + " - " + basePortId);
return(serverStarted);
}
return(true);
}
private static void InitDelegators()
{
PInvokeWrapper.InitPedestrianManager(
Marshal.GetFunctionPointerForDelegate(new Func <AirSimPose, bool, string, bool>(SetPose)),
Marshal.GetFunctionPointerForDelegate(new Func <string, AirSimPose>(GetPose)),
Marshal.GetFunctionPointerForDelegate(new Func <string, bool>(Reset)),
Marshal.GetFunctionPointerForDelegate(new Func <bool, string, bool>(SetEnableApi)),
Marshal.GetFunctionPointerForDelegate(new Func <PedestrianControls, string, bool>(SetPedestrianApiControls)),
Marshal.GetFunctionPointerForDelegate(new Func <string, ServerUtils.StringArray>(GetPedestrianCameras))
);
}
public void StopVehicleServer()
{
if (serverStarted == true)
{
PInvokeWrapper.StopServer(vehicleType);
Debug.LogWarning("Server halted");
serverStarted = false;
}
else
{
Debug.LogWarning("Server already halted");
}
}
private static void InitDelegators()
{
PInvokeWrapper.InitServerManager(
Marshal.GetFunctionPointerForDelegate(new Func<string, bool>(PrintTest)),
Marshal.GetFunctionPointerForDelegate(new Func<string, string, bool>(AddVehicle)),
Marshal.GetFunctionPointerForDelegate(new Func<string, bool>(AddPedestrianFunc)),
Marshal.GetFunctionPointerForDelegate(new Func<string, string, bool>(RemoveVehicle)),
Marshal.GetFunctionPointerForDelegate(new Func<string, bool>(RemovePedestrian)),
Marshal.GetFunctionPointerForDelegate(new Func<ServerUtils.StringArray>(GetVehicleTypes)),
Marshal.GetFunctionPointerForDelegate(new Func<ServerUtils.StringArray>(GetAllVehiclesList)),
Marshal.GetFunctionPointerForDelegate(new Func<ServerUtils.StringArray>(GetAllPedestriansList))
// Add functions that can be called from server to Unity
);
}
// Start is called before the first frame update
void Start()
{
string simMode = AirSimSettings.GetSettings().SimMode;
int basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(simMode == DRONE_MODE);
bool isServerStarted = PInvokeWrapper.StartServer(simMode, basePortId);
if (isServerStarted == false)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
#else
Application.Quit();
#endif
}
}
protected void OnApplicationQuit()
{
PInvokeWrapper.StopMainServer();
Debug.LogWarning("Main server stopped");
if(PedestrianCompanion.serverStarted)
{
PInvokeWrapper.StopPedestrianServer();
PedestrianCompanion.serverStarted = false;
}
if(VehicleCompanion.serverStarted)
{
PInvokeWrapper.StopServer("");
PedestrianCompanion.serverStarted = false;
}
}
private void LateUpdate()
{
if (count > 5)
{
count = 0;
foreach (var p in captureCameras)
{
string camera = p.GetCameraName();
var imageRequest = new ImageRequest(camera, ImageType.Scene, false, false);
imageResponse = p.GetImageBasedOnRequest(imageRequest);
PInvokeWrapper.StorePedestrianImage(pedestrian_name, camera, imageResponse);
}
}
count++;
}
public bool StartVehicleServer(string hostIP)
{
return(PInvokeWrapper.StartServer(vehicleName, AirSimSettings.GetSettings().SimMode, basePortId));
}
protected void OnApplicationQuit()
{
PInvokeWrapper.StopServer();
}
public KinemticState GetKinematicState()
{
return(PInvokeWrapper.GetKinematicState(vehicleName));
}
public void InvokeCollisionDetectionInAirSim(CollisionInfo collisionInfo)
{
PInvokeWrapper.InvokeCollisionDetection(collisionInfo);
}
public void InvokeTickInAirSim(float deltaSecond)
{
PInvokeWrapper.CallTick(deltaSecond);
}
public void StopVehicleServer()
{
PInvokeWrapper.StopServer(vehicleName);
}
void FixedUpdate()
{
PInvokeWrapper.CallTick(Time.fixedDeltaTime);
}
public void InvokeCollisionDetectionInAirSim(string vehicleName, CollisionInfo collisionInfo)
{
PInvokeWrapper.InvokeCollisionDetection(vehicleName, collisionInfo);
}
