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;
}
private void InitScene()
{
if (ROSAgentManager.Instance.currentMode == StartModeTypes.Dev)
{
return;
}
var agentListCanvas = Instantiate(UserInterfaceAgentList);
var 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();
for (int i = 0; i < ROSAgentManager.Instance.activeAgents.Count; i++)
{
var agentImage = Instantiate(AgentUI, agentList);
agentImage.transform.FindDeepChild("Address").GetComponent <Text>().text = ROSAgentManager.Instance.activeAgents[i].PrettyAddress;
var ilocal = i;
var button = agentImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(ROSAgentManager.Instance.activeAgents[ilocal]);
SteeringWheelInputController.ChangeFocusSteerWheel(ROSAgentManager.Instance.activeAgents[ilocal].Agent.GetComponentInChildren <SteeringWheelInputController>());
});
var agentSetup = ROSAgentManager.Instance.activeAgents[i].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);
}
GameObject bot = new GameObject();
if (FindObjectOfType <StaticConfigManager>() != null)
{
if (StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig)
{
var gps = agentSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = StaticConfigManager.Instance.staticConfig.vehicles[i].position;
if (pos.e != 0.0 || pos.n != 0.0)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = StaticConfigManager.Instance.staticConfig.vehicles[i].orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, spawnPos, spawnRot);
}
}
else
{
bot = Instantiate(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject : agentSetup.gameObject, spawnPos - new Vector3(0.25f * i, 0, 0), spawnRot); // TODO better system
}
AnalyticsManager.Instance?.EgoStartEvent(agentSetup == null ? ROSAgentManager.Instance.agentPrefabs[0].gameObject.name : agentSetup.gameObject.name);
var bridgeConnector = ROSAgentManager.Instance.activeAgents[i];
var uiObject = Instantiate(UserInterfaceAgent);
uiObject.GetComponent <RfbClient>().Address = ROSAgentManager.Instance.activeAgents[i].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);
}
bridgeConnector.UiObject = uiObject;
bridgeConnector.UiButton = agentImage;
bridgeConnector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
var isVehicleConfig = false;
if (FindObjectOfType <StaticConfigManager>() != null)
{
isVehicleConfig = StaticConfigManager.Instance.staticConfig.initialized && ROSAgentManager.Instance.currentMode == StartModeTypes.StaticConfig;
}
bot.GetComponent <AgentSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), bridgeConnector, isVehicleConfig ? StaticConfigManager.Instance.staticConfig.vehicles[i] : null);
bot.GetComponent <AgentSetup>().FollowCamera.gameObject.SetActive(i == 0);
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($"agent_{i}_name");
name.transform.parent = agentListCanvas.transform.FindDeepChild("Panel").transform;
bridgeConnector.UiName = name.AddComponent <Text>();
bridgeConnector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
bridgeConnector.UiName.text = ROSAgentManager.Instance.activeAgents[i].PrettyAddress;
bridgeConnector.UiName.fontSize = 16;
bridgeConnector.UiName.fontStyle = FontStyle.Bold;
bridgeConnector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
bridgeConnector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
bridgeConnector.Agent = bot;
}
UserInterfaceSetup.ChangeFocusUI(ROSAgentManager.Instance.activeAgents[0]);
SteeringWheelInputController.ChangeFocusSteerWheel(ROSAgentManager.Instance.activeAgents[0].Agent.GetComponentInChildren <SteeringWheelInputController>());
ROSAgentManager.Instance?.SetCurrentActiveAgent(ROSAgentManager.Instance.activeAgents[0]);
//destroy spawn information after use
foreach (var spawnInfo in spawnInfos)
{
Destroy(spawnInfo.gameObject);
}
InitGlobalShadowSettings(); // TODO better way for small maps
}
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
}
void SceneLoadFinished(AsyncOperation op)
{
if (!Application.isEditor)
{
allLoadedBundles.ForEach(b => b.Unload(false));
allLoadedBundles.Clear();
}
var robotListCanvas = Instantiate(UserInterfaceRobotList);
var robotList = robotListCanvas.transform.FindDeepChild("Content");
float height = 0;
if (Robots.Robots.Count > 1)
{
height = robotListCanvas.transform.FindDeepChild("RobotList").GetComponent <RectTransform>().rect.height;
}
else
{
robotListCanvas.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();
//avoid first frame collision
//var sceneRobots = FindObjectsOfType<RobotSetup>();
//foreach (var robot in sceneRobots)
//{
// var cols = robot.GetComponentsInChildren<Collider>();
// foreach (var col in cols)
// {
// col.enabled = false;
// }
//}
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotImage = Instantiate(DuckiebotRobot, robotList);
robotImage.transform.FindDeepChild("Address").GetComponent <Text>().text = Robots.Robots[i].PrettyAddress;
var ilocal = i;
var button = robotImage.GetComponent <Button>();
button.onClick.AddListener(() =>
{
UserInterfaceSetup.ChangeFocusUI(Robots.Robots[ilocal], Robots);
SteeringWheelInputController.ChangeFocusSteerWheel(Robots.Robots[ilocal].Robot.GetComponentInChildren <SteeringWheelInputController>());
});
var robotSetup = Robots.Robots[i].robotType;
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);
}
GameObject bot = new GameObject();
if (staticConfig.initialized)
{
var gps = robotSetup.gameObject.transform.GetComponentInChildren <GpsDevice>();
var pos = staticConfig.vehicles[i].position;
if (pos.e != 0.0 || pos.n != 0.0)
{
spawnPos = gps.GetPosition(pos.e, pos.n);
spawnPos.y = pos.h;
var rot = staticConfig.vehicles[i].orientation;
spawnRot = Quaternion.Euler(rot.r, rot.y, rot.p);
}
bot = Instantiate(robotSetup == null ? Robots.robotCandidates[0].gameObject : robotSetup.gameObject, spawnPos, spawnRot);
}
else
{
bot = Instantiate(robotSetup == null ? Robots.robotCandidates[0].gameObject : robotSetup.gameObject, spawnPos - new Vector3(0.25f * i, 0, 0), spawnRot); // TODO better system
}
AnalyticsManager.Instance?.EgoStartEvent(robotSetup == null ? Robots.robotCandidates[0].gameObject.name : robotSetup.gameObject.name);
var bridgeConnector = Robots.Robots[i];
var uiObject = Instantiate(UserInterface);
uiObject.GetComponent <RfbClient>().Address = Robots.Robots[i].Address;
var ui = uiObject.transform;
if (bot.name.Contains("duckiebot"))
{
HelpScreenUpdate helpScreen = uiObject.GetComponent <HelpScreenUpdate>();
helpScreen.Help = helpScreen.DuckieHelp;
helpScreen.RobotsText = helpScreen.DuckieRobotsText;
}
// offset for multiple vehicle UI
RectTransform rect = uiObject.GetComponent <UserInterfaceSetup>().MainPanel;
if (rect != null)
{
rect.offsetMax = new Vector2(0, rect.offsetMax.y - height);
}
bridgeConnector.UiObject = uiObject;
bridgeConnector.UiButton = robotImage;
bridgeConnector.BridgeStatus = uiObject.GetComponent <UserInterfaceSetup>().BridgeStatus;
ui.GetComponent <HelpScreenUpdate>().Robots = Robots;
bot.GetComponent <RobotSetup>().Setup(ui.GetComponent <UserInterfaceSetup>(), bridgeConnector, staticConfig.initialized ? staticConfig.vehicles[i] : null);
bot.GetComponent <RobotSetup>().FollowCamera.gameObject.SetActive(i == 0);
button.image.sprite = bot.GetComponent <RobotSetup>().robotUISprite;
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($"robot_{i}_name");
name.transform.parent = robotListCanvas.transform.FindDeepChild("Panel").transform;
bridgeConnector.UiName = name.AddComponent <Text>();
bridgeConnector.UiName.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
bridgeConnector.UiName.text = Robots.Robots[i].PrettyAddress;
bridgeConnector.UiName.fontSize = 16;
bridgeConnector.UiName.fontStyle = FontStyle.Bold;
bridgeConnector.UiName.horizontalOverflow = HorizontalWrapMode.Overflow;
bridgeConnector.UiName.verticalOverflow = VerticalWrapMode.Overflow;
bridgeConnector.Robot = bot;
SimulatorManager.Instance?.AddActiveRobot(bot);
}
// hack for dev
SimulatorManager.Instance.SpawnDashUI();
UserInterfaceSetup.ChangeFocusUI(Robots.Robots[0], Robots);
SteeringWheelInputController.ChangeFocusSteerWheel(Robots.Robots[0].Robot.GetComponentInChildren <SteeringWheelInputController>());
SimulatorManager.Instance.SetCurrentActiveRobot(Robots.Robots[0].Robot);
//destroy spawn information after use
foreach (var spawnInfo in spawnInfos)
{
Destroy(spawnInfo.gameObject);
}
//Configure shadow settings due to huge difference between different cars
bool useRealSizeSetting = false;
for (int i = 0; i < Robots.Robots.Count; i++)
{
var robotSetup = Robots.Robots[i].robotType;
if (robotSetup.GetComponentInChildren <SimpleCarController>() == null)
{
useRealSizeSetting = true;
break;
}
}
if (useRealSizeSetting)
{
RealSizeGlobalShadowSettings();
}
UserInterfaceSetup.FocusUI.Invoke("CheckStaticConfigTraffic", 0.5f);
}