public static void StartAsync(SimulationModel simulation)
{
Debug.Assert(Instance.CurrentSimulation == null);
Instance.Actions.Enqueue(() =>
{
using (var db = DatabaseManager.Open())
{
AssetBundle textureBundle = null;
AssetBundle mapBundle = null;
try
{
if (Config.Headless && (simulation.Headless.HasValue && !simulation.Headless.Value))
{
throw new Exception("Simulator is configured to run in headless mode, only headless simulations are allowed");
}
simulation.Status = "Starting";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.PROGRESS);
Instance.SimConfig = new SimulationConfig()
{
Name = simulation.Name,
Clusters = db.Single <ClusterModel>(simulation.Cluster).Ips.Split(',').Where(c => c != "127.0.0.1").ToArray(),
ClusterName = db.Single <ClusterModel>(simulation.Cluster).Name,
ApiOnly = simulation.ApiOnly.GetValueOrDefault(),
Headless = simulation.Headless.GetValueOrDefault(),
Interactive = simulation.Interactive.GetValueOrDefault(),
TimeOfDay = simulation.TimeOfDay.GetValueOrDefault(new DateTime(1980, 3, 24, 12, 0, 0)),
Rain = simulation.Rain.GetValueOrDefault(),
Fog = simulation.Fog.GetValueOrDefault(),
Wetness = simulation.Wetness.GetValueOrDefault(),
Cloudiness = simulation.Cloudiness.GetValueOrDefault(),
UseTraffic = simulation.UseTraffic.GetValueOrDefault(),
UsePedestrians = simulation.UsePedestrians.GetValueOrDefault(),
Seed = simulation.Seed,
};
if (simulation.Vehicles == null || simulation.Vehicles.Length == 0 || simulation.ApiOnly.GetValueOrDefault())
{
Instance.SimConfig.Agents = Array.Empty <AgentConfig>();
}
else
{
Instance.SimConfig.Agents = simulation.Vehicles.Select(v =>
{
var vehicle = db.SingleOrDefault <VehicleModel>(v.Vehicle);
var config = new AgentConfig()
{
Name = vehicle.Name,
Url = vehicle.Url,
AssetBundle = vehicle.LocalPath,
Connection = v.Connection,
Sensors = vehicle.Sensors,
};
if (!string.IsNullOrEmpty(vehicle.BridgeType))
{
config.Bridge = Config.Bridges.Find(bridge => bridge.Name == vehicle.BridgeType);
if (config.Bridge == null)
{
throw new Exception($"Bridge {vehicle.BridgeType} not found");
}
}
return(config);
}).ToArray();
}
// load environment
if (Instance.SimConfig.ApiOnly)
{
var api = Instantiate(Instance.ApiManagerPrefab);
api.name = "ApiManager";
Instance.CurrentSimulation = simulation;
// ready to go!
Instance.CurrentSimulation.Status = "Running";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.READY);
}
else
{
var mapModel = db.Single <MapModel>(simulation.Map);
var mapBundlePath = mapModel.LocalPath;
mapBundle = null;
textureBundle = null;
ZipFile zip = new ZipFile(mapBundlePath);
{
string manfile;
ZipEntry entry = zip.GetEntry("manifest");
using (var ms = zip.GetInputStream(entry))
{
int streamSize = (int)entry.Size;
byte[] buffer = new byte[streamSize];
streamSize = ms.Read(buffer, 0, streamSize);
manfile = Encoding.UTF8.GetString(buffer);
}
Manifest manifest = new Deserializer().Deserialize <Manifest>(manfile);
if (manifest.bundleFormat != BundleConfig.MapBundleFormatVersion)
{
zip.Close();
// TODO: proper exception
throw new ZipException("BundleFormat version mismatch");
}
if (zip.FindEntry($"{manifest.bundleGuid}_environment_textures", false) != -1)
{
var texStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_environment_textures"));
textureBundle = AssetBundle.LoadFromStream(texStream, 0, 1 << 20);
}
string platform = SystemInfo.operatingSystemFamily == OperatingSystemFamily.Windows ? "windows" : "linux";
var mapStream = zip.GetInputStream(zip.GetEntry($"{manifest.bundleGuid}_environment_main_{platform}"));
mapBundle = AssetBundle.LoadFromStream(mapStream, 0, 1 << 20);
if (mapBundle == null)
{
throw new Exception($"Failed to load environment from '{mapModel.Name}' asset bundle");
}
textureBundle?.LoadAllAssets();
var scenes = mapBundle.GetAllScenePaths();
if (scenes.Length != 1)
{
throw new Exception($"Unsupported environment in '{mapModel.Name}' asset bundle, only 1 scene expected");
}
var sceneName = Path.GetFileNameWithoutExtension(scenes[0]);
Instance.SimConfig.MapName = sceneName;
Instance.SimConfig.MapUrl = mapModel.Url;
var isMasterSimulation = Instance.SimConfig.Clusters.Length > 0;
var loader =
SceneManager.LoadSceneAsync(sceneName,
isMasterSimulation? LoadSceneMode.Additive : LoadSceneMode.Single);
loader.completed += op =>
{
if (op.isDone)
{
if (isMasterSimulation)
{
SceneManager.SetActiveScene(SceneManager.GetSceneByName(sceneName));
}
textureBundle?.Unload(false);
mapBundle.Unload(false);
zip.Close();
SetupScene(simulation);
}
};
}
}
}
catch (ZipException ex)
{
Debug.Log($"Failed to start '{simulation.Name}' simulation");
Debug.LogException(ex);
// NOTE: In case of failure we have to update Simulation state
simulation.Status = "Invalid";
simulation.Error = "Out of date Map AssetBundle. Please check content website for updated bundle or rebuild the bundle.";
db.Update(simulation);
if (SceneManager.GetActiveScene().name != Instance.LoaderScene)
{
SceneManager.LoadScene(Instance.LoaderScene);
}
textureBundle?.Unload(false);
mapBundle?.Unload(false);
AssetBundle.UnloadAllAssetBundles(true);
Instance.CurrentSimulation = null;
// TODO: take ex.Message and append it to response here
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
}
catch (Exception ex)
{
Debug.Log($"Failed to start '{simulation.Name}' simulation");
Debug.LogException(ex);
// NOTE: In case of failure we have to update Simulation state
simulation.Status = "Invalid";
simulation.Error = ex.Message;
db.Update(simulation);
if (SceneManager.GetActiveScene().name != Instance.LoaderScene)
{
SceneManager.LoadScene(Instance.LoaderScene);
}
textureBundle?.Unload(false);
mapBundle?.Unload(false);
AssetBundle.UnloadAllAssetBundles(true);
Instance.CurrentSimulation = null;
// TODO: take ex.Message and append it to response here
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
}
}
});
}
public static void StartAsync(SimulationModel simulation)
{
Debug.Assert(Instance.CurrentSimulation == null);
Instance.Actions.Enqueue(() =>
{
using (var db = DatabaseManager.Open())
{
AssetBundle mapBundle = null;
try
{
if (Config.Headless && (simulation.Headless.HasValue && !simulation.Headless.Value))
{
throw new Exception("Simulator is configured to run in headless mode, only headless simulations are allowed");
}
simulation.Status = "Starting";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.PROGRESS);
Instance.SimConfig = new SimulationConfig()
{
Name = simulation.Name,
Clusters = db.Single <ClusterModel>(simulation.Cluster).Ips.Split(',').Where(c => c != "127.0.0.1").ToArray(),
ClusterName = db.Single <ClusterModel>(simulation.Cluster).Name,
ApiOnly = simulation.ApiOnly.GetValueOrDefault(),
Headless = simulation.Headless.GetValueOrDefault(),
Interactive = simulation.Interactive.GetValueOrDefault(),
TimeOfDay = simulation.TimeOfDay.GetValueOrDefault(DateTime.MinValue.AddHours(12)),
Rain = simulation.Rain.GetValueOrDefault(),
Fog = simulation.Fog.GetValueOrDefault(),
Wetness = simulation.Wetness.GetValueOrDefault(),
Cloudiness = simulation.Cloudiness.GetValueOrDefault(),
UseTraffic = simulation.UseTraffic.GetValueOrDefault(),
UsePedestrians = simulation.UsePedestrians.GetValueOrDefault(),
Seed = simulation.Seed,
};
if (simulation.Vehicles == null || simulation.Vehicles.Length == 0 || simulation.ApiOnly.GetValueOrDefault())
{
Instance.SimConfig.Agents = Array.Empty <AgentConfig>();
}
else
{
Instance.SimConfig.Agents = simulation.Vehicles.Select(v =>
{
var vehicle = db.SingleOrDefault <VehicleModel>(v.Vehicle);
var config = new AgentConfig()
{
Name = vehicle.Name,
AssetBundle = vehicle.LocalPath,
Connection = v.Connection,
Sensors = vehicle.Sensors,
};
if (!string.IsNullOrEmpty(vehicle.BridgeType))
{
config.Bridge = Config.Bridges.Find(bridge => bridge.Name == vehicle.BridgeType);
if (config.Bridge == null)
{
throw new Exception($"Bridge {vehicle.BridgeType} not found");
}
}
return(config);
}).ToArray();
}
// load environment
if (Instance.SimConfig.ApiOnly)
{
var api = Instantiate(Instance.ApiManagerPrefab);
api.name = "ApiManager";
Instance.CurrentSimulation = simulation;
// ready to go!
Instance.CurrentSimulation.Status = "Running";
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
Instance.LoaderUI.SetLoaderUIState(LoaderUI.LoaderUIStateType.READY);
}
else
{
var mapModel = db.Single <MapModel>(simulation.Map);
var mapBundlePath = mapModel.LocalPath;
// TODO: make this async
mapBundle = AssetBundle.LoadFromFile(mapBundlePath);
if (mapBundle == null)
{
throw new Exception($"Failed to load environment from '{mapModel.Name}' asset bundle");
}
var scenes = mapBundle.GetAllScenePaths();
if (scenes.Length != 1)
{
throw new Exception($"Unsupported environment in '{mapModel.Name}' asset bundle, only 1 scene expected");
}
var sceneName = Path.GetFileNameWithoutExtension(scenes[0]);
Instance.SimConfig.MapName = sceneName;
var loader = SceneManager.LoadSceneAsync(sceneName);
loader.completed += op =>
{
if (op.isDone)
{
mapBundle.Unload(false);
SetupScene(simulation);
}
};
}
}
catch (Exception ex)
{
Debug.Log($"Failed to start '{simulation.Name}' simulation");
Debug.LogException(ex);
// NOTE: In case of failure we have to update Simulation state
simulation.Status = "Invalid";
db.Update(simulation);
if (SceneManager.GetActiveScene().name != Instance.LoaderScene)
{
SceneManager.LoadScene(Instance.LoaderScene);
}
mapBundle?.Unload(false);
AssetBundle.UnloadAllAssetBundles(true);
Instance.CurrentSimulation = null;
// TODO: take ex.Message and append it to response here
NotificationManager.SendNotification("simulation", SimulationResponse.Create(simulation), simulation.Owner);
}
}
});
}
