private void Update()
{
if (Input.GetKeyDown("space") && On)
{
var p = QueryJsonFactory.MakeQueryJson("visual-detection");
GcsSocket.Emit("gcs-query-received", p);
}
;
}
public static void StopMission()
{
if (!GcsSocket.Alive)
{
Debug.Log("Error: Socket connection could not be established.");
SceneFlowController.LoadErrorScene();
}
GcsSocket.Emit(STOP_MISSION,
ParticipantBehavior.Participant.CurrentMission);
}
public static void StartMission()
{
if (!GcsSocket.Alive)
{
Debug.Log("Error: Socket connection could not be established.");
SceneFlowController.LoadErrorScene();
}
GcsSocket.Emit(START_MISSION,
ParticipantBehavior.Participant.CurrentMission);
Started = true;
Lifecycle.EventManager.OnStarted();
}
/// <summary>
/// Starts the initialization process for a mission.
/// </summary>
public static void InitializeMission()
{
if (!GcsSocket.Alive)
{
Debug.Log("Error: Socket connection could not be established.");
SceneFlowController.LoadErrorScene();
}
;
var initializeMissionParameters = string.Format("mission{0}-{1}-{2}-{3}",
ParticipantBehavior.Participant.CurrentMission,
ParticipantBehavior.Participant.Data.Adaptive ? "true" : "false",
ParticipantBehavior.Participant.Data.Id,
ParticipantBehavior.Participant.Data.Transparent ? "true" : "false");
Debug.Log("Initializing Mission. Parameters: " + initializeMissionParameters);
GcsSocket.Emit(INITIALIZE_MISSION, initializeMissionParameters);
Lifecycle.EventManager.OnInitialize(ParticipantBehavior.Participant.CurrentMission);
}
// Extremely important to disconnect from ROS. OTherwise packets continue to flow.
private void OnApplicationQuit()
{
if (_ros != null)
{
_ros.Disconnect();
}
if (_ros1 != null)
{
_ros1.Disconnect();
}
if (_ros4 != null)
{
_ros4.Disconnect();
}
if (Isbot1.isOn && flag1 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
}
if (Isbot2.isOn && flag2 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
}
if (Isbot3.isOn && flag3 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
}
if (Isbot4.isOn && flag4 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
}
}
/*
* private void OnDestroy()
* {
* if (Isbot1.isOn && flag1 == false)
* GcsSocket.Emit(GcsSocket.TOGGLE_MANUAL_CONTROL, 1);
* if (Isbot2.isOn && flag2 == false)
* GcsSocket.Emit(GcsSocket.TOGGLE_MANUAL_CONTROL, 1);
* if (Isbot3.isOn && flag3 == false)
* GcsSocket.Emit(GcsSocket.TOGGLE_MANUAL_CONTROL, 1);
* if (Isbot4.isOn && flag4 == false)
* GcsSocket.Emit(GcsSocket.TOGGLE_MANUAL_CONTROL, 1);
* }
*/
private void ActiveToggle()
{
if (Isbot1.isOn)
{
_topic = "/robot1/cmd_vel";
_ros = _ros1;
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
flag1 = false;
}
else if (Isbot2.isOn)
{
_topic = "/robot2/cmd_vel";
_ros = _ros1;
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
2);
flag2 = false;
}
else if (Isbot3.isOn)
{
_topic = "/robot3/cmd_vel";
_ros = _ros4;
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
3);
flag3 = false;
}
else if (Isbot4.isOn)
{
_topic = "/robot4/cmd_vel";
_ros = _ros4;
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
4);
flag4 = false;
}
// turn waypoints back on
if (!Isbot1.isOn && flag1 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
1);
flag1 = true;
}
else if (!Isbot2.isOn && flag2 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
2);
flag2 = true;
}
else if (!Isbot3.isOn && flag3 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
3);
flag3 = true;
}
else if (!Isbot4.isOn && flag4 == false)
{
GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL,
4);
flag4 = true;
}
//TODO
/*
* if (CurrentRobot == robotId)
* {
* _topic = "";
* CurrentRobot = -1;
* GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL, CurrentRobot);
* Debug.Log(robotId);
* Debug.Log(CurrentRobot);
* Debug.Log(_topic);
* Debug.Log(_ros);
* return;
* }
*
*
* // The current robot cannot be equal to robotID because of the statement above.
* // If there is a robot selected, turn off manual control
* if (CurrentRobot <= 1)
* {
* GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL, CurrentRobot);
* }
*
* CurrentRobot = robotId;
* GcsSocket.Emit(ServerURL.TOGGLE_MANUAL_CONTROL, CurrentRobot);
* _topic = string.Format("/robot{0}/cmd_vel", CurrentRobot);
* _ros = _ros4;
*
* Debug.Log(robotId);
* Debug.Log(CurrentRobot);
* Debug.Log(_topic);
* Debug.Log(_ros);*/
}
