private static void DrawDroneTools(Crazyflie drone)
{
EditorGUI.BeginChangeCheck();
bool timestampsEnabled = EditorGUILayout.Toggle("Show Timestamps", showTimestamps);
bool endpointsEnabled = EditorGUILayout.Toggle("Show Start/End Text", showEndpoints);
if (EditorGUI.EndChangeCheck())
{
EditorPrefs.SetBool(TIMESTAMPS_PREF_KEY, timestampsEnabled);
EditorPrefs.SetBool(ENDPOINTS_PREF_KEY, endpointsEnabled);
}
EditorGUILayout.Space(30.0f);
EditorGUI.BeginChangeCheck();
Color updatedColor = EditorGUILayout.ColorField(new GUIContent("Current Color"), drone.LightColor, false, false, false);
if (EditorGUI.EndChangeCheck())
{
drone.SetColorKeyframe(updatedColor, drone.Time);
EditorApplication.QueuePlayerLoopUpdate();
}
EditorGUILayout.Space(10);
EditorGUI.BeginChangeCheck();
Vector3 updatedPosition = EditorGUILayout.Vector3Field(new GUIContent("Current Position"), drone.transform.position);
if (EditorGUI.EndChangeCheck())
{
drone.SetWaypoint(updatedPosition, drone.Time);
}
EditorGUILayout.Space(10);
}
protected override void OnDrawScene(SceneView scene)
{
Waypoint keyframe = Target;
Crazyflie drone = keyframe.Drone;
CrazyflieEditor.Draw(drone);
Vector3 position = GlobalTransform.Transfomed(keyframe.Position);
if (keyframe.JointType != JointType.Linear)
{
DrawTangent(keyframe, false);
DrawTangent(keyframe, true);
}
if (targetPoint == 0)
{
CustomHandles.DrawCircle(position, 0.0375f, Color.yellow);
MoveHandle(keyframe, position, 0.06f, 0.045f, keyframe.SetPosition);
}
else
{
CustomHandles.DrawCircle(position, 0.0375f, Color.white);
}
if (Event.current.type == EventType.KeyDown && Event.current.keyCode == KeyCode.Delete)
{
drone.RemoveWaypoint(Target);
}
// -- GUI -- //
DrawGUI(keyframe);
}
public void ConnectToInvalidBluetoothID()
{
System.Threading.Tasks.Task.Run(async() =>
{
Crazyflie c = new Crazyflie("BluetoothLE#BluetoothLE00:00:00:00:00:00-00:00:00:00:00:00");
CrazyflieStatus status = await c.InitializeAsync();
Assert.IsTrue(status == CrazyflieStatus.InvalidDeviceId);
}).GetAwaiter().GetResult();
}
private static void DrawNonSelected(Crazyflie drone, GizmoType gizmo)
{
if (PreferencesMenu.PathEnabled)
{
//DrawDroneBounds(drone, Palette.UltraTranslucent);
List <Waypoint> waypoints = drone.Waypoints;
CustomHandles.DrawBezierPath(waypoints, Palette.UltraTranslucent, 2.0f);
}
}
/// -------- DRONE GUI -------- ///
public static void DrawDroneGUI(Crazyflie drone)
{
showTimestamps = EditorPrefs.GetBool(TIMESTAMPS_PREF_KEY, false);
showEndpoints = EditorPrefs.GetBool(ENDPOINTS_PREF_KEY, false);
Rect toolsRect = new Rect(20, 20, 300, 250);
CustomGUI.Window(toolsRect, "Drone Tools", DrawDroneTools, drone);
}
public void Apply()
{
UpdateContainment();
for (int i = 0; i < containedDroneCount; i++)
{
Crazyflie drone = this.hitDrones[i];
drone.SetColorKeyframe(Evaluate(drone.transform.position), TimelineUtilities.CurrentTime);
}
EditorApplication.QueuePlayerLoopUpdate();
}
private void DrawDrones()
{
for (int i = 0; i < containedDroneCount; i++)
{
Crazyflie drone = this.hitDrones[i];
Color color = Evaluate(drone.transform.position);
CrazyflieEditor.DrawDroneBounds(drone, color * 1.5f, false);
color.a = 0.5f;
CrazyflieEditor.DrawDroneBounds(drone, color, true);
}
}
private void Form1_Load(object sender, EventArgs e)
{
//rd = new RadioDriver[NUMS];
cf = new Crazyflie[NUMS];
for (int i = 0; i < NUMS; i++)
{
//rd[i] = new RadioDriver();
cf[i] = new Crazyflie();
}
RegisterHotKey(Handle, (int)Keys.Up, KeyModifiers.None, Keys.Up);
RegisterHotKey(Handle, (int)Keys.Down, KeyModifiers.None, Keys.Down);
}
public void InitializeTest()
{
IList <string> devices = null;
System.Threading.Tasks.Task.Run(async() =>
{
devices = await Crazyflie.ScanInterfacesAsync();
Assert.IsTrue(devices.Count >= 1);
Crazyflie c = new Crazyflie(devices[0]);
CrazyflieStatus status = await c.InitializeAsync();
Assert.IsTrue(status == CrazyflieStatus.Success);
}).GetAwaiter().GetResult();
}
public static void DrawColorKeyframes(Crazyflie drone, List <Waypoint> waypoints)
{
List <ColorKeyframe> colorKeyframes = drone.ColorKeyframes;
Vector3 dronePosition = drone.transform.position;
for (int i = 0; i < colorKeyframes.Count; i++)
{
ColorKeyframe keyframe = colorKeyframes[i];
keyframe.Position = KeyframeUtil.GetPosition(waypoints, keyframe.time, dronePosition);
keyframe.Tangent = KeyframeUtil.GetTangent(waypoints, keyframe.time, true, true);
keyframe.Offset = GetOffset(i, colorKeyframes);
DrawSelector(keyframe);
}
}
protected override void OnDrawScene(SceneView scene)
{
ColorKeyframe keyframe = Target;
Crazyflie drone = keyframe.Drone;
CrazyflieEditor.Draw(drone);
if (Event.current.type == EventType.KeyDown && Event.current.keyCode == KeyCode.Delete)
{
drone.RemoveColorKeyframe(keyframe);
}
// -- GUI -- //
DrawGUI(keyframe);
}
public void ScanInterfacesTest()
{
// Assuming at least once device is paired, verify it is found.
IList <string> devices = null;
System.Threading.Tasks.Task.Run(async() =>
{
devices = await Crazyflie.ScanInterfacesAsync();
}).GetAwaiter().GetResult();
Assert.IsTrue(devices.Count >= 1);
Debug.WriteLine("Found devices: ");
foreach (string device in devices)
{
Debug.WriteLine("ID: " + device);
}
}
private void UpdateContainment()
{
int hitCount = Physics.OverlapBoxNonAlloc(transform.position, 0.5f * transform.lossyScale, this.contained, transform.rotation);
this.containedDroneCount = 0;
for (int i = 0; i < hitCount; i++)
{
Collider collider = contained[i];
Crazyflie drone = collider.GetComponent <Crazyflie>();
if (drone == null)
{
continue;
}
this.hitDrones[containedDroneCount] = drone;
this.containedDroneCount += 1;
}
}
public static void DrawDroneBounds(Crazyflie drone, Color wireColor, bool solid = false)
{
Vector3 offsetPosition = drone.transform.position + DroneOffset;
Color previousColor = Handles.color;
Handles.color = wireColor;
if (solid)
{
Matrix4x4 matrix = Handles.matrix;
Handles.matrix = Matrix4x4.TRS(offsetPosition, Quaternion.identity, DroneSize);
Handles.CubeHandleCap(0, Vector3.zero, Quaternion.identity, 1.0f, EventType.Repaint);
Handles.matrix = matrix;
}
else
{
Handles.DrawWireCube(offsetPosition, DroneSize);
}
Handles.color = previousColor;
}
/// -------- DRONE HANDLES -------- ///
public static void DrawDroneHandles(Crazyflie drone, bool active)
{
float time = (float)TimelineUtilities.Director.time;
List <Waypoint> waypoints = drone.Waypoints;
CustomHandles.DrawBezierPath(waypoints, Color.white, 2.0f);
DrawWaypoints(waypoints);
ColorKeyframeEditor.DrawColorKeyframes(drone, waypoints);
if (active)
{
DrawDroneBounds(drone, Palette.Translucent);
// DrawDroneBounds(drone, Color.white);
EditorGUI.BeginChangeCheck();
Vector3 updatedPosition = CustomHandles.MoveHandle(drone.transform.position, 0.025f, 0.085f);
if (EditorGUI.EndChangeCheck())
{
drone.SetWaypoint(updatedPosition, time);
}
}
//CustomHandles.DrawTangent(waypoints, 0.25f, time);
}
private static void DrawColorKeyframeTools(ColorKeyframe keyframe)
{
Crazyflie drone = keyframe.Drone;
EditorGUI.BeginChangeCheck();
float updatedTime = EditorGUILayout.FloatField("Time (seconds)", (float)keyframe.time);
Color updatedColor = EditorGUILayout.ColorField(new GUIContent("Light Color"), keyframe.LightColor, false, false, false);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(keyframe, "Change Color Keyframe");
keyframe.time = Mathf.Max(0, updatedTime);
keyframe.LightColor = updatedColor;
drone.UpdateView();
TimelineEditor.Refresh(RefreshReason.ContentsModified);
}
EditorGUILayout.Space(30.0f);
if (GUILayout.Button("Delete"))
{
drone.RemoveColorKeyframe(keyframe);
}
}
static void CreateDrone()
{
if (DroneTemplate == null)
{
DroneTemplate = Resources.Load <GameObject>("Prefabs/crazyflie");
}
string operationName = "Create Drone";
Undo.RecordObject(Director, operationName);
Undo.RecordObject(Timeline, operationName);
int droneCount = FindObjectsOfType <Crazyflie>().Length;
GameObject drone = (GameObject)PrefabUtility.InstantiatePrefab(DroneTemplate);
drone.name = $"Drone {droneCount}";
drone.transform.position = new Vector3(0, 0.5f, 0);
drone.transform.SetAsLastSibling();
CrazyflieTrack track = Timeline.CreateTrack <CrazyflieTrack>(drone.name + " Track");
Crazyflie crazyflie = drone.GetComponent <Crazyflie>();
crazyflie?.Initialize(track);
crazyflie?.SetColorKeyframe(Color.black, 0.0f);
crazyflie?.SetWaypoint(drone.transform.position, 0.0f);
Director.SetGenericBinding(track, crazyflie);
AssetDatabase.Refresh();
EditorUtility.SetDirty(Timeline);
EditorUtility.SetDirty(track);
EditorUtility.SetDirty(Director);
UnityEditor.Timeline.TimelineEditor.Refresh(UnityEditor.Timeline.RefreshReason.ContentsAddedOrRemoved);
Undo.RegisterCreatedObjectUndo(drone, "Create Drone");
Undo.RegisterCreatedObjectUndo(track, "Create Drone");
Selection.activeObject = drone;
}
private static void DrawWaypointTools(Waypoint waypoint)
{
Crazyflie drone = waypoint.Drone;
EditorGUI.BeginChangeCheck();
float updatedTime = EditorGUILayout.FloatField("Time (seconds)", (float)waypoint.time);
JointType updatedJointType = (JointType)EditorGUILayout.EnumPopup("Joint Type", waypoint.JointType);
EditorGUILayout.Space(10);
Vector3 updatedPosition = EditorGUILayout.Vector3Field(new GUIContent("Position"), waypoint.Position);
EditorGUILayout.Space(10);
GUI.enabled = (updatedJointType == JointType.Continuous);
Vector3 updatedTangent = EditorGUILayout.Vector3Field(new GUIContent("Tangent"), waypoint.Tangent);
EditorGUILayout.Space(30);
GUI.enabled = true;
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(waypoint, "Change Waypoint");
waypoint.time = Mathf.Max(0, updatedTime);
waypoint.Position = updatedPosition;
waypoint.Tangent = updatedTangent;
waypoint.JointType = updatedJointType;
drone.UpdateView();
TimelineEditor.Refresh(RefreshReason.ContentsModified);
}
if (GUILayout.Button("Delete"))
{
drone.RemoveWaypoint(waypoint);
}
}
protected override void OnDrawScene(SceneView scene)
{
Crazyflie drone = Target.Drone;
CrazyflieEditor.Draw(drone, true);
}
public static void Draw(Crazyflie drone, bool active = false)
{
DrawDroneHandles(drone, active);
DrawDroneGUI(drone);
}
private static void DrawSelected(Crazyflie drone, GizmoType gizmo)
{
}
public void ResetReferences()
{
drone = null;
}
