void Awake()
{
if (!active)
{
enabled = false;
return;
}
init = false;
ROSController.StartROS(OnRosInit);
}
void Start()
{
// forward = target.Forward;
if (ROSController.instance != null)
{
ROSController.StartROS(OnRosInit);
}
// if ( ModeController.isTrainingMode )
cam.cullingMask |= pathMask.value;
// else
// cam.cullingMask &= ~pathMask.value;
}
public void ConnectToRobot(string robotName)
{
Robots[robotName].Connected = true;
Robots[robotName].RosBridge.Connect();
Robot robot = Robots[robotName];
GameObject robotObject = Instantiate(Resources.Load(_robotPrefabPath + robot.Name)) as GameObject;
ROSController rosController = robotObject.GetComponent <ROSController>();
rosController.InitialiseRobot(robot.RosBridge, robot.RobotConfig, robotName);
ActiveRobots.Add(robotName, rosController);
PlayerUIController.Instance.AddRobotToList(robot.Name);
}
public ROSController GetRosControllerFromName(string robotName)
{
ROSController rosController = null;
if (ActiveRobots.TryGetValue(robotName, out rosController))
{
return(rosController);
}
else
{
return(null);
}
}
void Awake()
{
if (instance != null && instance != this)
{
Debug.LogError("Too many ROSControllers! Only one must exist.");
Destroy(gameObject);
return;
}
GetConfigFile();
Debug.LogWarning("Main thread ID " + System.Threading.Thread.CurrentThread.ManagedThreadId);
status = ROSStatus.Disconnected;
// Application.targetFrameRate = 0;
if (QualitySettings.vSyncCount == 2)
{
Application.targetFrameRate = 30;
}
else
{
Application.targetFrameRate = 60;
}
// Debug.Log ( "ros master is " + ROS.ROS_MASTER_URI );
if ((string.IsNullOrEmpty(Environment.GetEnvironmentVariable("ROS_MASTER_URI", EnvironmentVariableTarget.User)) &&
string.IsNullOrEmpty(Environment.GetEnvironmentVariable("ROS_MASTER_URI", EnvironmentVariableTarget.Machine))) || overrideURI)
{
ROS.ROS_MASTER_URI = rosMasterURI;
}
if (overrideIP)
{
if (rosIP == "0.0.0.0")
{
Debug.LogError("host IP is set to override but address is set to 0.0.0.0");
}
else
{
ROS.ROS_IP = rosIP;
}
}
// delayedStart = true;
instance = this;
initComplete = false;
StartROS();
new Thread(new ThreadStart(UpdateMasterConnection)).Start();
}
public void DisconnectAllRobots()
{
foreach (KeyValuePair <string, Robot> pair in Robots)
{
ROSController rosController = null;
pair.Value.Connected = false;
if (ActiveRobots.TryGetValue(pair.Key, out rosController))
{
ActiveRobots[pair.Key].Destroy();
ActiveRobots.Remove(pair.Key);
}
}
}
private void CleanUpDisconnectedRobot(ROSController robot)
{
Debug.LogError("Robot [" + robot.gameObject.name + "] lost connection!");
DisconnectRobot(robot.RobotName);
PlayerUIController.Instance.UpdateRobotList();
PlayerUIController.Instance.RobotWasDisconnected(Robots[robot.RobotName]);
if (ActiveRobots.Count > 0)
{
SelectRobot(ActiveRobots.First().Value);
}
else
{
WaypointController.Instance.ClearAllWaypoints();
}
}
private void OnRobotDebugListValueChanged(int newIndex)
{
if (_oldDebugRobotSelection != null)
{
_oldDebugRobotSelection.UnsubscribeToRobotLogsUpdate(OnReceivedRobotLog);
}
string selectedRobot = _robotDebugSelectRobot.options[newIndex].text;
ROSController robot = RobotMasterController.Instance.GetRosControllerFromName(selectedRobot);
if (robot != null)
{
InitialiseRobotDebugPanel(robot.GetRobotLogs());
robot.SubscribeToRobotLogsUpdate(OnReceivedRobotLog);
_oldDebugRobotSelection = robot;
}
}
private void OnSelectedRobotValueChanged(int newIndex)
{
ROSController selectedRobot = RobotMasterController.Instance.GetRosControllerFromName(_selectRobot.options[newIndex].text);
UpdateUI(selectedRobot);
RobotMasterController.Instance.SelectRobot(selectedRobot);
if (CurrentUIState != UIState.RobotDebug)
{
if (_oldSelectRobotSelection != null)
{
_oldSelectRobotSelection.UnsubscribeToRobotLogsUpdate(OnReceivedRobotLog);
}
if (selectedRobot != null)
{
selectedRobot.SubscribeToRobotLogsUpdate(OnReceivedRobotLog);
}
}
_oldSelectRobotSelection = selectedRobot;
}
public void SelectRobot(ROSController rosController)
{
if (SelectedRobot != null)
{
SelectedRobot.OnDeselected();
}
if (rosController == null)
{
SelectedRobot = null;
WaypointController.Instance.ClearAllWaypoints();
}
else
{
SelectedRobot = rosController;
SelectedRobot.OnSelected();
PlayerController.Instance.FocusCameraOn(SelectedRobot.transform);
}
PlayerUIController.Instance.UpdateUI(rosController);
}
public void UpdateUI(ROSController robot)
{
if (robot == null)
{
CurrentRobotDrivingUIState = RobotDrivingUIState.NoRobotSelected;
WaypointController.Instance.ClearAllWaypoints();
_overrideRobotPosition.interactable = false;
_clearAllWaypoints.interactable = false;
_routeName.interactable = false;
_loadRoute.interactable = false;
_saveRoute.interactable = false;
_resetRobot.interactable = false;
}
else
{
_overrideRobotPosition.interactable = true;
_clearAllWaypoints.interactable = true;
_routeName.interactable = true;
_resetRobot.interactable = true;
if (robot.CurrenLocomotionType == ROSController.RobotLocomotionType.DIRECT)
{
CurrentRobotDrivingUIState = RobotDrivingUIState.RobotStopped;
}
else
{
if (robot.CurrentRobotLocomotionState == ROSController.RobotLocomotionState.MOVING)
{
CurrentRobotDrivingUIState = RobotDrivingUIState.RobotDriving;
}
else if (robot.CurrentRobotLocomotionState == ROSController.RobotLocomotionState.STOPPED)
{
CurrentRobotDrivingUIState = RobotDrivingUIState.RobotStopped;
}
}
}
}
void Start()
{
ROSController.StartROS(OnRosInit);
}
public void OnExitButton()
{
#if !UNITY_EDITOR
ROSController.StopROS(new System.Action(() => { Application.Quit(); }));
#endif
}
void Awake()
{
ROSController.StartROS(OnRosInit);
}
public void RobotLostConnection(ROSController robot)
{
_hasRobotLostConnection = true;
_robotLostConnection = robot;
}
