public void FillOptionFields()
{
foreach (string key in keyToOptionField.Keys)
{
keyToOptionField[key].text = RobotOptions.GetValue(key);
}
foreach (string key in keyToToggleField.Keys)
{
keyToToggleField[key].isOn = RobotOptions.GetValue(key) == "True";
}
}
public void SelectRobot(RobotScriptableObject activeRobot)
{
MenuController.activeRobot = activeRobot;
PlayerPrefs.SetString("lastRobot", activeRobot.robotName);
// Delete existing options
foreach (GameObject option in options)
{
Destroy(option);
}
// Make new ones for the new robot
foreach (Option option in activeRobot.options)
{
if (option.type == OptionType.String)
{
GameObject optionObj = Instantiate(optionPrefab, optionEntryParent);
options.Add(optionObj);
TextMeshProUGUI text = optionObj.GetComponentInChildren <TextMeshProUGUI>();
text.text = option.name;
TMP_InputField input_field = optionObj.GetComponentInChildren <TMP_InputField>();
input_field.text = RobotOptions.GetValue(activeRobot.robotName + option.name);
input_field.onEndEdit.AddListener(delegate
{
RobotOptions.SetValue(activeRobot.robotName + option.name, input_field.text);
});
keyToOptionField[activeRobot.robotName + option.name] = input_field;
}
else if (option.type == OptionType.Boolean)
{
GameObject optionObj = Instantiate(optionTogglePrefab, optionEntryParent);
options.Add(optionObj);
Toggle toggle = optionObj.GetComponent <Toggle>();
toggle.onValueChanged.AddListener(delegate
{
RobotOptions.SetValue(activeRobot.robotName + option.name, toggle.isOn ? "True" : "False");
});
if (RobotOptions.GetValue(activeRobot.robotName + option.name) == "True")
{
toggle.isOn = true;
}
TextMeshProUGUI text = optionObj.GetComponentInChildren <TextMeshProUGUI>();
text.text = option.name;
keyToToggleField[activeRobot.robotName + option.name] = toggle;
}
}
}
void Awake()
{
simpleCarController = this.GetComponent <SimpleCarController>();
rosConnector = this.GetComponent <RosConnector>();
imagePublisher = this.GetComponent <ImagePublisher>();
driveStatusPublisher = this.GetComponent <DriveStatusPublisher>();
motorsSubscriber = this.GetComponent <NRCMotorsSubscriber>();
simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True");
rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP");
imagePublisher.Topic = RobotOptions.GetValue(robotName + "Camera Topic");
driveStatusPublisher.Topic = RobotOptions.GetValue(robotName + "Drive Status Topic");
motorsSubscriber.Topic = RobotOptions.GetValue(robotName + "Motors Topic");
}
void Awake()
{
simpleCarController = this.GetComponent <SimpleCarController>();
imagePublisher = this.GetComponent <ImagePublisher>();
laserScanPublisher = this.GetComponent <LaserScanPublisher>();
iMUPublisher = this.GetComponent <IMUPublisher>();
velocityPublisher = this.GetComponent <VelocityPublisher>();
gPSPublisher = this.GetComponent <GPSPublisher>();
motorsSubscriber = this.GetComponent <IGVCMotorsSubscriber>();
simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True");
//rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP");
if (RobotOptions.Exists(robotName + "Camera Topic"))
{
imagePublisher.Topic = RobotOptions.GetValue(robotName + "Camera Topic");
}
if (RobotOptions.Exists(robotName + "Show Camera View") && RobotOptions.GetValue(robotName + "Show Camera View").Equals("True"))
{
robotCamera.targetDisplay = 0;
robotCamera.enabled = true;
mainCamera.enabled = false;
// If we are publishing the camera, we need to duplicate it because the publishing script
// will override the camera output.
if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True"))
{
GameObject robotCameraDupe = Instantiate(robotCamera.gameObject, robotCamera.gameObject.transform.parent);
}
}
if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True"))
{
imagePublisher.enabled = true;
robotCamera.enabled = true;
}
laserScanPublisher.Topic = RobotOptions.GetValue(robotName + "Laser Scan Topic");
iMUPublisher.Topic = RobotOptions.GetValue(robotName + "IMU Topic");
velocityPublisher.Topic = RobotOptions.GetValue(robotName + "Velocity Topic");
gPSPublisher.Topic = RobotOptions.GetValue(robotName + "GPS Topic");
motorsSubscriber.Topic = RobotOptions.GetValue(robotName + "Motors Topic");
}
public void Start()
{
// Load up Robot Options
if (!alreadyInit)
{
RobotOptions.LoadSaved(robots);
}
else
{
FillOptionFields();
}
string robotNameToLoad = PlayerPrefs.GetString("lastRobot", robots[0].robotName);
int levelIdToLoad = PlayerPrefs.GetInt("lastLevel", levels[0].levelId);
// Generate level toggles
foreach (LevelScriptableObject level in levels)
{
GameObject levelToggle = Instantiate(togglePrefab, togglesParent);
Toggle toggle = levelToggle.GetComponent <Toggle>();
toggle.onValueChanged.AddListener(delegate
{
SelectLevel(level);
});
toggle.group = togglesGroup;
if (level.levelId == levelIdToLoad)
{
activeLevel = level;
toggle.isOn = true;
}
TextMeshProUGUI text = levelToggle.GetComponentInChildren <TextMeshProUGUI>();
text.text = level.levelName;
}
// Generate robot toggles
foreach (RobotScriptableObject robot in robots)
{
GameObject robotToggle = Instantiate(togglePrefab, robotsParent);
Toggle toggle = robotToggle.GetComponent <Toggle>();
toggle.onValueChanged.AddListener(delegate
{
SelectRobot(robot);
});
toggle.group = robotsGroup;
if (robot.robotName == robotNameToLoad)
{
activeRobot = robot;
toggle.isOn = true;
}
TextMeshProUGUI text = robotToggle.GetComponentInChildren <TextMeshProUGUI>();
text.text = robot.robotName;
}
alreadyInit = true;
if (RosConnector.instance.IsConnected.WaitOne(0))
{
RunButton.interactable = true;
RunButton.GetComponentInChildren <TextMeshProUGUI>().text = "Run";
}
}
public void DefaultOptions()
{
RobotOptions.LoadDefaults(robots);
FillOptionFields();
}
public void LoadOptions()
{
RobotOptions.LoadSaved(robots);
FillOptionFields();
}
public void SaveOptions()
{
RobotOptions.Save();
}
