public override void OnInspectorGUI()
{
DronesManager dronesManager = (DronesManager)target;
MonitorArray.monitor(target, "arrayone", dronesManager.dronesConfigs, (int i) => {
dronesManager.dronesConfigs[i] = new DroneConfig(i);
dronesManager.dronesConfigs[i].color = UnityEngine.Random.ColorHSV(0f, 1f, 1f, 1f, 0.5f, 1f);
});
DrawDefaultInspector();
if (GUILayout.Button("Recreate drones"))
{
dronesManager.RecreateDrones();
}
if (GUILayout.Button("Remove drones"))
{
dronesManager.DestroyDrones();
}
// OSC actions
if (GUILayout.Button("OSC - Connect - all"))
{
dronesManager.ConnectDrones();
}
if (GUILayout.Button("OSC - Start Position Sync"))
{
dronesManager.StartPositionSync();
}
if (GUILayout.Button("OSC - Stop Position Sync"))
{
dronesManager.StopPositionSync();
}
if (GUILayout.Button("OSC - Reset Kalman Filter - all"))
{
dronesManager.ResetKalmanFilters();
}
if (GUILayout.Button("OSC - EMERGENCY - all"))
{
dronesManager.SendEmergencySignals();
}
}
IEnumerator StartingCoroutine()
{
yield return(new WaitForSeconds(0.1f));
if (this.shouldInitialize == false) // DEBUG PURPOSE ONLY : I dont like waiting
{
this.system_initialized = true;
yield break;
}
this._drones_osc_client = this._oscManager.CreateClient("drones");
this._drones_meta_osc_client = this._oscManager.CreateClient("drones_meta");
this._oscManager.SendOscMessage(this._drones_meta_osc_client,
"/server/restart",
1);
yield return(new WaitForSeconds(5));
ConnectClientToDroneServer();
print("Waiting for LPS and Drones managers init");
yield return(new WaitForSeconds(0.1f));
print("Connecting drones");
_dronesManager.ConnectDrones();
yield return(new WaitForSeconds(5));
print("Sending LPS configs");
_lpsManager.SendConfigOsc();
yield return(new WaitForSeconds(1));
print("Reseting kalman filters");
_dronesManager.ResetKalmanFilters();
print("Waiting for kalman filters to converge");
yield return(new WaitForSeconds(1)); // It may not be enough. TODO : compute real position variance and wait for it to converge
//this._oscManager.SendOscMessage(this._drones_osc_client,
// "/log/*/send_toc");
print("SYSTEM OK");
this.system_initialized = true;
}
