/*
* Uses Factory pattern and polymorphism to return the desired
* Sensor type.
*/
public static Sensors GetInstance(int sensorType, GameObject gObj)
{
Cube = gObj;
Sensors _sensor;
switch (sensorType)
{
case 1: _sensor = new ProximitySensor();
break;
case 2: _sensor = new RangeSensor();
break;
case 3: _sensor = new LidarSensor();
break;
case 4: _sensor = new RadarSensor();
break;
case 5: _sensor = new BumperSensor();
break;
default: Debug.Log("The chosen sensor doesn't exist!");
_sensor = new ProximitySensor();
break;
}
sensors = _sensor;
return(sensors);
}
// Use this for initialization
void Start()
{
pointCloudBaseGameObject = GameObject.FindGameObjectWithTag("PointCloudBase");
pointCloud = pointCloudBaseGameObject.GetComponent <PointCloud>();
lidarGameObject = GameObject.FindGameObjectWithTag("Lidar");
lidarSensor = lidarGameObject.GetComponent <LidarSensor>();
}
// Use this for initialization
void Start()
{
Debug.Log(isTraining);
topSpeed = carController.MaxSpeed;
recording = false;
RecordingPause.SetActive(false);
if (LidarSettingPanel != null)
{
SettingShown = false;
LidarSettingPanel.SetActive(SettingShown); // 配置
// do something
}
LidarSensor.PauseSensor(!isTraining);
RecordStatus_Text.text = "RECORD";
DriveStatus_Text.text = "";
SaveStatus_Text.text = "";
SetAngleValue(0);
SetMPHValue(0);
if (!isTraining)
{
DriveStatus_Text.text = "Mode: Autonomous";
RecordDisabled.SetActive(true);
RecordStatus_Text.text = "";
}
}
void Awake()
{
Bridge = new Comm.Ros.RosBridge();
ls = new LidarSensor();
if (Bridge.Status == Comm.BridgeStatus.Disconnected)
{
Bridge.Connect(Address, Port, 1);
ls.OnBridgeAvailable(Bridge);
}
}
void Start()
{
string urlPath = Application.persistentDataPath + "/simunity.txt";
Debug.Log($"Reading websocket URL from {urlPath}");
if (!File.Exists(urlPath))
{
using (StreamWriter writer = File.CreateText(urlPath))
{
writer.Write("ws://localhost:9090");
}
}
string url = File.ReadAllText(urlPath);
m_RosConnector = new RosConnector
{
Protocol = RosConnector.Protocols.WebSocketNET,
RosBridgeServerUrl = url
};
m_RosConnector.Awake();
while (m_RosConnector.RosSocket == null)
{
}
m_Socket = m_RosConnector.RosSocket;
m_Socket.Subscribe <ArmMotorCommand>("/arm_control_data", msg =>
{
for (int i = 0; i < 6; i++)
{
Debug.Log($"Velocity output of motor #{i} is {msg.MotorVel[i]}");
}
});
lidarSensor = GameObject.Find("Lidar").GetComponent <LidarSensor>();
m_Socket.Advertise <LidarData>("/LidarData");
//m_Socket.Advertise<ProcessedControllerInput>("/processed_arm_controller_input");
//m_Socket.Advertise<WheelSpeed>("/WheelSpeed");
//m_Socket.Advertise<WheelSpeed>("/TestTopic");
//m_Socket.Subscribe<WheelSpeed>("/WheelSpeed", speed =>
//{
// Debug.Log(speed.Wheel_Speed[0]);
// Debug.Log(speed.Wheel_Speed[1]);
//});
//m_Socket.Subscribe<Int32>("/TestTopic", num =>
//{
// //Debug.Log(num.Wheel_Speed);
//});
}
