void Update()
{
if (infoText == null)
{
return;
}
sb.Length = 0;
sb.Capacity = 16;
float speed = controller.Speed;
float steer = controller.SteerAngle;
float vAngle = controller.VerticalAngle;
float throttle = controller.ThrottleInput;
float brake = controller.BrakeInput;
Vector2 position = new Vector2(controller.Position.x, controller.Position.z);
// Vector3 position = controller.Position;
float pitch = controller.Pitch;
// new: set yaw angle counter-clockwise and relative to positive-x
float yaw = IRobotController.ConvertAngleToCCWXBased(controller.Yaw);
// float yaw = controller.Yaw;
float roll = controller.Roll;
sb.Append("Throttle: " + throttle.ToString("F1") + "\n");
sb.Append("Brake: " + brake.ToString("F1") + "\n");
sb.Append("Steer angle: " + steer.ToString("F4") + "\n");
sb.Append("Ground speed: " + speed.ToString("F1") + "m/s\n");
sb.Append("Position: " + position.ToString() + "\n");
sb.Append("Pitch angle: " + pitch.ToString("F2") + "\n");
sb.Append("Yaw angle: " + yaw.ToString("F2") + "\n");
sb.Append("Roll angle: " + roll.ToString("F2") + "\n");
// sb.Append ( "Camera zoom: " + controller.Zoom.ToString ( "F1" ) + "x\n" );
sb.Append("Is near objective: " + (controller.IsNearObjective ? "Yes" : "No") + "\n");
sb.Append("Is picking up:" + (controller.IsPickingUpSample ? "Yes" : "No"));
infoText.text = sb.ToString();
if (controller.PickupProgress != -1)
{
if (!progressParent.activeSelf)
{
progressParent.SetActive(true);
}
progressBar.fillAmount = controller.PickupProgress;
}
else
{
if (progressParent.activeSelf)
{
progressParent.SetActive(false);
}
}
}
void EmitTelemetry(SocketIOEvent obj)
{
// Debug.Log ( "Emitting" );
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
print("Attempting to Send...");
// Collect Data from the Car
Dictionary <string, string> data = new Dictionary <string, string>();
data["steering_angle"] = robotController.SteerAngle.ToString("N4");
// data["vert_angle"] = robotController.VerticalAngle.ToString ("N4");
data["throttle"] = robotController.ThrottleInput.ToString("N4");
data["brake"] = robotController.BrakeInput.ToString("N4");
data["speed"] = robotController.Speed.ToString("N4");
Vector3 pos = robotController.Position;
data["position"] = pos.x.ToString("N4") + robotController.csvSeparatorChar + pos.z.ToString("N4");
data["pitch"] = robotController.Pitch.ToString("N4");
// new: convert the angle to CCW, x-based
data["yaw"] = IRobotController.ConvertAngleToCCWXBased(robotController.Yaw).ToString("N4");
data["roll"] = robotController.Roll.ToString("N4");
data["fixed_turn"] = robotController.IsTurningInPlace ? "1" : "0";
data["near_sample"] = robotController.IsNearObjective ? "1" : "0";
data["picking_up"] = robotController.IsPickingUpSample ? "1" : "0";
Debug.Log("picking_up is " + robotController.IsPickingUpSample);
data["sample_count"] = ObjectiveSpawner.samples.Length.ToString();
StringBuilder sample_x = new StringBuilder();
StringBuilder sample_y = new StringBuilder();
for (int i = 0; i < ObjectiveSpawner.samples.Length; i++)
{
GameObject go = ObjectiveSpawner.samples[i];
sample_x.Append(go.transform.position.x.ToString("N2") + robotController.csvSeparatorChar);
sample_y.Append(go.transform.position.z.ToString("N2") + robotController.csvSeparatorChar);
}
if (ObjectiveSpawner.samples.Length != 0)
{
sample_x.Remove(sample_x.Length - 1, 1);
sample_y.Remove(sample_y.Length - 1, 1);
}
data["samples_x"] = sample_x.ToString();
data["samples_y"] = sample_y.ToString();
data["image"] = Convert.ToBase64String(CameraHelper.CaptureFrame(frontFacingCamera));
// Debug.Log ("sangle " + data["steering_angle"] + " vert " + data["vert_angle"] + " throt " + data["throttle"] + " speed " + data["speed"] + " image " + data["image"]);
_socket.Emit("telemetry", new JSONObject(data));
});
}