private bool checkIfCompatible(selectAgent a)
{
if (taskType == "Construction")
{
return(a.agentType == "ConstructionAgent");
}
else
{
return(a.agentType == "TransportAgent");
}
}
// Update is called once per frame
void FixedUpdate()
{
OnRightClick rc = plane.GetComponent <OnRightClick>();
if (rc.clicked_off)
{
foreach (GameObject task in construction_tasks.Values)
{
SelectTask selections = task.GetComponent <SelectTask>();
selections.rightClickAndSelected = false;
}
foreach (GameObject task in transport_tasks.Values)
{
SelectTask selections = task.GetComponent <SelectTask>();
selections.rightClickAndSelected = false;
}
if (selectAgent.currentlySelected.Count != 0)
{
selectAgent.DeselectAll();
}
rc.clicked_off = false;
}
if (!start_recieved)
{
rosSocket.Publish(updateID, message);
}
// Update agents through the update function
if (agent_message != null)
{
if (!agents.ContainsKey(agent_message.name))
{
GameObject addingAgent = new GameObject();
try
{
if (agent_message.agent_type == "ConstructionAgent")
{
addingAgent = Instantiate(contructionAgentModel, getVectFromMessage(agent_message.pose), getQuadFromMsg(agent_message.pose));
}
else
{
addingAgent = Instantiate(transportAgentModel, getVectFromMessage(agent_message.pose), getQuadFromMsg(agent_message.pose));
}
selectAgent menu = addingAgent.AddComponent <selectAgent>();
menu.agentType = agent_message.agent_type;
BoxCollider box = addingAgent.AddComponent <BoxCollider>();
box.size = box.size * 1.3f;
NameDisplay name_display = addingAgent.AddComponent <NameDisplay>();
if (agent_message.agent_type == "ConstructionAgent")
{
name_display.colour = red;
}
else
{
name_display.colour = blue;
}
AgentInfo agent_info = addingAgent.AddComponent <AgentInfo>();
name_display.name = agent_message.name;
menu.agentName = agent_message.name;
menu.agentCurrentTask = agent_message.current_task;
menu.currentAction = agent_message.current_action;
menu.agentCapabilities = getStringCompatibilities(agent_message.capabilities);
menu.movementSpeed = agent_message.movement_speed.ToString();
menu.isAtTask = agent_message.is_at_task.ToString();
agents.Add(agent_message.name, addingAgent);
} catch (ArgumentException e)
{
print("Some reason, the agent has already been added... " + e);
Destroy(addingAgent);
agents.Remove(agent_message.name);
}
}
else
{
GameObject currentAgent;
agents.TryGetValue(agent_message.name, out currentAgent);
currentAgent.transform.position = getVectFromMessage(agent_message.pose);
currentAgent.transform.localRotation = getQuadFromMsg(agent_message.pose);
selectAgent menu = currentAgent.GetComponent <selectAgent>();
menu.agentCurrentTask = agent_message.current_task;
menu.currentAction = agent_message.current_action;
menu.agentCapabilities = getStringCompatibilities(agent_message.capabilities);
menu.movementSpeed = agent_message.movement_speed.ToString();
menu.isAtTask = agent_message.is_at_task.ToString();
}
agent_message = null;
}
if (construction_task_message != null)
{
string PERM_CONTRUCTION_NAME = String.Copy(construction_task_message.name);
if ((!construction_tasks.ContainsKey(construction_task_message.name)))
{
try
{
if (!construction_task_message.is_complete)
{
GameObject addingConstructionTask = Instantiate(contructionTaskModel, getVectFromMessage(construction_task_message.pose, new Vector3(0, 1f, 0)), getQuadFromMsg(construction_task_message.pose));
construction_tasks.Add(PERM_CONTRUCTION_NAME, addingConstructionTask);
NameDisplay name_display = addingConstructionTask.AddComponent <NameDisplay>();
name_display.name = PERM_CONTRUCTION_NAME;
name_display.colour = offRed;
BoxCollider box = addingConstructionTask.AddComponent <BoxCollider>();
box.size = box.size * 1.3f;
SelectTask taskSelect = addingConstructionTask.AddComponent <SelectTask>();
taskSelect.taskName = PERM_CONTRUCTION_NAME;
taskSelect.taskType = "Construction";
}
}
catch (ArgumentException e)
{
print("Some reason, the contruction task has already been added... " + e);
}
}
else
{
GameObject currentConstructionTask;
construction_tasks.TryGetValue(construction_task_message.name, out currentConstructionTask);
if (construction_task_message.is_complete)
{
construction_tasks.Remove(construction_task_message.name);
Destroy(currentConstructionTask);
}
}
construction_task_message = null;
}
if (transport_task_message != null)
{
if (!transport_tasks.ContainsKey(transport_task_message.name))
{
if (!transport_task_message.is_complete)
{
GameObject addingTransportTask = Instantiate(transportTaskModel, getVectFromMessage(transport_task_message.pose, new Vector3(0, 0.47f, 0)), getQuadFromMsg(transport_task_message.pose));
GameObject addingTransportTaskEnd = Instantiate(dartModel, getVectFromMessage(transport_task_message.end_pose, new Vector3(0, 1.252f, 0)), Quaternion.Euler(90, 0, 0));
addingTransportTaskEnd.transform.localScale = new Vector3(200, 200, 200);
// Makes the transport task end a child of the adding transport task.
// addingTransportTaskEnd.transform.parent = addingTransportTask.transform;
transport_tasks.Add(transport_task_message.name, addingTransportTask);
LineRenderer line = addingTransportTask.AddComponent <LineRenderer>();
line.material = lineMaterial;
NameDisplay name_display = addingTransportTask.AddComponent <NameDisplay>();
name_display.colour = offBlue;
line.SetPositions(new Vector3[2] {
new Vector3(addingTransportTask.transform.position.x, 0.01f, addingTransportTask.transform.position.z),
new Vector3(addingTransportTaskEnd.transform.position.x, 0.01f, addingTransportTaskEnd.transform.position.z)
});
line.startWidth = 0.05f;
line.endWidth = 0.5f;
name_display.name = transport_task_message.name;
BoxCollider box = addingTransportTask.AddComponent <BoxCollider>();
box.size = box.size * 1.3f;
SelectTask taskSelect = addingTransportTask.AddComponent <SelectTask>();
taskSelect.taskName = transport_task_message.name;
taskSelect.taskType = "Transport";
}
}
else
{
GameObject currentTransportTask;
transport_tasks.TryGetValue(transport_task_message.name, out currentTransportTask);
try
{
currentTransportTask.transform.position = getVectFromMessage(transport_task_message.pose, new Vector3(0, 0.47f, 0));
LineRenderer line = currentTransportTask.GetComponent <LineRenderer>();
line.SetPosition(0, new Vector3(currentTransportTask.transform.position.x, 0.01f, currentTransportTask.transform.position.z));
if (transport_task_message.is_complete)
{
transport_tasks.Remove(transport_task_message.name);
Destroy(currentTransportTask);
}
} catch (MissingReferenceException e)
{
print("Transport task was destroyed, the task is still in the dictionary for some reasons... Deleting it again.");
transport_tasks.Remove(transport_task_message.name);
}
}
transport_task_message = null;
}
if (construction_tasks.Count != 0)
{
foreach (GameObject task in construction_tasks.Values)
{
task.transform.localEulerAngles = new Vector3(45, task.transform.localEulerAngles.y + 1f, 90);
}
}
}