public static void ChangeFocusUI(RosBridgeConnector connector, RosRobots robots)
{
for (int k = 0; k < robots.Robots.Count; k++)
{
var robotConnector = robots.Robots[k];
bool isFocus = robotConnector == connector;
robotConnector.UiObject.enabled = isFocus;
var b = robotConnector.UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
var robotSetup = robotConnector.Robot.GetComponent <RobotSetup>();
robotSetup.FollowCamera.gameObject.SetActive(isFocus);
robotSetup.FollowCamera.enabled = isFocus;
var inputControllers = robotConnector.Robot.GetComponentsInChildren <IInputController>().ToList();
if (isFocus)
{
FocusUI = robotSetup.UI;
inputControllers.ForEach(i => i.Enable());
// TODO move to gameobject based
SimulatorManager.Instance?.SetCurrentActiveRobot(robotSetup.gameObject);
}
else
{
inputControllers.ForEach(i => i.Disable());
}
}
VehicleList.Instances?.ForEach(x => x.ToggleDisplay(FocusUI.MainPanel.gameObject.activeSelf)); //hack
}
void Start()
{
Connector = new RosBridgeConnector();
Connector.BridgeStatus = BridgeStatus;
if (GameObject.Find("RosRobots") == null)
{
Robot.Setup(UserInterface, Connector);
}
else
{
Destroy(this);
Destroy(Robot.gameObject);
Destroy(GameObject.Find("UserInterface"));
}
string overrideAddress = System.Environment.GetEnvironmentVariable("ROS_BRIDGE_HOST");
if (overrideAddress != null)
{
Address = overrideAddress;
}
Ros.Bridge.canConnect = true;
}
public RosBridgeConnector Add()
{
var connector = new RosBridgeConnector();
activeAgents.Add(connector);
return(connector);
}
public RosBridgeConnector Add()
{
var robot = new RosBridgeConnector();
Robots.Add(robot);
return(robot);
}
public void Add(RosBridgeConnector connector)
{
var robotConnectInfo = Instantiate(connectTemplateUI, ScrollArea.transform);
var addressField = robotConnectInfo.bridgeAddress;
var robotOptionField = robotConnectInfo.robotOptions;
robotOptionField.AddOptions(MenuScript.Instance.GetRobotOptions());
if (connector.Port == RosBridgeConnector.DefaultPort)
{
addressField.text = connector.Address;
}
else
{
addressField.text = $"{connector.Address}:{connector.Port}";
}
robotOptionField.value = connector.robotType == null ? 0 : Robots.robotCandidates.IndexOf(connector.robotType);
addressField.onValueChanged.AddListener((value) =>
{
var splits = value.Split(new char[] { ':' }, 2);
if (splits.Length == 2)
{
int port;
if (int.TryParse(splits[1], out port))
{
connector.Address = splits[0];
connector.Port = port;
connector.Disconnect();
}
}
else if (splits.Length == 1)
{
connector.Address = splits[0];
connector.Port = RosBridgeConnector.DefaultPort;
connector.Disconnect();
}
});
robotOptionField.onValueChanged.AddListener((index) =>
{
connector.robotType = Robots.robotCandidates[index];
connector.Disconnect();
});
if (connector.robotType == null)
{
connector.robotType = Robots.robotCandidates[0];
}
connector.BridgeStatus = robotConnectInfo.transform.Find("ConnectionStatus").GetComponent <Text>();
connector.MenuObject = robotConnectInfo.gameObject;
transform.SetAsLastSibling();
MenuScript.Instance.RunButtonInteractiveCheck();
}
private void ActiveAgentChanged(RosBridgeConnector agent)
{
var missive = new ActiveAgentMissive
{
agent = agent
};
Missive.Send(missive);
}
public void SetCurrentActiveAgent(int index)
{
if (activeAgents.Count == 0)
{
return;
}
currentActiveAgent = activeAgents[index];
ActiveAgentChanged(currentActiveAgent);
currentActiveAgent.Agent?.GetComponent <VehicleController>()?.SetDashUIState();
}
public void SetCurrentActiveAgent(RosBridgeConnector agent)
{
if (agent == null)
{
return;
}
currentActiveAgent = agent;
ActiveAgentChanged(currentActiveAgent);
currentActiveAgent.Agent.GetComponent <VehicleController>()?.SetDashUIState();
}
public static void ChangeFocusUI(RosBridgeConnector connector)
{
for (int k = 0; k < ROSAgentManager.Instance.activeAgents.Count; k++)
{
var agentConnector = ROSAgentManager.Instance.activeAgents[k];
bool isFocus = agentConnector == connector;
agentConnector.UiObject.enabled = isFocus;
var b = agentConnector.UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
var agentSetup = agentConnector.Agent.GetComponent <AgentSetup>();
agentSetup.FollowCamera.gameObject.SetActive(isFocus);
agentSetup.FollowCamera.enabled = isFocus;
var inputControllers = agentConnector.Agent.GetComponentsInChildren <IInputController>().ToList();
if (isFocus)
{
FocusUI = agentSetup.UI;
inputControllers.ForEach(i => i.Enable());
agentSetup.GetComponentInChildren <LidarSensor>()?.Reset();
// TODO move to gameobject based
ROSAgentManager.Instance?.SetCurrentActiveAgent(agentConnector);
// set visual to true for radar, groundtruth2d, groundtruth3d, lidar TODO simplify and work for all sensors
agentSetup.GetComponentInChildren <RadarSensor>()?.EnableVisualize(true);
agentSetup.GetComponentInChildren <GroundTruthSensor2D>()?.EnableVisualize(true);
agentSetup.GetComponentInChildren <GroundTruthSensor3D>()?.EnableVisualize(true);
agentSetup.GetComponentInChildren <LidarSensor>()?.EnableVisualize(true);
var planarSensors = agentSetup.GetComponentsInChildren <PlanarLidarSensor>();
foreach (var item in planarSensors)
{
item.EnableVisualize(true);
}
}
else
{
inputControllers.ForEach(i => i.Disable());
// turn off sensors when not in focus
agentSetup.GetComponentInChildren <RadarSensor>()?.EnableVisualize(false);
agentSetup.GetComponentInChildren <GroundTruthSensor2D>()?.EnableVisualize(false);
agentSetup.GetComponentInChildren <GroundTruthSensor3D>()?.EnableVisualize(false);
agentSetup.GetComponentInChildren <LidarSensor>()?.EnableVisualize(false);
var planarSensors = agentSetup.GetComponentsInChildren <PlanarLidarSensor>();
foreach (var item in planarSensors)
{
item.EnableVisualize(false);
}
}
}
VehicleList.Instances?.ForEach(x => x.ToggleDisplay(FocusUI.MainPanel.gameObject.activeSelf)); //hack
}
public void AddAgent()
{
var agentSetup = ROSAgentManager.Instance.agentPrefabs[0];
var connector = new RosBridgeConnector(agentSetup);
ROSAgentManager.Instance.Add(connector);
var agentConnectInfo = Instantiate(connectTemplateUI, ScrollArea.transform);
var addressField = agentConnectInfo.bridgeAddress;
var agentOptionField = agentConnectInfo.agentOptions;
agentOptionField.AddOptions(GetAgentOptions());
addressField.text = connector.Address;
agentOptionField.value = ROSAgentManager.Instance.agentPrefabs.IndexOf(connector.agentType);
addressField.onValueChanged.AddListener((value) =>
{
var splits = value.Split(new char[] { ':' }, 2);
if (splits.Length == 2)
{
int port;
if (int.TryParse(splits[1], out port))
{
connector.Address = splits[0];
connector.Port = port;
connector.Disconnect();
}
}
else if (splits.Length == 1)
{
connector.Address = splits[0];
connector.Port = RosBridgeConnector.DefaultPort;
connector.Disconnect();
}
});
agentOptionField.onValueChanged.AddListener((index) =>
{
connector.agentType = ROSAgentManager.Instance.agentPrefabs[index];
connector.Disconnect();
});
connector.BridgeStatus = agentConnectInfo.transform.Find("ConnectionStatus").GetComponent <Text>();
connector.MenuObject = agentConnectInfo.gameObject;
transform.SetAsLastSibling();
RunButtonInteractiveCheck();
}
public void SetRobotSettings(RobotSetup setup, RosBridgeConnector connector)
{
if (setup == null)
{
return;
}
robotAddress.text = connector != null ? connector.PrettyAddress : "ROSBridgeConnector Missing!";
robotConnectorData.text = GetRobotConnectorData(connector);
//Button button = go.GetComponent<Button>();
//ColorBlock tempCB = button.colors;
//tempCB.normalColor = inactiveRobotUIColor;
}
public static void ChangeCameraFocus(RosBridgeConnector connector, RosRobots robots)
{
for (int k = 0; k < robots.Robots.Count; k++)
{
var isFocus = robots.Robots[k] == connector;
robots.Robots[k].UiObject.enabled = isFocus;
var b = robots.Robots[k].UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
robots.Robots[k].Robot.GetComponent <RobotSetup>().FollowCamera.gameObject.SetActive(isFocus);
}
}
public void InitRobotSettings(RobotSetup setup, RosBridgeConnector connector)
{
if (setup == null)
{
return;
}
GameObject go = Instantiate(robotUIPrefab, robotUIButtonHolder);
go.transform.GetChild(0).GetComponent <Image>().sprite = setup.robotUISprite ?? defaultRobotUISprite;
robotAddress.text = connector != null ? connector.PrettyAddress : "ROSBridgeConnector Missing!";
robotConnectorData.text = GetRobotConnectorData(connector);
Button button = go.GetComponent <Button>();
ColorBlock tempCB = button.colors;
tempCB.normalColor = inactiveRobotUIColor;
}
static void FormatAgent(StringBuilder sb, RosBridgeConnector ros)
{
if (ros.Bridge.Status == Ros.Status.Connected)
{
sb.AppendLine($"{ros.PrettyAddress}");
foreach (var topic in ros.Bridge.TopicPublishers)
{
sb.AppendLine($"PUB: {topic.Name} ({topic.Type})");
}
foreach (var topic in ros.Bridge.TopicSubscriptions)
{
sb.AppendLine($"SUB: {topic.Name} ({topic.Type})");
}
}
else
{
sb.AppendLine($"{ros.PrettyAddress} ({ros.Bridge.Status})");
}
}
void Start()
{
userInterface = Instantiate(uiPrefab);
bridgeStatus = userInterface.BridgeStatus;
Connector = new RosBridgeConnector();
Connector.BridgeStatus = bridgeStatus;
robotSetup.Setup(userInterface, Connector, null);
string overrideAddress = System.Environment.GetEnvironmentVariable("ROS_BRIDGE_HOST");
if (overrideAddress != null)
{
Address = overrideAddress;
}
Ros.Bridge.canConnect = true;
}
private void AddDevModeAgents()
{
activeAgents.Clear();
string overrideAddress = System.Environment.GetEnvironmentVariable("ROS_BRIDGE_HOST");
List <AgentSetup> tempAgents = FindObjectsOfType <AgentSetup>().ToList();
foreach (var agent in tempAgents)
{
RosBridgeConnector connector = new RosBridgeConnector(overrideAddress == null ? agent.address : overrideAddress, agent.port, agent);
UserInterfaceSetup uiSetup = Instantiate(uiPrefab);
uiSetup.agent = agent.gameObject;
connector.Agent = agent.gameObject;
connector.BridgeStatus = uiSetup.BridgeStatus;
activeAgents.Add(connector);
agent.Setup(uiSetup, connector, null);
}
RosBridgeConnector.canConnect = true;
SetCurrentActiveAgent(0);
}
private void SetConfigAgents()
{
var candidate = ROSAgentManager.Instance.agentPrefabs[0];
foreach (var staticVehicle in staticConfig.vehicles)
{
foreach (var agentPrefabs in ROSAgentManager.Instance.agentPrefabs)
{
if (agentPrefabs.name == staticVehicle.type)
{
candidate = agentPrefabs;
break;
}
}
var connector = new RosBridgeConnector(staticVehicle.address, staticVehicle.port, candidate);
ROSAgentManager.Instance.Add(connector);
}
ROSAgentManager.Instance.SaveAgents();
RosBridgeConnector.canConnect = true;
}
public static void ChangeFocusUI(RosBridgeConnector connector, RosRobots robots)
{
for (int k = 0; k < robots.Robots.Count; k++)
{
var robotConnector = robots.Robots[k];
bool isFocus = robotConnector == connector;
robotConnector.UiObject.enabled = isFocus;
var b = robotConnector.UiButton.GetComponent <Button>();
var c = b.colors;
c.normalColor = isFocus ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
b.colors = c;
var robotSetup = robotConnector.Robot.GetComponent <RobotSetup>();
robotSetup.FollowCamera.gameObject.SetActive(isFocus);
robotSetup.FollowCamera.enabled = isFocus;
if (isFocus)
{
FocusUI = robotSetup.UI;
}
}
VehicleList.Instances.ForEach(x => x.ToggleDisplay(FocusUI.MainPanel.gameObject.activeSelf)); //hack
}
private string GetRobotConnectorData(RosBridgeConnector connector)
{
if (SimulatorManager.Instance == null)
{
return("SimulatorManager Missing!");
}
if (connector == null)
{
return("ROSBridgeConnector Missing!");
}
StringBuilder sb = new StringBuilder();
sb.Append("\nAvailable ROS Bridges:\n\n");
if (SimulatorManager.Instance.IsRobots())
{
if (connector.Bridge.Status == Ros.Status.Connected)
{
sb.AppendLine($"{connector.PrettyAddress}");
foreach (var topic in connector.Bridge.TopicPublishers)
{
sb.AppendLine($"PUB: {topic.Name} ({topic.Type})");
}
foreach (var topic in connector.Bridge.TopicSubscriptions)
{
sb.AppendLine($"SUB: {topic.Name} ({topic.Type})");
}
}
else
{
sb.AppendLine($"{connector.PrettyAddress} ({connector.Bridge.Status})");
}
}
return(sb.ToString());
}
public void SpawnVehicle(Vector3 position, Quaternion rotation, RosBridgeConnector connector, VehicleConfig staticConfig, float height = 0.0f)
{
var agentImage = Instantiate(AgentUI, AgentList);
agentImage.transform.FindDeepChild("Address").GetComponent <Text>().text = connector.PrettyAddress;
var button = agentImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(connector);
SteeringWheelInputController.ChangeFocusSteerWheel(connector.Agent.GetComponentInChildren <SteeringWheelInputController>());
});
var agentSetup = connector.agentType;
GameObject bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, position, rotation); // TODO better system
AnalyticsManager.Instance?.EgoStartEvent(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject.name : agentSetup.gameObject.name);
var uiObject = Instantiate(UserInterfaceAgent);
uiObject.GetComponent <RfbClient>().Address = connector.Address;
var ui = uiObject.transform;
ui.GetComponent <UserInterfaceSetup>().agent = bot;
if (bot.name.Contains("duckiebot"))
{
HelpScreenUpdate helpScreen = uiObject.GetComponent <HelpScreenUpdate>();
helpScreen.Help = helpScreen.DuckieHelp;
helpScreen.agentsText = helpScreen.duckieText;
}
// offset for multiple vehicle UI
RectTransform rect = uiObject.GetComponent <UserInterfaceSetup>().MainPanel;
if (rect != null)
{
rect.offsetMax = new Vector2(0, rect.offsetMax.y - height);
}
connector.UiObject = uiObject;
connector.UiButton = agentImage;
connector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
bot.GetComponent <AgentSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), connector, staticConfig);
bot.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(false);
button.image.sprite = bot.GetComponent <AgentSetup>().agentUISprite;
//uiObject.enabled = i == 0;
var colors = button.colors;
//colors.normalColor = i == 0 ? new Color(1, 1, 1) : new Color(0.8f, 0.8f, 0.8f);
button.colors = colors;
var name = new GameObject();
name.transform.parent = AgentListCanvas.transform.FindDeepChild("Panel").transform;
connector.UiName = name.AddComponent <Text>();
connector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
connector.UiName.text = connector.PrettyAddress;
connector.UiName.fontSize = 16;
connector.UiName.fontStyle = FontStyle.Bold;
connector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
connector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
connector.Agent = bot;
}
public void Add(RosBridgeConnector connector)
{
activeAgents.Add(connector);
}
public void DespawnVehicle(RosBridgeConnector connector)
{
Destroy(connector.UiObject.gameObject);
Destroy(connector.UiName.gameObject);
Destroy(connector.UiButton);
}
public void Execute(JSONNode args)
{
var sim = Object.FindObjectOfType <SimulatorManager>();
if (sim == null)
{
ApiManager.Instance.SendError("SimulatorManager not found! Is scene loaded?");
return;
}
var name = args["name"].Value;
var type = args["type"].AsInt;
var position = args["state"]["transform"]["position"].ReadVector3();
var rotation = args["state"]["transform"]["rotation"].ReadVector3();
var velocity = args["state"]["velocity"].ReadVector3();
var angular_velocity = args["state"]["angular_velocity"].ReadVector3();
if (type == (int)AgentType.Ego)
{
var agents = ROSAgentManager.Instance;
foreach (var agent in agents.activeAgents)
{
agent.Agent.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(false);
}
var agentType = agents.agentPrefabs.Find(prefab => prefab.name == name);
var connector = new RosBridgeConnector(agentType);
agents.Add(connector);
sim.SpawnVehicle(position, Quaternion.Euler(rotation), connector, null);
agents.SetCurrentActiveAgent(connector);
var setup = connector.Agent.GetComponent <AgentSetup>();
setup.FollowCamera.gameObject.SetActive(true);
var body = connector.Agent.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
var uid = System.Guid.NewGuid().ToString();
ApiManager.Instance.Agents.Add(uid, connector.Agent);
ApiManager.Instance.AgentUID.Add(connector.Agent, uid);
foreach (var sensor in setup.GetSensors())
{
var sensor_uid = System.Guid.NewGuid().ToString();
ApiManager.Instance.SensorUID.Add(sensor, sensor_uid);
ApiManager.Instance.Sensors.Add(sensor_uid, sensor);
}
ApiManager.Instance.SendResult(new JSONString(uid));
}
else if (type == (int)AgentType.Npc)
{
var go = NPCManager.Instance.SpawnVehicle(name, position, Quaternion.Euler(rotation));
var npc = go.GetComponent <NPCControllerComponent>();
npc.Control = NPCControllerComponent.ControlType.Manual;
var body = go.GetComponent <Rigidbody>();
body.velocity = velocity;
body.angularVelocity = angular_velocity;
var uid = go.name;
ApiManager.Instance.Agents.Add(uid, go);
ApiManager.Instance.AgentUID.Add(go, uid);
ApiManager.Instance.SendResult(new JSONString(go.name));
}
else if (type == (int)AgentType.Pedestrian)
{
var ped = PedestrianManager.Instance.SpawnPedestrianApi(name, position, Quaternion.Euler(rotation));
if (ped == null)
{
ApiManager.Instance.SendError($"Unknown '{name}' pedestrian name");
return;
}
var uid = System.Guid.NewGuid().ToString();
ApiManager.Instance.Agents.Add(uid, ped);
ApiManager.Instance.AgentUID.Add(ped, uid);
ApiManager.Instance.SendResult(new JSONString(uid));
}
else
{
ApiManager.Instance.SendError($"Unsupported '{args["type"]}' type");
}
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
// needed for npc
foreach (Transform child in transform)
{
if (child.CompareTag("MainCamera"))
{
mainCamera = child.GetComponent <Camera>();
}
}
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.agentController = agentController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.LowQualityRendering.onValueChanged.AddListener(useLowQuality =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = !useLowQuality;
CameraMan?.SetHighQualityRendering(!useLowQuality);
});
ui.LowQualityRendering.onValueChanged.Invoke(ui.LowQualityRendering.isOn);
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCS(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.TrafficPhysicsModeToggle.onValueChanged.AddListener(enabled =>
{
FindObjectOfType <NPCManager>()?.ToggleNPCPhysicsMode(enabled);
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficPhysicsModeToggle.onValueChanged;
otherUI.TrafficPhysicsModeToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficPhysicsModeToggle.isOn = enabled;
otherUI.TrafficPhysicsModeToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Comm.BridgeClient;
a.OnBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.LowQualityRendering.isOn = !config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
if (config != null)
{
if (StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
ui.CheckStaticConfigTraffic();
}
}
// CES
CarInputController cc = GetComponent <CarInputController>();
if (cc != null)
{
cc[InputEvent.TOGGLE_SENSOR_EFFECTS].Press += ToggleSensorEffect;
cc[InputEvent.TOGGLE_TRAFFIC].Press += ToggleTraffic;
cc[InputEvent.TOGGLE_UI].Press += ToggleUI;
}
}
public void Setup(UserInterfaceSetup ui, RosBridgeConnector connector)
{
var bridge = connector.Bridge;
ui.WheelScale.onValueChanged.AddListener(value =>
{
try
{
CarController.SetWheelScale(float.Parse(value));
}
catch (System.Exception)
{
Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
}
});
if (SideCameras)
{
ui.SideCameras.onValueChanged.AddListener(SideCameras.SideCamToggleValueChanged);
}
if (LidarSensor != null)
{
ui.Lidar.onValueChanged.AddListener(LidarSensor.Enable);
}
ui.Gps.onValueChanged.AddListener(enabled => GpsDevice.PublishMessage = enabled);
ui.CameraPreview.renderCamera = Cameras[0].GetComponent <Camera>();
ui.PositionReset.RobotController = CarController;
ui.MainCameraToggle.Camera = Cameras[0].GetComponent <Camera>();
Cameras.ForEach(c =>
{
var pp = c.GetComponent <PostProcessingListener>();
if (pp != null)
{
ui.CameraSaturation.onValueChanged.AddListener(x =>
{
pp.SetSaturationValue(x);
});
}
ui.CameraFramerate.onValueChanged.AddListener(value =>
{
try
{
c.GetComponent <VideoToROS>().ValueChangeCallback(int.Parse(value));
}
catch (System.Exception)
{
Debug.Log("Duckiebot Cam FPS: Please input valid number!");
}
});
var ppb = c.GetComponent <PostProcessingBehaviour>();
if (ppb != null)
{
ui.HighQualityRendering.onValueChanged.AddListener(enabled => ppb.enabled = enabled);
}
});
ui.HighQualityRendering.onValueChanged.AddListener(enabled => FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled);
foreach (var item in NeedsBridge)
{
var a = item as Ros.IRosClient;
if (a == null)
{
Debug.Log(1111);
}
a.OnRosBridgeAvailable(bridge);
}
//NeedsBridge.ForEach(b =>
//{
// (b as Ros.IRosClient).OnRosBridgeAvailable(bridge);
//});
}
private void InitScene()
{
if (ROSAgentManager.Instance.currentMode == StartModeTypes.Dev)
{
return;
}
AgentListCanvas = Instantiate(UserInterfaceAgentList);
AgentList = AgentListCanvas.transform.FindDeepChild("Content"); // TODO needs to change !!! asap
float height = 0;
if (ROSAgentManager.Instance.activeAgents.Count > 1)
{
height = AgentListCanvas.transform.FindDeepChild("AgentList").GetComponent <RectTransform>().rect.height; // TODO needs to change !!! asap
}
else
{
AgentListCanvas.enabled = false;
}
// TODO: update spawn position from static config
Vector3 defaultSpawnPosition = new Vector3(1.0f, 0.018f, 0.7f);
Quaternion defaultSpawnRotation = Quaternion.identity;
var spawnInfos = FindObjectsOfType <SpawnInfo>();
var spawnInfoList = spawnInfos.ToList();
spawnInfoList.Reverse();
RosBridgeConnector first = null;
for (int i = 0; i < ROSAgentManager.Instance.activeAgents.Count; i++)
{
var connector = ROSAgentManager.Instance.activeAgents[i];
var agentSetup = connector.agentType;
var spawnPos = defaultSpawnPosition;
var spawnRot = defaultSpawnRotation;
if (spawnInfoList.Count > 0)
{
spawnPos = spawnInfoList[spawnInfoList.Count - 1].transform.position;
spawnRot = spawnInfoList[spawnInfoList.Count - 1].transform.rotation;
spawnInfoList.RemoveAt(spawnInfoList.Count - 1);
}
spawnPos -= new Vector3(0.25f * i, 0, 0);
if (FindObjectOfType <StaticConfigManager>() != null &&
StaticConfigManager.Instance.staticConfig.initialized &&
ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
var staticConfig = StaticConfigManager.Instance.staticConfig.vehicles[i];
var gps = agentSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = staticConfig.position;
if (pos.e != 0.0f || pos.n != 0.0f)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = staticConfig.orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
SpawnVehicle(spawnPos, spawnRot, connector, staticConfig, height);
}
else
{
SpawnVehicle(spawnPos, spawnRot, connector, null, height);
}
if (first == null)
{
first = connector;
}
}
if (first != null)
{
first.Agent.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(true);
UserInterfaceSetup.ChangeFocusUI(first);
SteeringWheelInputController.ChangeFocusSteerWheel(first.Agent.GetComponentInChildren <SteeringWheelInputController>());
ROSAgentManager.Instance?.SetCurrentActiveAgent(first);
}
InitGlobalShadowSettings(); // TODO better way for small maps
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector, VehicleConfig config)
{
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.PositionReset.RobotController = CarController;
ui.SensorEffectsToggle.onValueChanged.AddListener(enabled => ToggleSensorEffect(enabled));
// ui.WheelScale.onValueChanged.AddListener(value =>
// {
// try
// {
// CarController.SetWheelScale(float.Parse(value));
// }
// catch (System.Exception)
// {
// Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
// }
// });
// Cameras.ForEach(c =>
// {
// var pp = c.GetComponent<PostProcessingListener>();
// if (pp != null)
// {
// ui.CameraSaturation.onValueChanged.AddListener(x =>
// {
// pp.SetSaturationValue(x);
// });
// }
// });
ui.HighQualityRendering.onValueChanged.AddListener(enabled =>
{
FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled;
CameraMan?.SetHighQualityRendering(enabled);
});
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <TrafSpawner>()?.ReSpawnTrafficCars();
}
else
{
FindObjectOfType <TrafSpawner>()?.KillTrafficCars();
}
//hack to sync toggle value among cars UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.TrafficToggle.onValueChanged;
otherUI.TrafficToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.TrafficToggle.isOn = enabled;
otherUI.TrafficToggle.onValueChanged = oldEvent;
}
}
});
ui.PedestriansToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <PedestrianManager>()?.SpawnNPCPedestrians();
}
else
{
FindObjectOfType <PedestrianManager>()?.KillNPCPedestrians();
}
//hack to sync toggle value among car UIs
{
foreach (var otherUI in FindObjectsOfType <UserInterfaceSetup>())
{
if (otherUI == ui)
{
continue;
}
var oldEvent = otherUI.PedestriansToggle.onValueChanged;
otherUI.PedestriansToggle.onValueChanged = new UnityEngine.UI.Toggle.ToggleEvent();
otherUI.PedestriansToggle.isOn = enabled;
otherUI.PedestriansToggle.onValueChanged = oldEvent;
}
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Ros.IRosClient;
a.OnRosBridgeAvailable(bridge);
}
ui.AddTweakables(Tweakables);
if (config != null)
{
ui.ToggleTweakable(Tweakables, "Lidar", config.enable_lidar);
ui.ToggleTweakable(Tweakables, "GPS", config.enable_gps);
ui.ToggleTweakable(Tweakables, "IMU", config.enable_imu);
ui.ToggleTweakable(Tweakables, "Main Camera", config.enable_main_camera);
ui.ToggleTweakable(Tweakables, "Telephoto Camera", config.enable_telephoto_camera);
ui.HighQualityRendering.isOn = config.enable_high_quality_rendering;
ui.SensorEffectsToggle.isOn = config.enable_sensor_effects;
}
}
public virtual void Setup(UserInterfaceSetup ui, RosBridgeConnector connector)
{
Connector = connector;
UI = ui;
var bridge = connector.Bridge;
ui.WheelScale.onValueChanged.AddListener(value =>
{
try
{
CarController.SetWheelScale(float.Parse(value));
}
catch (System.Exception)
{
Debug.Log("ROS Wheel Force Scaler: Please input valid number!");
}
});
if (FollowCamera != null)
{
ui.SensorEffectsToggle.onValueChanged.AddListener(on =>
{
if (on)
{
FollowCamera.cullingMask = MainCam.cullingMask | 1 << LayerMask.NameToLayer("Sensor Effects");
}
else
{
FollowCamera.cullingMask = MainCam.cullingMask & ~(1 << LayerMask.NameToLayer("Sensor Effects"));
}
});
}
if (MainCam != null)
{
ui.CameraPreview.renderCamera = ui.CameraPreview.renderCamera == null ? MainCam : ui.CameraPreview.renderCamera;
MainCam.GetComponent <VideoToROS>().Init();
ui.MainCameraToggle.onValueChanged.AddListener(enabled =>
{
MainCam.enabled = enabled;
MainCam.GetComponent <VideoToROS>().enabled = enabled;
ui.CameraPreview.gameObject.SetActive(enabled);
});
}
SideCams.ForEach(cam =>
{
cam.GetComponent <VideoToROS>().Init();
ui.SideCameraToggle.onValueChanged.AddListener(enabled =>
{
cam.enabled = enabled;
cam.GetComponent <VideoToROS>().enabled = enabled;
});
});
if (TelephotoCam != null)
{
TelephotoCam.GetComponent <VideoToROS>().Init();
ui.TelephotoCamera.onValueChanged.AddListener(enabled =>
{
TelephotoCam.enabled = enabled;
TelephotoCam.GetComponent <VideoToROS>().enabled = enabled;
});
}
if (ColorSegmentCam != null)
{
var segmentColorer = FindObjectOfType <SegmentColorer>();
if (segmentColorer != null)
{
segmentColorer.ApplyToCamera(ColorSegmentCam);
ColorSegmentCam.GetComponent <VideoToROS>().Init();
ui.ColorSegmentPreview.renderCamera = ColorSegmentCam;
ui.ColorSegmentCamera.onValueChanged.AddListener(enabled =>
{
ColorSegmentCam.enabled = enabled;
ColorSegmentCam.GetComponent <VideoToROS>().enabled = enabled;
ui.ColorSegmentPreview.gameObject.SetActive(enabled);
});
}
}
if (DepthCameraEnabler != null)
{
DepthCameraEnabler.TextureDisplay = ui.ColorSegmentPreview;
}
if (imuSensor != null)
{
ui.Imu.onValueChanged.AddListener(imuSensor.Enable);
}
if (LidarSensor != null)
{
ui.Lidar.onValueChanged.AddListener(LidarSensor.Enable);
}
if (RidarSensor != null)
{
ui.Radar.onValueChanged.AddListener(RidarSensor.Enable);
}
ui.Gps.onValueChanged.AddListener(enabled => GpsDevice.PublishMessage = enabled);
ui.PositionReset.RobotController = CarController;
var Cameras = new List <Camera>();
if (MainCam != null)
{
Cameras.Add(MainCam);
}
if (TelephotoCam != null)
{
Cameras.Add(TelephotoCam);
}
if (SideCams != null)
{
Cameras.AddRange(SideCams);
}
ui.HDToggle.onValueChanged.AddListener(enabled =>
{
ui.CameraPreview.renderTexture = null;
if (enabled)
{
Cameras.ForEach(cam =>
{
if (cam != null)
{
var vs = cam.GetComponent <VideoToROS>();
vs.SwitchResolution(1920, 1080); //HD
ui.CameraPreview.SwitchResolution(vs.videoResolution.Item1, vs.videoResolution.Item2);
}
});
}
else
{
Cameras.ForEach(cam =>
{
if (cam != null)
{
var vs = cam.GetComponent <VideoToROS>();
vs.SwitchResolution();
ui.CameraPreview.SwitchResolution(vs.videoResolution.Item1, vs.videoResolution.Item2);
}
});
}
});
Cameras.ForEach(c =>
{
var pp = c.GetComponent <PostProcessingListener>();
if (pp != null)
{
ui.CameraSaturation.onValueChanged.AddListener(x =>
{
pp.SetSaturationValue(x);
});
}
ui.CameraFramerate.onValueChanged.AddListener(value =>
{
try
{
c.GetComponent <VideoToROS>().FPSChangeCallback(int.Parse(value));
}
catch (System.Exception)
{
Debug.Log("Duckiebot Cam FPS: Please input valid number!");
}
});
var ppb = c.GetComponent <PostProcessingBehaviour>();
if (ppb != null)
{
ui.HighQualityRendering.onValueChanged.AddListener(enabled => ppb.enabled = enabled);
}
});
ui.HighQualityRendering.onValueChanged.AddListener(enabled => FollowCamera.GetComponent <PostProcessingBehaviour>().enabled = enabled);
ui.TrafficToggle.onValueChanged.AddListener(enabled =>
{
if (enabled)
{
FindObjectOfType <TrafSpawner>()?.ReSpawnTrafficCars();
}
else
{
FindObjectOfType <TrafSpawner>()?.KillTrafficCars();
}
});
ui.SteerwheelFeedback.onValueChanged.AddListener(enabled =>
{
var steerwheels = FindObjectsOfType <SteeringWheelInputController>();
foreach (var steerwheel in steerwheels)
{
steerwheel.useFeedback = enabled;
}
});
foreach (var item in NeedsBridge)
{
if (item == null)
{
continue;
}
var a = item as Ros.IRosClient;
a.OnRosBridgeAvailable(bridge);
}
}