private void Update()
{
movement.TargetPosition = BackendHelpers.UnityVectorFromNumerics(Node.TargetPosition);
Node.Position = BackendHelpers.NumericsVectorFromUnity(transform.position);
text.text = Node.Id.ToString() + "\n" + Node.State.ToString();
}
// Start is called before the first frame update
void Start()
{
_satellitePrefab = SatellitePrefab;
Constants.EarthRadius = (GetComponent <SphereCollider>().radius *transform.localScale.x);
float constellationAltitude = Constants.EarthRadius + Constants.ScaleToSize(SatelliteAltitude);
float constellationRadius = constellationAltitude / 2;
List <ConstellationPlanEntry> entries = new List <ConstellationPlanEntry>();
List <INode> nodes = new List <INode>();
for (int i = 0; i < PlaneNum; i++)
{
float yAngle = Mathf.PI / PlaneNum * i;
for (uint?j = 0; j < SatellitesPerPlane; j++)
{
float angle = (int)j * Mathf.PI * 2f / SatellitesPerPlane;
Vector3 instantiationPos = new Vector3(
Mathf.Cos(angle) * constellationRadius,
Mathf.Sin(yAngle / SatellitesPerPlane * (int)j) * constellationRadius,
Mathf.Sin(angle) * constellationRadius);
//Create a vector from earth center to the desired position
Vector3 instantiationVector = (instantiationPos - transform.position).normalized * constellationAltitude;
GameObject satellite = Instantiate(SatellitePrefab, transform.position + instantiationVector, Quaternion.identity);
CommsSim sim = satellite.AddComponent <CommsSim>();
INode node = new Node(j, BackendHelpers.NumericsVectorFromUnity(satellite.transform.position));
node.TargetPosition = node.Position;
node.CommsModule = sim;
node.PlaneNormalDir = BackendHelpers.NumericsVectorFromUnity(Vector3.up);
satellite.name = "P(" + i + "), S(" + j + ")";
satellite.GetComponent <SatelliteComms>().Node = node;
satellite.GetComponent <SatelliteComms>().Node.AutoChecksAllowed = CanvasHandler.AutoChecksAllowed;
List <ConstellationPlanField> fields = new List <ConstellationPlanField> {
new ConstellationPlanField("DeltaV", 0, (x, y) => x.CompareTo(y))
};
ConstellationPlanEntry entry = new ConstellationPlanEntry(node.Position, fields, (x, y) => 1);
entry.NodeID = node.Id;
entries.Add(entry);
nodes.Add(node);
SatManager._instance.SatIndex++;
}
}
ConstellationPlan plan = new ConstellationPlan(entries);
nodes.ForEach(node => { node.ActivePlan = plan; node.GenerateRouter(); });
}
private void Update()
{
sleepCount = comms.Node.SleepCount;
comms.Node.Position = BackendHelpers.NumericsVectorFromUnity(transform.position);
ReachableNodes = comms.Node.Router.ReachableSats(comms.Node).Select(node => (uint)node).ToList();
if (Constants.EnableDebug)
{
logs.ForEach(Debug.LogWarning);
logs.Clear();
}
}
public static void InstantiateSatellite(Vector3 instantiationPoisition)
{
GameObject satellite = Instantiate(_satellitePrefab, instantiationPoisition, Quaternion.identity);
CommsSim sim = satellite.AddComponent <CommsSim>();
int satIndex = SatManager._instance.SatIndex;
INode node = new Node((uint?)satIndex, BackendHelpers.NumericsVectorFromUnity(satellite.transform.position));
node.TargetPosition = node.Position;
node.CommsModule = sim;
node.PlaneNormalDir = BackendHelpers.NumericsVectorFromUnity(Vector3.up);
satellite.name = "P(" + 0 + "), S(" + (satIndex) + ")";
satellite.GetComponent <SatelliteComms>().Node = node;
SatManager._instance.SatIndex++;
node.AutoChecksAllowed = CanvasHandler.AutoChecksAllowed;
node.GenerateRouter();
}
// Returns next sequential neighbour node based on current plan.
// Always sends clockwise or counterclockwise (cant remember which one).
public uint?NextSequential(INode source, CommDir dir)
{
Vector3 EarthPosition = Vector3.Zero;
// Assumption: Always 2 neighbours, if not the case it is handled by fault mechanisms.
//List<ConstellationPlanEntry> neighbourEntries = plan.Entries.Where(x => NetworkMap[source].Contains(x.NodeID)).ToList();
List <NetworkMapEntry> neighbourEntries = source.Router.NetworkMap.Entries.Where(entry =>
source.Router.NetworkMap.GetEntryByID(source.Id).Neighbours.Contains(entry.ID)).ToList();
//
//The "up" vector for the constellation plan is calculated. //(B - A) cross (C - B)
List <uint?> NeighbourIDs = NetworkMap.GetEntryByID(source.Id).Neighbours;
Vector3 SatClockwiseVector = Vector3.Cross(EarthPosition - source.Position, source.PlaneNormalDir);
// Assumption: Always 2 neighbours, if not the case it is handled by fault mechanisms.
Vector3 normalVector = source.PlaneNormalDir;
List <double> angles = neighbourEntries.Select(x => BackendHelpers.NumericsVectorSignedAngle(source.Position, x.Position, normalVector)).ToList();
if (angles.Any(angle => dir == CommDir.CW ? (angle > 0) : (angle < 0)))
{
if (dir == CommDir.CW)
{
return(neighbourEntries[angles.IndexOf(angles.Where(angle => angle > 0).Min())].ID);
}
else if (dir == CommDir.CCW)
{
return(neighbourEntries[angles.IndexOf(angles.Where(angle => angle < 0).Max())].ID);
}
}
return(null);
}
public void Send(uint?nextHop, Response response)
{
if (Constants.EnableDebug)
{
Debug.Log(comms.Node.Id + " -> " + nextHop + "\t : " + response.GetType() + ": " + response.ResponseCode + "." + "\t dst: " + response.DestinationID);
}
SatelliteComms hop = SatManager._instance.satellites.Find(sat => sat.Node.Id == nextHop);
SatManager.MessageProps message = new SatManager.MessageProps(BackendHelpers.UnityVectorFromNumerics(comms.Node.Position),
BackendHelpers.UnityVectorFromNumerics(hop.Node.Position),
Color.cyan,
Constants.SEND_DURATION_TIME / Constants.TimeScale);
satMan.SentMessages.Add(message);
if (System.Numerics.Vector3.Distance(comms.Node.Position, hop.Node.Position) < Constants.ScaleToSize(comms.CommRadius))
{
hop.Node.CommsModule.Receive(response);
ActiveCommSat = hop;
ActiveCommSat = null;
}
}
// Update is called once per frame
void Update()
{
state = comms.Node.State;
SatManager.MessageProps[] messageSnapshot = SatManager._instance.SentMessages.ToArray();
if (messageSnapshot.Length > 0)
{
foreach (SatManager.MessageProps props in messageSnapshot)
{
StartCoroutine(DisplayMessageSent(props.StartVect + Vector3.up, props.EndVect + Vector3.up, props.Duration, 0f, props.Color));
}
}
SatManager._instance.SentMessages.Clear();
reachableSats.Clear();
KnownNeighbours = comms.Node.Router.NetworkMap.GetEntryByID(comms.Node.Id)?.Neighbours;
reachableSats.Clear();
foreach (SatelliteComms node in reachableSats.Where(sat => KnownNeighbours.Contains(sat.Node.Id) == false))
{
reachableSats.Remove(node);
}
uint?toRemove = null;
foreach (uint?node in KnownNeighbours)
{
if (reachableSats.Select(sat => sat.Node.Id).Contains(node) == false)
{
if (SatManager._instance.satellites.Any(sat => sat.Node.Id == node) == false)
{
toRemove = node;
}
else
{
Transform nodeTransform = SatManager._instance.satellites.Find(sat => sat.Node.Id == node).transform;
reachableSats.Add(nodeTransform.GetComponent <SatelliteComms>());
}
}
}
if (toRemove != null)
{
KnownNeighbours.Remove(toRemove);
}
List <uint?> reachableSatsID = new List <uint?>();
for (int i = 0; i < reachableSats?.Count; i++)
{
uint?id = reachableSats[i].Node.Id;
reachableSatsID.Add(id);
if (commLineRenderes.ContainsKey(id) == false)
{
GameObject commlineGO = new GameObject();
commlineGO.transform.parent = this.transform;
LineRenderer lineRenderer = commlineGO.AddComponent <LineRenderer>();
lineRenderer.material = CommLineMat;
lineRenderer.material.SetColor("_BaseColor", CommsMat);
lineRenderer.startWidth = 0.025f;
lineRenderer.endWidth = 0.025f;
lineRenderer.positionCount = 2;
lineRenderer.SetPosition(0, this.transform.position);
lineRenderer.SetPosition(1, reachableSats[i].transform.position);
commLineRenderes.Add(id, lineRenderer);
}
else
{
Transform _transform = reachableSats[i].transform;
Vector3 commLineDir = new Vector3
{
x = _transform.position.x - comms.Node.Position.X,
y = _transform.position.y - comms.Node.Position.Y,
z = _transform.position.z - comms.Node.Position.Z,
};
LineRenderer lineRenderer = commLineRenderes[id];
lineRenderer.SetPosition(1, _transform.position);
lineRenderer.startWidth = 0.025f;
lineRenderer.endWidth = 0.025f;
}
}
for (int i = commLineRenderes.Count - 1; i >= 0; i--)
{
if (comms.Node.Active == false)
{
Destroy(commLineRenderes.ElementAt(i).Value);
commLineRenderes.Remove(commLineRenderes.ElementAt(i).Key);
continue;
}
uint?key = commLineRenderes.ElementAt(i).Key;
if (reachableSatsID.Contains(key) == false)
{
Destroy(commLineRenderes[key]);
commLineRenderes.Remove(key);
}
else
{
commLineRenderes[key].SetPosition(0, this.transform.position);
}
}
uint?nextSeq = comms.Node.Router.NextSequential(comms.Node, Router.CommDir.CW);
if (nextSeq != null && commLineRenderes.ContainsKey(nextSeq))
{
LineRenderer nextSeqCommLine = commLineRenderes[nextSeq];
nextSeqCommLine.startWidth = 0.1f;
nextSeqCommLine.endWidth = 0.1f;
}
switch (comms.Node.State)
{
case Node.NodeState.PASSIVE:
meshRenderer.material.SetColor("_BaseColor", PassiveMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", PassiveMat);
break;
case Node.NodeState.PLANNING:
//meshRenderer.material.SetColor("_BaseColor", LeaderMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", LeaderMat);
break;
case Node.NodeState.EXECUTING:
meshRenderer.material.SetColor("_BaseColor", ExecuteMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", ExecuteMat);
break;
case Node.NodeState.OVERRIDE:
meshRenderer.material.SetColor("_BaseColor", OverrideMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", OverrideMat);
break;
case Node.NodeState.DEAD:
meshRenderer.material.SetColor("_BaseColor", DeadMat);
break;
case Node.NodeState.HEARTBEAT:
meshRenderer.material.SetColor("_BaseColor", HeartbeatMat);
break;
}
lastState = comms.Node.State;
// Turn active communication link on and off
if (commsSim.ActiveCommSat != null && commLineRenderes.ContainsKey(commsSim.ActiveCommSat.Node.Id))
{
uint?id = commsSim.ActiveCommSat.Node.Id;
commLineRenderes[id].material.SetColor("_BaseColor", CommsActiveMat);
lastActiveComm = id;
}
else if (lastActiveComm != null && commLineRenderes.ContainsKey(lastActiveComm))
{
commLineRenderes[lastActiveComm].material.SetColor("_BaseColor", CommsMat);
}
// Remove all non-reachable links, then update position
if (comms.Node.GeneratingPlan != null)
{
Vector3 plannedposition = transform.position;
foreach (ConstellationPlanEntry e in comms.Node.GeneratingPlan.Entries)
{
if (e.NodeID != null && e.NodeID == comms.Node.Id)
{
plannedposition = BackendHelpers.UnityVectorFromNumerics(e.Position);
}
}
targetPositionLineRenderer.positionCount = 2;
targetPositionLineRenderer.SetPositions(new Vector3[] { transform.position, plannedposition });
}
}
public void Send(uint?nextHop, Request request)
{
request.SenderID = comms.Node.Id;
SatelliteComms hop = SatManager._instance.satellites.Find(sat => sat.Node.Id == nextHop);
SatManager.MessageProps message = new SatManager.MessageProps(
BackendHelpers.UnityVectorFromNumerics(comms.Node.Position),
BackendHelpers.UnityVectorFromNumerics(hop.Node.Position),
Color.yellow,
Constants.SEND_DURATION_TIME / Constants.TimeScale);
switch (request.Command)
{
case Request.Commands.DETECTFAILURE:
message.Color = Color.red;
break;
case Request.Commands.HEARTBEAT:
message.Color = Color.red;
break;
case Request.Commands.PING:
message.Color = Color.red;
break;
case Request.Commands.DISCOVER:
message.Color = Color.green;
break;
case Request.Commands.POSITION:
message.Color = Color.green;
break;
case Request.Commands.ADDITION:
message.Color = Color.green;
break;
case Request.Commands.GENERATE:
message.Color = Color.yellow;
break;
case Request.Commands.EXECUTE:
message.Color = Color.yellow;
break;
}
satMan.SentMessages.Add(message);
if (System.Numerics.Vector3.Distance(comms.Node.Position, hop.Node.Position) < Constants.ScaleToSize(comms.CommRadius))
{
ActiveCommSat = hop;
if (request.MessageIdentifer == null)
{
request.MessageIdentifer = DateTime.Now.ToString() + " milli " + DateTime.Now.Millisecond;
}
if (Constants.EnableDebug)
{
Debug.Log(request.Dir + ": " + comms.Node.Id + " -> " + nextHop + "\t : " + request.Command.ToString() + "\t dst: " + request.DestinationID + "\t msgID: " + request.MessageIdentifer);
}
hop.Node.CommsModule.Receive(request);
ActiveCommSat = null;
}
else
{
if (Constants.EnableDebug)
{
Debug.Log(request.Dir + ": " + comms.Node.Id + " -> " + nextHop + "\t : " + request.Command.ToString() + "\t dst: " + request.DestinationID + "\t msgID: " + request.MessageIdentifer);
}
}
}
public void GenerateTargetConstellation(INode RequesterNode)
{
System.Random r = new System.Random(RandomSeed);
TargetPositions.Clear();
//If the constellation altitude input from textfield isn't numbers, return
if (float.TryParse(ConstellationAltitudeInput, out float constellationAltitude) == false)
{
return;
}
//Set the constellation altitude based on the input textfield
constellationAltitude = Constants.EarthRadius + Constants.ScaleToSize(constellationAltitude);
//Get reference to satellites
Sats = GameObject.FindGameObjectsWithTag("Satellite").ToList();
List <uint?> reachableNodes = RequesterNode.Router.ReachableSats(RequesterNode).ToList();
Sats.RemoveAll(sat => reachableNodes.Contains(sat.GetComponent <SatelliteComms>().Node.Id) == false);
//Remove old location Placeholders
GameObject.FindGameObjectsWithTag("LocationPlaceholder")?.ToList().ForEach(Destroy);
for (int i = 0; i < Sats.Count; i++)
{
//Create random angle for position of Targetposition
float angle = (360 / Sats.Count) * i;
Vector3 instantiationPos = Quaternion.Euler(0, angle, 0) * Vector3.forward;
//Set it relative to the earth
Vector3 instantiationVector = (instantiationPos - Vector3.zero).normalized * constellationAltitude;
//Store for propagation
TargetPositions.Add(instantiationVector);
Instantiate(SatLocationPlaceholderPrefab, instantiationVector, Quaternion.identity);
}
List <ConstellationPlanEntry> entries = new List <ConstellationPlanEntry>();
foreach (Vector3 pos in TargetPositions)
{
Vector3 position = new Vector3(pos.x, pos.y, pos.z);
List <ConstellationPlanField> fields = new List <ConstellationPlanField> {
new ConstellationPlanField("DeltaV", 0, (x, y) => x.CompareTo(y))
};
ConstellationPlanEntry entry = new ConstellationPlanEntry(BackendHelpers.NumericsVectorFromUnity(position), fields, (x, y) => 1);
entries.Add(entry);
}
plan = new ConstellationPlan(entries);
//Send the targetconstellation to random sat
INode targetSat = RequesterNode;
PlanRequest request = new PlanRequest {
Command = Request.Commands.GENERATE,
SourceID = targetSat.Id,
DestinationID = targetSat.Id,
SenderID = 42,
Dir = Router.CommDir.CW,
AckExpected = true,
MessageIdentifer = "42",
Plan = plan
};
PlanGenerator.GeneratePlan(targetSat, request);
}
private void Update()
{
if (SatManager._instance.satellites.TrueForAll(sat => sat.Node.State != Node.NodeState.PLANNING))
{
GameObject.FindGameObjectsWithTag("LocationPlaceholder")?.ToList().ForEach(Destroy);
}
if (GameObject.FindGameObjectsWithTag("LocationPlaceholder").Length == 0 && SatManager._instance.satellites.Any(sat => sat.Node.State == Node.NodeState.PLANNING))
{
SatelliteComms planningNode =
SatManager._instance.satellites.Find(sat => sat.Node.State == Node.NodeState.PLANNING);
planningNode.Node.GeneratingPlan.Entries.ForEach(entry => Instantiate(SatLocationPlaceholderPrefab, BackendHelpers.UnityVectorFromNumerics(entry.Position), Quaternion.identity));
}
if (nodes.Count == 0)
{
Sats.ForEach(sat => nodes.Add(sat.GetComponent <SatelliteComms>().Node));
}
if (plan == null)
{
return;
}
if (Input.GetMouseButtonDown(0) &&
Physics.Raycast(Camera.main.ScreenPointToRay(Input.mousePosition), out RaycastHit hit, float.MaxValue, ManualDesignMask) &&
plan.Entries.TrueForAll(entry => nodes.Any(node => System.Numerics.Vector3.Distance(node.Position, entry.Position) < 0.1f)))
{
if (EnableManualDesign == false)
{
Clear();
}
if (GameObject.FindGameObjectsWithTag("LocationPlaceholder")?.ToList().Count < nodes.Count)
{
Instantiate(SatLocationPlaceholderPrefab, hit.point, Quaternion.identity);
EnableAutotest = false;
EnableManualDesign = true;
}
else if (EnableManualDesign)
{
List <ConstellationPlanEntry> entries = new List <ConstellationPlanEntry>();
foreach (Vector3 pos in GameObject.FindGameObjectsWithTag("LocationPlaceholder")?.ToList().Select(loc => loc.transform.position))
{
System.Numerics.Vector3 position = new System.Numerics.Vector3(pos.x, pos.y, pos.z);
List <ConstellationPlanField> fields = new List <ConstellationPlanField> {
new ConstellationPlanField("DeltaV", 0, (x, y) => x.CompareTo(y))
};
ConstellationPlanEntry entry = new ConstellationPlanEntry(position, fields, (x, y) => 1);
entries.Add(entry);
}
plan = new ConstellationPlan(entries);
//Send the targetconstellation to random sat
INode targetSat = Sats[UnityEngine.Random.Range(0, Sats.Count - 1)].GetComponent <SatelliteComms>().Node;
PlanRequest request = new PlanRequest();
request.Command = Request.Commands.GENERATE;
request.DestinationID = targetSat.Id;
request.Plan = plan;
request.MessageIdentifer = "42";
targetSat.Communicate(request);
EnableManualDesign = false;
}
}
}
