/* AirSimServer()
{
}*/
void Start()
{
vehicleList = new List<Transform>();
pedestrianList = new List<Transform>();
comp = new ServerCompanion();
VehicleCompanion.InitDelegators();
var settings = AirSimSettings.GetSettings();
if (IP == "")
IP = settings.LocalHostIP;
if (Port == -1)
Port = settings.GetPort(AirSimSettings.AgentType.Server);
// Start server
bool status = PInvokeWrapper.StartMainServer(Port);
Debug.LogWarning("Main server started on port " + Port.ToString());
if(!status)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("AirSim main failed to start on port " + Port.ToString() + "!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
#else
Application.Quit();
#endif
}
}
public static DataCaptureScript GetCameraCaptureForRecording()
{
AirSimSettings.CamerasSettings recordCamSettings = AirSimSettings.GetSettings().Recording.Cameras[0];
DataCaptureScript recordCam = Vehicles[0].VehicleInterface.GetCameraCapture(recordCamSettings.CameraName);
return(recordCam);
}
//Sets up the cameras based on the settings.json file to render on the sub windows.
//Make sure the cameras are child of object with tag "ViewCameras"
public void SetUpViewCameras()
{
GameObject viewCameras = GameObject.FindGameObjectWithTag("ViewCameras");
cameraViews[0] = transform.GetChild(0).gameObject;
cameraViews[1] = transform.GetChild(1).gameObject;
cameraViews[2] = transform.GetChild(2).gameObject;
cameraViews[0].SetActive(false);
cameraViews[1].SetActive(false);
cameraViews[2].SetActive(false);
if (!viewCameras)
{
isViewCamerasSet = false;
return;
}
isViewCamerasSet = viewCameras.activeInHierarchy;
if (isViewCamerasSet)
{
for (int i = 0; i < 3; i++)
{
AirSimSettings.SubWindowsSettings windowSettings = AirSimSettings.GetSettings().SubWindows[i];
ImageType imageType = (ImageType)windowSettings.ImageType;
viewCameras.transform.GetChild(windowSettings.WindowID).GetComponent <CameraFiltersScript>().SetShaderEffect(imageType);
cameraViews[windowSettings.WindowID].SetActive(windowSettings.Visible);
if (imageType == ImageType.DepthVis)
{
cameraViews[windowSettings.WindowID].transform.GetChild(0).gameObject.SetActive(true);
}
}
}
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this, vehicle_name);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
if (isServerStarted == false)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
#else
Application.Quit();
#endif
}
AirSimGlobal.Instance.Weather.AttachToVehicle(this);
count = UnityEngine.Random.Range(0, 10);
}
private void Awake()
{
//Needs to be the first initialization in the Simulation if not done.
if (AirSimSettings.GetSettings() == null)
{
AirSimSettings.Initialize();
}
}
private void Awake()
{
//Needs to be the first initialization in the Simulation.
if (!AirSimSettings.Initialize())
{
EditorApplication.Exit(1);
}
}
public bool StartVehicleServer(string hostIP)
{
if (serverStarted == false)
{
Debug.LogWarning("Starting server for " + vehicleType + AirSimSettings.GetSettings().SimMode);
serverStarted = PInvokeWrapper.StartServer(vehicleType, AirSimSettings.GetSettings().SimMode, basePortId);
Debug.LogWarning("Server started: " + serverStarted + " - " + basePortId);
return(serverStarted);
}
return(true);
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
}
// Start is called before the first frame update
void Start()
{
string simMode = AirSimSettings.GetSettings().SimMode;
int basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(simMode == DRONE_MODE);
bool isServerStarted = PInvokeWrapper.StartServer(simMode, basePortId);
if (isServerStarted == false)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
#else
Application.Quit();
#endif
}
}
public static bool Initialize()
{
settings = new AirSimSettings();
settings.SetDefaults();
if (!Directory.Exists(AIRSIM_DATA_FOLDER))
{
Directory.CreateDirectory(AIRSIM_DATA_FOLDER);
}
string jsonString = GetSettingsContent();
JsonUtility.FromJsonOverwrite(jsonString, settings);
return(true);
}
public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface)
{
var companion = new VehicleCompanion(vehicleInterface);
if (AirSimSettings.GetSettings().SimMode == "Car")
{
companion.vehicleName = "PhysXCar";
}
else if (AirSimSettings.GetSettings().SimMode == "Multirotor")
{
companion.vehicleName = "SimpleFlight";
}
Vehicles.Add(companion);
return(companion);
}
public void SetUpCamera(string cameraName, bool isDrone)
{
this.cameraName = cameraName;
renderCam = GetComponent <Camera>();
fov = renderCam.fieldOfView;
recorder = new DataRecorder();
waitUntilNext = new WaitForSeconds(AirSimSettings.GetSettings().Recording.RecordInterval);
waitForEndOfFrame = new WaitForEndOfFrame();
shaderScript = GetComponent <CameraFiltersScript>();
renderCam.enabled = false;
shaderScript.effect = ImageType.Count;
recorder.IsDrone(isDrone);
SetUpRenderTextureForCapture(ImageType.Scene);
SetUpRenderType(ImageType.Scene);
}
public static void EndWS()
{
var port = AirSimSettings.GetFlaskPort();
HttpClient client = new HttpClient();
client.Get(new System.Uri("http://localhost:" + port + "/api/WebSocket/end"), HttpCompletionOption.AllResponseContent, (r) =>
{
if (r.IsSuccessStatusCode)
{
Console.WriteLine("Success to end WebSocket");
}
else
{
Console.WriteLine("Falied to end WebSocket");
}
byte[] responseData = r.ReadAsByteArray();
});
}
private void Awake()
{
String[] Data = Environment.GetCommandLineArgs();
//before your loop
// var csv = new StringBuilder();
var flaskPortArg = @"/flaskPortArg=";
int flaskPort, unityport;
var unityDronwPortArg = @"/unityDronePort=";
for (int i = 0; i < Data.Length; i++)
{
if (Data[i].Contains(flaskPortArg))
{
// csv.Append("parameter" + i);
// csv.Append(Data[i]);
var portstr = Data[i].Substring(flaskPortArg.Length);
// csv.AppendLine(portstr);
flaskPort = int.Parse(portstr);
// csv.Append(flaskPort);
AirSimSettings.SetFlaskPort(flaskPort);
}
else if (Data[i].Contains(unityDronwPortArg))
{
// csv.Append("parameter" + i);
// csv.Append(Data[i]);
var portstr = Data[i].Substring(unityDronwPortArg.Length);
// csv.AppendLine(portstr);
unityport = int.Parse(portstr);
// csv.AppendLine("unityport");
// csv.Append(unityport);
AirSimSettings.PreInitialize(unityport);
}
}
//after your loop
// File.WriteAllText(@"C:\Git\AirSim-1\Unity\log.txt", csv.ToString());
//Needs to be the first initialization in the Simulation if not done.
if (AirSimSettings.GetSettings() == null)
{
AirSimSettings.Initialize();
}
}
//Ensure to call this method as the first statement, from derived class `Start()` method.
protected void Start()
{
isDrone = this is Drone ? true : false;
if (isDrone)
{
GetComponent <Rigidbody>().useGravity = false;
}
InitializeVehicle();
airsimInterface = VehicleCompanion.GetVehicleCompanion(this);
isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
if (isServerStarted == false)
{
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
}
}
private void SetUpRenderTextureForCapture(ImageType type)
{
if (shaderScript.effect == type)
{
return;
}
AirSimSettings.CameraCaptureSettings captureSettings = AirSimSettings.GetSettings().GetCaptureSettingsBasedOnImageType(type);
renderTexture = RenderTexture.GetTemporary(captureSettings.Width, captureSettings.Height, 24, RenderTextureFormat.ARGB32);
renderTexture.Create();
renderCam.targetTexture = renderTexture;
renderCam.enabled = true;
screenShot = new Texture2D(captureSettings.Width, captureSettings.Height, TextureFormat.RGB24, false);
captureRect = new Rect(0, 0, captureSettings.Width, captureSettings.Height);
}
//Thread to capture the images and save them to documents. This will be started by pressing the Record button on HUD.
private IEnumerator CaptureFrames()
{
AirSimSettings.CamerasSettings recordCamSettings = AirSimSettings.GetSettings().Recording.Cameras[0];
SetUpRenderType((ImageType)recordCamSettings.ImageType);
SetUpRenderTextureForCapture((ImageType)recordCamSettings.ImageType);
while (isCapturing)
{
yield return(waitForEndOfFrame);
RenderTexture.active = renderTexture;
screenShot.ReadPixels(captureRect, 0, 0);
screenShot.Apply();
byte[] bytes = screenShot.EncodeToPNG();
RenderTexture.active = null;
DataRecorder.ImageData data = VehicleCompanion.GetRecordingData();
data.image = bytes;
recorder.AddImageDataToQueue(data);
yield return(waitUntilNext);
}
}
public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface, string vehicleName)
{
var companion = new VehicleCompanion(vehicleInterface);
if (AirSimSettings.GetSettings().SimMode == "Car")
{
companion.vehicleType = "PhysXCar";
companion.vehicleName = vehicleName;
}
else if (AirSimSettings.GetSettings().SimMode == "Multirotor")
{
companion.vehicleType = "SimpleFlight";
}
Vehicles.Add(companion);
Debug.LogWarning("Number of cars: " + Vehicles.Count.ToString() + "Sim mode - " + AirSimSettings.GetSettings().SimMode + ". Added - " + companion.vehicleName);
return(companion);
}
public static bool Initialize()
{
settings = new AirSimSettings();
settings.SetDefaults();
if (!Directory.Exists(AIRSIM_DATA_FOLDER))
{
Directory.CreateDirectory(AIRSIM_DATA_FOLDER);
}
string jsonString = GetSettingsContent();
if (jsonString == String.Empty)
{
EditorUtility.DisplayDialog("Missing 'Settings.json' file!!!", "'Settings.json' file either not present or not configured properly.", "Exit");
return(false);
}
JsonUtility.FromJsonOverwrite(jsonString, settings);
return(true);
}
public void Start()
{
pedestrian_name = transform.GetComponentInParent <PedestrianOverhead>().name;
InitialisePedestrian();
pedestrianInterface = PedestrianCompanion.GetPedestrianCompanion(this, pedestrian_name);
isServerStarted = pedestrianInterface.StartPedestrianServer(AirSimSettings.GetSettings().GetPort(AirSimSettings.AgentType.Pedestrian));
if (isServerStarted == false)
{
#if UNITY_EDITOR
EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
EditorApplication.Exit(1);
#else
Application.Quit();
#endif
}
//AirSimGlobal.Instance.Weather.AttachToVehicle(this);
//count = UnityEngine.Random.Range(0, 10);
pedestrianControls = new PedestrianControls(0, 0);
}
private VehicleCompanion(IVehicleInterface vehicleInterface)
{
VehicleInterface = vehicleInterface;
isDrone = vehicleInterface is Drone ? true : false;
basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(isDrone);
}
public bool StartVehicleServer(string hostIP)
{
return(PInvokeWrapper.StartServer(vehicleName, AirSimSettings.GetSettings().SimMode, basePortId));
}
