private static void AddPerceptionOverride(XmlDocument xmlDoc, XmlNode parentNode, PlatformConfig c)
{
// Add sensor if overridden
if (!c.GetUseDefaultSensorModalities())
{
XmlNode childNode = xmlDoc.CreateElement("Sensor");
parentNode.AppendChild(childNode);
PopulatePerceptionModes(xmlDoc, childNode, c.GetSensorModalities());
}
// Add classifier if overridden
if (!c.GetUseDefaultClassifierModalities())
{
XmlNode childNode = xmlDoc.CreateElement("Classifier");
parentNode.AppendChild(childNode);
PopulatePerceptionModes(xmlDoc, childNode, c.GetClassifierModalities());
}
}
// Remote platform category parsing
private static void ParseRemote(XmlNode node, SoaConfig soaConfig)
{
PlatformConfig newConfig = null; // Dummy value
bool newConfigValid;
// Go through each child node
foreach (XmlNode c in node.ChildNodes)
{
newConfigValid = true;
try
{
switch (c.Name)
{
case "HeavyUAV":
{
newConfig = new HeavyUAVConfig(
GetFloatAttribute(c, "x_km", 0),
GetFloatAttribute(c, "y_km", 0),
GetFloatAttribute(c, "z_km", 0),
GetIntAttribute(c, "id", -1), // Default -1 means runtime determined id field
GetOptionalFloatAttribute(c, "sensorBeamwidth_deg"),
GetOptionalFloatAttribute(c, "commsRange_km"),
GetOptionalFloatAttribute(c, "fuelTankSize_s"),
GetOptionalIntAttribute(c, "numStorageSlots")
);
}
break;
case "SmallUAV":
{
newConfig = new SmallUAVConfig(
GetFloatAttribute(c, "x_km", 0),
GetFloatAttribute(c, "y_km", 0),
GetFloatAttribute(c, "z_km", 0),
GetIntAttribute(c, "id", -1), // Default -1 means runtime determined id field
GetOptionalFloatAttribute(c, "sensorBeamwidth_deg"),
GetOptionalFloatAttribute(c, "commsRange_km"),
GetOptionalFloatAttribute(c, "fuelTankSize_s")
);
}
break;
case "BlueBalloon":
{
// Get list of waypoints
List <PrimitivePair <float, float> > waypoints_km = new List <PrimitivePair <float, float> >();
foreach (XmlNode g in c.ChildNodes)
{
switch (g.Name)
{
case "Waypoint":
waypoints_km.Add(new PrimitivePair <float, float>(GetFloatAttribute(g, "x_km", 0), GetFloatAttribute(g, "z_km", 0)));
break;
}
}
// Create a Blue Balloon config
newConfig = new BlueBalloonConfig(
GetIntAttribute(c, "id", -1), // Default -1 means runtime determined id field
GetOptionalFloatAttribute(c, "sensorBeamwidth_deg"),
waypoints_km,
GetBooleanAttribute(c, "teleportLoop", true)
);
}
break;
default:
newConfigValid = false;
if (c.Name != "#comment")
{
Debug.LogWarning("SoaConfigXMLReader::ParseRemote(): Unrecognized node " + c.Name);
}
break;
}
}
catch (Exception)
{
Debug.LogError("SoaConfigXMLReader::ParseRemote(): Error parsing " + c.Name);
} // End try-catch
// Handle and add the new config if it is valid
if (newConfigValid)
{
// Parse any sensor/classifier override modalities specified
foreach (XmlNode g in c.ChildNodes)
{
switch (g.Name)
{
case "Sensor":
newConfig.SetSensorModalities(ParseModalities(g));
break;
case "Classifier":
newConfig.SetClassifierModalities(ParseModalities(g));
break;
}
}
// Add to list of remote platforms
soaConfig.remotePlatforms.Add(newConfig);
} // End if new config valid
} // End foreach
}