/// <summary>
/// Navigation algorithm gallery window.
/// </summary>
void NavListWindow(int windowID)
{
// back button and refresh button
GUILayout.BeginHorizontal();
if (GUILayout.Button("<", GUILayout.Width(30f)))
{
_windows.Pop();
}
if (GUILayout.Button("R", GUILayout.Width(30f)))
{
NavLoader.SearchForPlugins();
}
GUILayout.Label("Nav Algorithm List");
GUILayout.EndHorizontal();
// gallery
foreach (string s in NavLoader.pluginsFound)
{
if (GUILayout.Button(s))
{
settings.navigationAssemblyName = s;
_windows.Pop();
}
}
GUI.DragWindow();
}
/// <summary>
/// Randomly select simulation parameters.
/// </summary>
public void Randomize()
{
title = "Random Settings";
numberOfTests = 3;
environmentName = EnvLoader.RandomEnvironmentName();
robotName = BotLoader.RandomRobotName();
navigationAssemblyName = NavLoader.RandomPluginName();
randomizeDestination = true;
continueOnNavObjectiveComplete = true;
continueOnRobotIsStuck = true;
}
/// <summary>
/// Halt current simulation.
/// Load the next simulation in batch, or
/// change state to State.end if at the end of batch.
/// </summary>
public static void NextSimulation()
{
// stop current simulation
if (state == State.simulating)
{
Halt(StopCode.Unspecified);
}
// next in batch
simulationNumber++;
if (simulationNumber > batch.Count)
{
// end of batch
Halt(StopCode.Unspecified);
End();
return;
}
Debug.Log("Simulation NextSimulation: " + simulationNumber + " of " + batch.Count);
// load simulation settings
settings = batch[simulationNumber - 1];
Log.Settings();
// load environment
EnvLoader.SearchForEnvironments();
environment = EnvLoader.LoadEnvironment(settings.environmentName);
destination.transform.position = RandomInBounds(Instance.bounds);
// load robot
if (robot)
{
CamController.RemoveAreaOfInterest(robot);
}
BotLoader.SearchForRobots();
robot = BotLoader.LoadRobot(settings.robotName);
robot.navigation = NavLoader.LoadPlugin(settings.navigationAssemblyName);
// configure camera
CamController.AddAreaOfInterest(robot);
CamController.SetViewMode(CamController.ViewMode.Birdseye);
CamController.SetAreaOfInterest(robot);
// reset test number
testNumber = 0;
NextTest();
}
/// <summary>
/// Edit Simulation.Settings window function (always top of _windows stack)
/// </summary>
/// <param name="windowID">Window ID.</param>
void SimulationSettingsWindow(int windowID)
{
GUILayout.BeginHorizontal();
if (!_settings.active)
{
// if this settings is already batched
if (Simulation.batch.Contains(_settings))
{
// button to remove from batch
if (GUILayout.Button("Remove from batch"))
{
Simulation.batch.Remove(_settings);
_windows.Pop();
return;
}
// cancel button
if (GUILayout.Button("Close window"))
{
_windows.Pop();
return;
}
}
// this settings isn't in the batch
else
{
// button to add valid settings to batch
if (_settings.isValid)
{
if (GUILayout.Button("Add to batch"))
{
Simulation.batch.Add(_settings);
_windows.Pop();
return;
}
}
// cancel button
if (GUILayout.Button("Cancel"))
{
_windows.Pop();
return;
}
}
}
else
{
GUILayout.Button("Simulation running!");
if (GUILayout.Button("Close"))
{
_windows.Pop();
return;
}
}
GUILayout.EndHorizontal();
float lw = 200f;
// copy settings for UI
string title = settings.title;
string robotName = settings.robotName;
string environmentName = settings.environmentName;
string navigationAssemblyName = settings.navigationAssemblyName;
string numberOfTests = settings.numberOfTests.ToString();
string testTime = settings.maximumTestTime.ToString();
bool randomDest = settings.randomizeDestination;
bool randomStart = settings.randomizeOrigin;
bool repeatOnComplete = settings.continueOnNavObjectiveComplete;
bool repeatOnStuck = settings.continueOnRobotIsStuck;
// if settings is in use by Simulation
if (settings.active)
{
// display only
GUILayout.Label(settings.title + "\n" +
settings.robotName + "\n" +
settings.environmentName + "\n" +
settings.navigationAssemblyName);
}
else
{
// provide controls for editing
// edit title
GUILayout.BeginHorizontal();
GUILayout.Label("Title", GUILayout.Width(lw));
title = GUILayout.TextField(title);
GUILayout.EndHorizontal();
// edit number of tests
GUILayout.BeginHorizontal();
GUILayout.Label("Number of tests: ", GUILayout.Width(lw));
numberOfTests = GUILayout.TextField(numberOfTests);
GUILayout.EndHorizontal();
// change the robot
GUILayout.BeginHorizontal();
GUILayout.Label("Robot selection: ", GUILayout.Width(lw));
if (GUILayout.Button(robotName))
{
BotLoader.SearchForRobots();
_windows.Push(RobotGalleryWindow);
}
GUILayout.EndHorizontal();
// change the environment
GUILayout.BeginHorizontal();
GUILayout.Label("Environment selection: ", GUILayout.Width(lw));
if (GUILayout.Button(environmentName))
{
EnvLoader.SearchForEnvironments();
_windows.Push(EnvironmentGalleryWindow);
}
GUILayout.EndHorizontal();
// change the navigation assembly
GUILayout.BeginHorizontal();
GUILayout.Label("Algorithm selection: ", GUILayout.Width(lw));
if (GUILayout.Button(navigationAssemblyName))
{
NavLoader.SearchForPlugins();
_windows.Push(NavListWindow);
}
GUILayout.EndHorizontal();
}
// toggle random start position
GUILayout.BeginHorizontal();
GUILayout.Label("Randomize Start: ", GUILayout.Width(lw));
randomStart = GUILayout.Toggle(randomStart, "");
GUILayout.EndHorizontal();
// toggle random destination position
GUILayout.BeginHorizontal();
GUILayout.Label("Randomize Destination: ", GUILayout.Width(lw));
randomDest = GUILayout.Toggle(randomDest, "");
GUILayout.EndHorizontal();
// if settings is in use by Simulation
if (settings.active)
{
// display time remaining and edit maximum test time
GUILayout.BeginHorizontal();
GUILayout.Label("Time (s): " + Simulation.time.ToString("G2"), GUILayout.Width(lw));
testTime = GUILayout.TextField(testTime);
GUILayout.EndHorizontal();
}
else
{
// edit maximum test time
GUILayout.BeginHorizontal();
GUILayout.Label("Maximum Simulation Time (s): ", GUILayout.Width(lw));
testTime = GUILayout.TextField(testTime);
GUILayout.EndHorizontal();
}
// edit toggle for automatically starting a new test
GUILayout.BeginHorizontal();
GUILayout.Label("Repeat on complete: ", GUILayout.Width(lw));
repeatOnComplete = GUILayout.Toggle(repeatOnComplete, "");
GUILayout.EndHorizontal();
// edit toggle for stuck detection
GUILayout.BeginHorizontal();
GUILayout.Label("Repeat on stuck: ", GUILayout.Width(lw));
repeatOnStuck = GUILayout.Toggle(repeatOnStuck, "");
GUILayout.EndHorizontal();
// check for valid data input before copying back to settings object
bool valid = true;
foreach (char c in Strings.invalidFileNameChars)
{
if (title.Contains(c.ToString()))
{
valid = false;
}
}
if (valid)
{
settings.title = title;
}
if (Strings.IsDigitsOnly(numberOfTests))
{
try {
settings.numberOfTests = Convert.ToInt32(numberOfTests);
}
catch {
Debug.Log("User should enter a number...");
}
}
if (Strings.IsDigitsOnly(testTime))
{
try {
settings.maximumTestTime = Convert.ToInt32(testTime);
}
catch {
Debug.Log("User should enter a number...");
}
}
// copy valid data back to settings
settings.robotName = robotName;
settings.environmentName = environmentName;
settings.navigationAssemblyName = navigationAssemblyName;
settings.randomizeDestination = randomDest;
settings.randomizeOrigin = randomStart;
settings.continueOnNavObjectiveComplete = repeatOnComplete;
settings.continueOnRobotIsStuck = repeatOnStuck;
GUI.DragWindow();
}
