From e1a9add5763b7292507850a877135a5ecd8c3e59 Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 27 Aug 2020 16:16:38 +0200 Subject: [PATCH 01/12] CameraControll with joystick controller --- .../CameraControlScript/CameraController.cs | 11 +++++++++++ .../Scenes/CameraControlScript/CameraZoom.cs | 16 ++++++++++++++++ 2 files changed, 27 insertions(+) diff --git a/VSTool/Assets/Scenes/CameraControlScript/CameraController.cs b/VSTool/Assets/Scenes/CameraControlScript/CameraController.cs index 91e20798..92935be1 100644 --- a/VSTool/Assets/Scenes/CameraControlScript/CameraController.cs +++ b/VSTool/Assets/Scenes/CameraControlScript/CameraController.cs @@ -27,6 +27,9 @@ void Update () { // } // else // { + + HandleCameraInputKeys(); + //movement float moveVertical = 0; float moveHorizontal = 0; @@ -60,6 +63,14 @@ void Update () { // } } + private void HandleCameraInputKeys() + { + float moveVertical = Input.GetAxis("CameraRotateY"); + float moveHorizontal = Input.GetAxis("CameraRotateX"); + Vector3 rotace = new Vector3(moveVertical * -0.8f, moveHorizontal * 0.8f, 0); + transform.rotation = Quaternion.Euler(transform.rotation.eulerAngles + rotace); + } + public void upHold(){ up = true; } diff --git a/VSTool/Assets/Scenes/CameraControlScript/CameraZoom.cs b/VSTool/Assets/Scenes/CameraControlScript/CameraZoom.cs index 5c003ebd..00ea8a2f 100644 --- a/VSTool/Assets/Scenes/CameraControlScript/CameraZoom.cs +++ b/VSTool/Assets/Scenes/CameraControlScript/CameraZoom.cs @@ -20,6 +20,8 @@ void Start() // Update is called once per frame void Update() { + HandleCameraInputKeys(); + float scroll=0; /* @@ -43,6 +45,20 @@ void Update() } } + private void HandleCameraInputKeys() + { + float zoomIn = Input.GetAxis("CameraZoomIn"); + float zoomOut = Input.GetAxis("CameraZoomOut"); + if(zoomIn > 0) + { + transform.localPosition = transform.localPosition + new Vector3(0, 0, zoomIn * 0.2f); + } + if(zoomOut > 0) + { + transform.localPosition = transform.localPosition + new Vector3(0, 0, -zoomOut * 0.2f); + } + } + public void zoomHold(){ zoom = true; } From 0403ac368a5515807b725b245f8b2c4818327f4a Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 27 Aug 2020 16:17:01 +0200 Subject: [PATCH 02/12] AbstractDroneData monobehavior removed --- VSTool/Assets/Scenes/DroneControlScripts/AbstractDroneData.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/VSTool/Assets/Scenes/DroneControlScripts/AbstractDroneData.cs b/VSTool/Assets/Scenes/DroneControlScripts/AbstractDroneData.cs index 26590874..571d95f7 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/AbstractDroneData.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/AbstractDroneData.cs @@ -7,7 +7,7 @@ using UnityEngine; using Mapbox.Unity.Map; -public abstract class AbstractDroneData : MonoBehaviour +public abstract class AbstractDroneData { protected Vector3 position; protected Vector3 startPos; From 9f73535906a550a90080193f055f66689aa5f5ac Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 27 Aug 2020 16:17:36 +0200 Subject: [PATCH 03/12] Tablet version fix --- .../DroneControlScripts/DroneController.cs | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs index d7fd3d1c..a7c83aa1 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs @@ -44,10 +44,14 @@ public class DroneController : MonoBehaviour { // Use this for initialization void Start() { // Prvy dron je vzdy ten defaultny - string path = Application.streamingAssetsPath + "/mission.json"; - string jsonContent =File.ReadAllText(path); - bool parse = true; - Mission mission; + //string path = Application.streamingAssetsPath + "/mission.json"; + //if(File.Exists(path)) + //{ + // string jsonContent = File.ReadAllText(path); + // bool parse = true; + //} + //Mission mission; + // try // { // JsonUtility.FromJson(jsonContent); @@ -69,8 +73,9 @@ void Start() { // }else{ positionDataS = new DroneData(Map, transform.position); - positionData = positionDataM = new DroneDataManual(Map, transform.position); + positionDataM = new DroneDataManual(Map, transform.position); positionDataR = new DroneRosData(Map, transform.position); + positionData = positionDataM; // } @@ -178,9 +183,9 @@ public int getDataSource() } // Update is called once per frame - void Update() + void Update() { - positionData.update(); + positionData.update(); transform.localPosition= positionData.GetPosition(); transform.localRotation = Quaternion.Euler(positionData.GetRotation()); From 240c45a3a4eb7012f1ddc0dbedaf249074260384 Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 27 Aug 2020 16:18:14 +0200 Subject: [PATCH 04/12] Inputs for joystick controller fix --- VSTool/ProjectSettings/InputManager.asset | 68 ++++++++++++++++++++++- 1 file changed, 66 insertions(+), 2 deletions(-) diff --git a/VSTool/ProjectSettings/InputManager.asset b/VSTool/ProjectSettings/InputManager.asset index 7e0ddf93..2c781cca 100644 --- a/VSTool/ProjectSettings/InputManager.asset +++ b/VSTool/ProjectSettings/InputManager.asset @@ -195,7 +195,7 @@ InputManager: snap: 0 invert: 0 type: 2 - axis: 2 + axis: 3 joyNum: 0 - serializedVersion: 3 m_Name: Pitch @@ -211,7 +211,7 @@ InputManager: snap: 0 invert: 1 type: 2 - axis: 5 + axis: 4 joyNum: 0 - serializedVersion: 3 m_Name: Fire3 @@ -293,3 +293,67 @@ InputManager: type: 0 axis: 0 joyNum: 0 + - serializedVersion: 3 + m_Name: CameraRotateX + descriptiveName: + descriptiveNegativeName: + negativeButton: left + positiveButton: right + altNegativeButton: + altPositiveButton: + gravity: 0 + dead: 0.19 + sensitivity: 1 + snap: 0 + invert: 0 + type: 2 + axis: 5 + joyNum: 0 + - serializedVersion: 3 + m_Name: CameraRotateY + descriptiveName: + descriptiveNegativeName: + negativeButton: up + positiveButton: down + altNegativeButton: + altPositiveButton: + gravity: 0 + dead: 0.19 + sensitivity: 1 + snap: 0 + invert: 0 + type: 2 + axis: 6 + joyNum: 0 + - serializedVersion: 3 + m_Name: CameraZoomIn + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: + altNegativeButton: + altPositiveButton: + gravity: 0 + dead: 0.19 + sensitivity: 1 + snap: 0 + invert: 0 + type: 2 + axis: 8 + joyNum: 0 + - serializedVersion: 3 + m_Name: CameraZoomOut + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: + altNegativeButton: + altPositiveButton: + gravity: 0 + dead: 0.19 + sensitivity: 1 + snap: 0 + invert: 0 + type: 2 + axis: 9 + joyNum: 0 From b642fafdf3ec934c875c53a75619031fd80290d5 Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 3 Sep 2020 18:07:49 +0200 Subject: [PATCH 05/12] Multiplayer drone server synchronization support --- VSTool/.editorconfig | 154 +++ VSTool/Assets/Prefabs.meta | 8 + VSTool/Assets/Prefabs/DEBUG.prefab | 936 ++++++++++++++++++ VSTool/Assets/Prefabs/DEBUG.prefab.meta | 7 + .../DroneControlScripts/DroneController.cs | 40 +- .../DroneControlScripts/DroneRosData.cs | 2 +- .../DroneControlScripts/MapController.cs | 6 +- VSTool/Assets/Scenes/DroneScene.unity | 780 ++++++++++++++- VSTool/Assets/Scripts/DroneManager.cs | 71 ++ ...ontroller.cs.meta => DroneManager.cs.meta} | 5 +- VSTool/Assets/Scripts/Map/IconManager.cs | 14 +- .../Assets/Scripts/Missions/MissionHandler.cs | 43 +- VSTool/Assets/Scripts/Multiplayer/AddDrone.cs | 5 +- VSTool/Assets/Scripts/Multiplayer/Drone.cs | 37 + .../Assets/Scripts/Multiplayer/Drone.cs.meta | 11 + VSTool/Assets/Scripts/Multiplayer/Drones.cs | 14 +- .../Assets/Scripts/Multiplayer/LookAtDrone.cs | 6 +- .../Scripts/SideScripts/PositionHandler.cs | 8 +- .../Scripts/SideScripts/WayPointManager.cs | 7 +- VSTool/Assets/Scripts/Singleton.cs | 68 ++ VSTool/Assets/Scripts/Singleton.cs.meta | 11 + VSTool/Assets/Scripts/ToggleController.cs | 158 --- .../Scripts/UnityMainThreadDispatcher.cs | 119 +++ .../Scripts/UnityMainThreadDispatcher.cs.meta | 11 + VSTool/Assets/Scripts/WebSocketManager.cs | 133 +++ .../Assets/Scripts/WebSocketManager.cs.meta | 11 + VSTool/Packages/manifest.json | 10 +- 27 files changed, 2416 insertions(+), 259 deletions(-) create mode 100644 VSTool/.editorconfig create mode 100644 VSTool/Assets/Prefabs.meta create mode 100644 VSTool/Assets/Prefabs/DEBUG.prefab create mode 100644 VSTool/Assets/Prefabs/DEBUG.prefab.meta create mode 100644 VSTool/Assets/Scripts/DroneManager.cs rename VSTool/Assets/Scripts/{ToggleController.cs.meta => DroneManager.cs.meta} (69%) create mode 100644 VSTool/Assets/Scripts/Multiplayer/Drone.cs create mode 100644 VSTool/Assets/Scripts/Multiplayer/Drone.cs.meta create mode 100644 VSTool/Assets/Scripts/Singleton.cs create mode 100644 VSTool/Assets/Scripts/Singleton.cs.meta delete mode 100644 VSTool/Assets/Scripts/ToggleController.cs create mode 100644 VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs create mode 100644 VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs.meta create mode 100644 VSTool/Assets/Scripts/WebSocketManager.cs create mode 100644 VSTool/Assets/Scripts/WebSocketManager.cs.meta diff --git a/VSTool/.editorconfig b/VSTool/.editorconfig new file mode 100644 index 00000000..6fca52b4 --- /dev/null +++ b/VSTool/.editorconfig @@ -0,0 +1,154 @@ +# editorconfig.org +root = true + +[*] +indent_style = space +indent_size = 4 +end_of_line = crlf +charset = utf-8 +trim_trailing_whitespace = true +insert_final_newline = true + +[*.cs] +indent_size = 4 +end_of_line = crlf + +# "This." and "Me." qualifiers: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#this_and_me +dotnet_style_qualification_for_field = false : silent +dotnet_style_qualification_for_property = false : silent +dotnet_style_qualification_for_method = false : silent +dotnet_style_qualification_for_event = false : silent + +# Language keywords instead of framework type names for type references: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#language_keywords +dotnet_style_predefined_type_for_locals_parameters_members = true : warning +dotnet_style_predefined_type_for_member_access = true : warning + +# Modifier preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#normalize_modifiers +dotnet_style_require_accessibility_modifiers = always : warning +sharp_preferred_modifier_order = public,private,protected,internal,static,extern,new,virtual,abstract,sealed,override,readonly,unsafe,volatile,async : warning + +# Expression-level preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#expression_level +dotnet_style_object_initializer = true : warning +dotnet_style_collection_initializer = true : warning +dotnet_style_explicit_tuple_names = true : warning +dotnet_style_prefer_inferred_tuple_names = true : warning +dotnet_style_prefer_inferred_anonymous_type_member_names = true : warning + +# Null-checking preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#null_checking +dotnet_style_coalesce_expression = true : warning +dotnet_style_null_propagation = true : warning + +# Implicit and explicit types: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#var +csharp_style_var_for_built_in_types = false : warning +csharp_style_var_when_type_is_apparent = false : warning +csharp_style_var_elsewhere = false : warning + +# Expression-bodied members: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#expression_bodied_members +csharp_style_expression_bodied_methods = false : silent +csharp_style_expression_bodied_constructor = true : warning +csharp_style_expression_bodied_operators = true : warning +csharp_style_expression_bodied_properties = true : warning +csharp_style_expression_bodied_indexers = true : warning +csharp_style_expression_bodied_accessors = true : warning + +# Pattern matching: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#pattern_matching +csharp_style_pattern_matching_over_is_with_cast_check = true : warning +csharp_style_pattern_matching_over_as_with_null_check = true : warning + +# Inlined variable declarations: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#inlined_variable_declarations +csharp_style_inlined_variable_declaration = true : warning + +# Expression-level preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#expression_level_csharp +csharp_prefer_simple_default_expression = true : warning +csharp_style_deconstructed_variable_declaration = true : warning +csharp_style_pattern_local_over_anonymous_function = true : warning + +# "Null" checking preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#null_checking_csharp +csharp_style_throw_expression = true : warning +csharp_style_conditional_delegate_call = true : warning + +# Code block preferences: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#code_block +csharp_prefer_braces = false : silent + +# Organize usings: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#net-formatting-settings +dotnet_sort_system_directives_first = true + +# C# formatting settings: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#c-formatting-settings +csharp_new_line_before_open_brace = none +csharp_new_line_before_else = false +csharp_new_line_before_catch = false +csharp_new_line_before_finally = false +csharp_new_line_before_members_in_object_initializers = false +csharp_new_line_before_members_in_anonymous_types = false +csharp_new_line_between_query_expression_clauses = false + +# Indentation options: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#indent +csharp_indent_case_contents = true +csharp_indent_switch_labels = true +csharp_indent_labels = one_less_than_current + +# Spacing options: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#spacing +csharp_space_after_cast = true +csharp_space_after_keywords_in_control_flow_statements = true +csharp_space_between_method_declaration_parameter_list_parentheses = false +csharp_space_between_method_call_parameter_list_parentheses = false +csharp_space_between_parentheses = false + +# Wrapping options: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-code-style-settings-reference#wrapping +csharp_preserve_single_line_statements = false +csharp_preserve_single_line_blocks = false + +############################### +# Naming Conventions: https://docs.microsoft.com/en-us/visualstudio/ide/editorconfig-naming-conventions +############################### + +# Style Definitions +dotnet_naming_style.pascal_case_style.capitalization = pascal_case + +dotnet_naming_style.camel_case_style.capitalization = camel_case + +dotnet_naming_style.I_prefix_style.required_prefix = I +dotnet_naming_style.I_prefix_style.capitalization = pascal_case + +# Use PascalCase for constant fields +dotnet_naming_rule.constant_fields_should_be_pascal_case.severity = warning +dotnet_naming_rule.constant_fields_should_be_pascal_case.symbols = constant_fields +dotnet_naming_rule.constant_fields_should_be_pascal_case.style = pascal_case_style +dotnet_naming_symbols.constant_fields.applicable_kinds = field +dotnet_naming_symbols.constant_fields.applicable_accessibilities = * +dotnet_naming_symbols.constant_fields.required_modifiers = const + +# Use PascalCase for public fields +dotnet_naming_rule.pascal_case_for_public_fields.severity = warning +dotnet_naming_rule.pascal_case_for_public_fields.symbols = public_fields +dotnet_naming_rule.pascal_case_for_public_fields.style = pascal_case_style +dotnet_naming_symbols.public_fields.applicable_kinds = field +dotnet_naming_symbols.public_fields.applicable_accessibilities = public + +# Use camelCase for private fields +dotnet_naming_rule.stylecop_private_fields_must_be_camel_case_rule.severity = silent +dotnet_naming_rule.stylecop_private_fields_must_be_camel_case_rule.symbols = stylecop_private_fields_group +dotnet_naming_rule.stylecop_private_fields_must_be_camel_case_rule.style = camel_case_style +dotnet_naming_symbols.stylecop_private_fields_group.applicable_kinds = field +dotnet_naming_symbols.stylecop_private_fields_group.applicable_accessibilities = private + +# Interfaces must be PascalCase and have an I prefix +dotnet_naming_rule.interfaces_start_with_I.severity = warning +dotnet_naming_rule.interfaces_start_with_I.symbols = any_interface +dotnet_naming_rule.interfaces_start_with_I.style = I_prefix_style +dotnet_naming_symbols.any_interface.applicable_accessibilities = * +dotnet_naming_symbols.any_interface.applicable_kinds = interface + +# Classes, structs, methods, enums, events, properties, namespaces, delegates must be PascalCase +dotnet_naming_rule.general_naming.severity = warning +dotnet_naming_rule.general_naming.symbols = general +dotnet_naming_rule.general_naming.style = pascal_case_style +dotnet_naming_symbols.general.applicable_kinds = class,struct,enum,property,method,event,namespace,delegate +dotnet_naming_symbols.general.applicable_accessibilities = * + +# Everything else is camelCase +dotnet_naming_rule.everything_else_naming.severity = warning +dotnet_naming_rule.everything_else_naming.symbols = everything_else +dotnet_naming_rule.everything_else_naming.style = camel_case_style +dotnet_naming_symbols.everything_else.applicable_kinds = * +dotnet_naming_symbols.everything_else.applicable_accessibilities = 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b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs index a7c83aa1..de8b98f4 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using Mapbox.Unity.Map; @@ -6,6 +6,8 @@ using System.IO; using RosSharp.RosBridgeClient; using TMPro; +using System; +using Mapbox.Utils; //vygeneruju budovy /* @@ -41,8 +43,13 @@ public class DroneController : MonoBehaviour { * 2 ROS */ + private Drone drone; + private float droneUpdateInterval = 0.1f; + private float nextUpdate = 0f; + // Use this for initialization void Start() { + // Prvy dron je vzdy ten defaultny //string path = Application.streamingAssetsPath + "/mission.json"; //if(File.Exists(path)) @@ -80,7 +87,10 @@ void Start() { - Drones.drones.Add(transform.gameObject); + // Generate Unique ID for our drone + drone = new Drone(transform.gameObject, new DroneFlightData()); + drone.FlightData.DroneId = GetUniqueID(); + Drones.drones.Add(drone); } @@ -223,5 +233,31 @@ void Update() if (rosConnector != null) rosConnector.GetComponent().OptimalizeForProjector = isProjectorActive; + + + if (nextUpdate > droneUpdateInterval) { + nextUpdate = 0f; + Vector2d latitudelongitude = Map.WorldToGeoPosition(transform.localPosition); + drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y); + WebSocketManager.Instance.SendDataToServer(JsonUtility.ToJson(drone.FlightData)); + } + nextUpdate += Time.deltaTime; + } + + public static string GetUniqueID() { + string key = "ID"; + + var random = new System.Random(); + DateTime epochStart = new System.DateTime(1970, 1, 1, 8, 0, 0, System.DateTimeKind.Utc); + double timestamp = (System.DateTime.UtcNow - epochStart).TotalSeconds; + + string uniqueID = Application.systemLanguage //Language + + "-" + String.Format("{0:X}", Convert.ToInt32(timestamp)) //Time + + "-" + String.Format("{0:X}", Convert.ToInt32(Time.time * 1000000)) //Time in game + + "-" + String.Format("{0:X}", random.Next(1000000000)); //random number + + Debug.Log("Generated Unique ID: " + uniqueID); + + return uniqueID; } } diff --git a/VSTool/Assets/Scenes/DroneControlScripts/DroneRosData.cs b/VSTool/Assets/Scenes/DroneControlScripts/DroneRosData.cs index a7a7c600..84ac7bde 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/DroneRosData.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/DroneRosData.cs @@ -50,7 +50,7 @@ public override void update() else { - Debug.Log(offset); + //Debug.Log(offset); position = Map.GeoToWorldPosition(new Mapbox.Utils.Vector2d(positionMes.latitude, positionMes.longitude), false); diff --git a/VSTool/Assets/Scenes/DroneControlScripts/MapController.cs b/VSTool/Assets/Scenes/DroneControlScripts/MapController.cs index 67ecddac..14204162 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/MapController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/MapController.cs @@ -1,10 +1,12 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; using Mapbox.Unity.Map; using TMPro; -public class MapController : MonoBehaviour { +using DroCo; + +public class MapController : Singleton { public AbstractMap Map; public TMP_InputField MapCenter; diff --git a/VSTool/Assets/Scenes/DroneScene.unity b/VSTool/Assets/Scenes/DroneScene.unity index 4febab70..c5b7f33a 100644 --- a/VSTool/Assets/Scenes/DroneScene.unity +++ b/VSTool/Assets/Scenes/DroneScene.unity @@ -267,6 +267,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0, g: 0.5019608, b: 1, a: 0} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -340,6 +341,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.37254903, g: 0.40784317, b: 0.45098042, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: 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m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -29734,6 +30367,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 0.19607843} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -29807,6 +30441,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30118,6 +30753,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30191,6 +30827,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.735849, g: 0, b: 0, a: 0.54509807} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30264,6 +30901,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30377,6 +31015,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.7254902, g: 0.8627451, b: 1, a: 0} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30450,6 +31089,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.49019608, g: 0.49019608, b: 0.49019608, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30559,6 +31199,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 0.09803922} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30849,6 +31490,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 0.19607843} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -30968,6 +31610,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -31124,6 +31767,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -31156,8 +31800,8 @@ MonoBehaviour: m_outlineColor: serializedVersion: 2 rgba: 4278190080 - m_fontSize: 20 - m_fontSizeBase: 20 + m_fontSize: 28 + m_fontSizeBase: 28 m_fontWeight: 400 m_enableAutoSizing: 0 m_fontSizeMin: 18 @@ -31340,6 +31984,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -31414,6 +32059,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -31446,8 +32092,8 @@ MonoBehaviour: m_outlineColor: serializedVersion: 2 rgba: 4278190080 - m_fontSize: 20 - m_fontSizeBase: 20 + m_fontSize: 28 + m_fontSizeBase: 28 m_fontWeight: 400 m_enableAutoSizing: 0 m_fontSizeMin: 18 @@ -31466,7 +32112,7 @@ MonoBehaviour: m_firstOverflowCharacterIndex: -1 m_linkedTextComponent: {fileID: 0} m_isLinkedTextComponent: 0 - m_isTextTruncated: 0 + m_isTextTruncated: 1 m_enableKerning: 1 m_enableExtraPadding: 0 checkPaddingRequired: 0 @@ -31487,7 +32133,7 @@ MonoBehaviour: m_margin: {x: 0, y: 0, z: 0, w: 0} m_textInfo: textComponent: {fileID: 1991438179} - characterCount: 49 + characterCount: 43 spriteCount: 0 spaceCount: 0 wordCount: 7 @@ -31604,7 +32250,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 4867834046800562, guid: e6b749c6d877f4c19a5a5c3c0783d53b, type: 3} propertyPath: m_RootOrder - value: 1 + value: 2 objectReference: {fileID: 0} - target: {fileID: 114478715909612932, guid: e6b749c6d877f4c19a5a5c3c0783d53b, type: 3} @@ -32202,6 +32848,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 0.09803922} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -32223,6 +32870,49 @@ CanvasRenderer: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 2013148056} m_CullTransparentMesh: 0 +--- !u!1 &2014009606 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - component: {fileID: 2014009607} + - component: {fileID: 2014009608} + m_Layer: 0 + m_Name: UnityDispatcher + m_TagString: Untagged + m_Icon: {fileID: 0} + m_NavMeshLayer: 0 + m_StaticEditorFlags: 0 + m_IsActive: 1 +--- !u!4 &2014009607 +Transform: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 2014009606} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: 0, y: 0, z: 0} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 559832780} + m_RootOrder: 2 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!114 &2014009608 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 2014009606} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 79fe1142c2bfd164f92b3a6c767eb095, type: 3} + m_Name: + m_EditorClassIdentifier: --- !u!1 &2014200988 GameObject: m_ObjectHideFlags: 0 @@ -32279,6 +32969,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.8862745, g: 0.8862745, b: 0.8862745, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -32432,6 +33123,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -32809,6 +33501,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.07058824, g: 0.07058824, b: 0.07058824, a: 0.78431374} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -32882,6 +33575,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -32955,6 +33649,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0, g: 0.5019608, b: 1, a: 0} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33028,6 +33723,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33101,6 +33797,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.7254902, g: 0.8627451, b: 1, a: 0} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33268,6 +33965,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33424,6 +34122,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33622,6 +34321,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33778,6 +34478,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -33943,6 +34644,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 0} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34114,6 +34816,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.735849, g: 0, b: 0, a: 0.54509807} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34187,6 +34890,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.735849, g: 0, b: 0, a: 0.54509807} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34260,6 +34964,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 0 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34549,6 +35254,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 0 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34688,7 +35394,7 @@ RectTransform: m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} m_AnchorMin: {x: 0, y: 0} m_AnchorMax: {x: 1, y: 1} - m_AnchoredPosition: {x: 0, y: 0} + m_AnchoredPosition: {x: 0, y: -0.000061035156} m_SizeDelta: {x: 0, y: 0} m_Pivot: {x: 0.5, y: 1} --- !u!114 &2124470594 @@ -34830,6 +35536,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 0.3679245, g: 0.3679245, b: 0.3679245, a: 0.3882353} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34935,6 +35642,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -34967,8 +35675,8 @@ MonoBehaviour: m_outlineColor: serializedVersion: 2 rgba: 4278190080 - m_fontSize: 20 - m_fontSizeBase: 20 + m_fontSize: 28 + m_fontSizeBase: 28 m_fontWeight: 400 m_enableAutoSizing: 0 m_fontSizeMin: 18 @@ -34984,7 +35692,7 @@ MonoBehaviour: m_enableWordWrapping: 0 m_wordWrappingRatios: 0.4 m_overflowMode: 0 - m_firstOverflowCharacterIndex: -1 + m_firstOverflowCharacterIndex: 0 m_linkedTextComponent: {fileID: 0} m_isLinkedTextComponent: 0 m_isTextTruncated: 0 @@ -35171,6 +35879,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] @@ -35318,6 +36027,7 @@ MonoBehaviour: m_Material: {fileID: 0} m_Color: {r: 1, g: 1, b: 1, a: 1} m_RaycastTarget: 1 + m_Maskable: 1 m_OnCullStateChanged: m_PersistentCalls: m_Calls: [] diff --git a/VSTool/Assets/Scripts/DroneManager.cs b/VSTool/Assets/Scripts/DroneManager.cs new file mode 100644 index 00000000..466b6d1a --- /dev/null +++ b/VSTool/Assets/Scripts/DroneManager.cs @@ -0,0 +1,71 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using DroCo; +using UnityEngine; + +public class DroneManager : Singleton { + + public GameObject newDrone; + public Transform ourDrone; + private int droneNumber = 1; + public Transform dronesPanelGrid; + public GameObject dronesPrefab; + public Transform iconTransform; + public GameObject icon; + public GameObject PopUp; + public RenderTexture PopUpRenderTexture; + + + public void AddDrone(DroneFlightData flightData) { + Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(flightData.Latitude, flightData.Longitude); + Vector3 position3d = MapController.Instance.Map.GeoToWorldPosition(mapboxPosition, false); + //float groundAltitude = MapController.Instance.Map.QueryElevationInUnityUnitsAt(MapController.Instance.Map.WorldToGeoPosition(position3d)); + position3d.y = (float) flightData.Height; + + GameObject Clone = Instantiate(newDrone, position3d, ourDrone.rotation); + Clone.name = "DroneObject" + droneNumber.ToString(); + Drones.drones.Add(new Drone(Clone, flightData)); + Drones.DroneAdded(dronesPanelGrid, dronesPrefab, iconTransform, icon, PopUp, PopUpRenderTexture); + droneNumber++; + Clone.transform.SetParent(transform); + } + + + + public void HandleReceivedDroneData(string data) { + DroneFlightData flightData = JsonUtility.FromJson(data); + foreach (Drone drone in Drones.drones) { + // Drone is already present and instaciated, we found it, just update position + if (drone.FlightData.DroneId == flightData.DroneId) { + drone.UpdateDroneFlightData(flightData); + return; + } + } + // Drone is new one in the system, we need to instanciate it + AddDrone(flightData); + } + + +} + +[Serializable] +public class DroneFlightData { + public string DroneId; + public double Height; + public double Latitude; + public double Longitude; + + public DroneFlightData() { + DroneId = "unset"; + Height = 0; + Latitude = 0; + Longitude = 0; + } + + public void SetData(double height, double latitude, double longitute) { + Height = height; + Latitude = latitude; + Longitude = longitute; + } +} diff --git a/VSTool/Assets/Scripts/ToggleController.cs.meta b/VSTool/Assets/Scripts/DroneManager.cs.meta similarity index 69% rename from VSTool/Assets/Scripts/ToggleController.cs.meta rename to VSTool/Assets/Scripts/DroneManager.cs.meta index 5ada0930..99ac2281 100644 --- a/VSTool/Assets/Scripts/ToggleController.cs.meta +++ b/VSTool/Assets/Scripts/DroneManager.cs.meta @@ -1,8 +1,7 @@ fileFormatVersion: 2 -guid: ea8f68e8ec44146508b01ef9441697eb -timeCreated: 1499514810 -licenseType: Free +guid: e62b93d77900f8f4582f15826f9f699e MonoImporter: + externalObjects: {} serializedVersion: 2 defaultReferences: [] executionOrder: 0 diff --git a/VSTool/Assets/Scripts/Map/IconManager.cs b/VSTool/Assets/Scripts/Map/IconManager.cs index 2b80c2c6..5ae4d640 100644 --- a/VSTool/Assets/Scripts/Map/IconManager.cs +++ b/VSTool/Assets/Scripts/Map/IconManager.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; @@ -25,11 +25,11 @@ public class IconManager : MonoBehaviour private int i = 0; void Start() { - foreach(GameObject item in Drones.drones) + foreach(Drone item in Drones.drones) { GameObject icon = (GameObject)Instantiate(iconPrefab); icon.transform.SetParent(iconTargetTransform); - icon.name = "icon" + item.name; + icon.name = "icon" + item.DroneGameObject.name; icon.transform.localScale = new Vector3(1,1,1); icon.gameObject.SetActive(false); } @@ -65,9 +65,9 @@ void Update() float minY = img.GetPixelAdjustedRect().height / 2 +30; // 20 vyska textu vzdialenosti float maxY = Screen.height*0.96f - img.GetPixelAdjustedRect().height / 2 -10; - Vector2 pos = cam.WorldToScreenPoint(Drones.drones[i].transform.position); + Vector2 pos = cam.WorldToScreenPoint(Drones.drones[i].DroneGameObject.transform.position); - if(Vector3.Dot((Drones.drones[i].transform.position - cam.transform.position), cam.transform.forward) < 0) + if(Vector3.Dot((Drones.drones[i].DroneGameObject.transform.position - cam.transform.position), cam.transform.forward) < 0) if(pos.x < Screen.width / 2) pos.x = maxX; else @@ -81,7 +81,7 @@ void Update() // // Ziskam text so vzdialenostou TextMeshProUGUI text = child.GetComponentInChildren(); // Ziskam vzdialenost - float dist = Vector3.Distance(Drones.drones[0].transform.position,Drones.drones[i].transform.position); + float dist = Vector3.Distance(Drones.drones[0].DroneGameObject.transform.position,Drones.drones[i].DroneGameObject.transform.position); text.text = Mathf.Round(dist) + "m"; @@ -93,7 +93,7 @@ void Update() child.transform.localScale = Vector3.Lerp(maxScale, minScale, norm); - Vector3 iconPos = cam.WorldToScreenPoint(Drones.drones[i].transform.position); + Vector3 iconPos = cam.WorldToScreenPoint(Drones.drones[i].DroneGameObject.transform.position); _onScreen = cam.pixelRect.Contains( iconPos ) && iconPos.z > cam.nearClipPlane; // && dist > 20.0 diff --git a/VSTool/Assets/Scripts/Missions/MissionHandler.cs b/VSTool/Assets/Scripts/Missions/MissionHandler.cs index beb6cc9b..fb534789 100644 --- a/VSTool/Assets/Scripts/Missions/MissionHandler.cs +++ b/VSTool/Assets/Scripts/Missions/MissionHandler.cs @@ -1,16 +1,14 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using System.IO; using UnityEngine; using UnityEngine.UI; using TMPro; using Mapbox.Unity.Map; -using System; - +using System; +using DroCo; - - -public class MissionHandler : MonoBehaviour +public class MissionHandler : Singleton { public AbstractMap Map; @@ -59,7 +57,7 @@ public class MissionHandler : MonoBehaviour public void AddDrone(Vector3 position){ GameObject Clone = Instantiate(newDrone, position, ourDrone.rotation); Clone.name = "DroneObject" + droneNumber.ToString(); - Drones.drones.Add(Clone); + Drones.drones.Add(new Drone(Clone, new DroneFlightData())); Drones.DroneAdded(dronesPanelGrid,dronesPrefab,iconTransform,icon,PopUp, PopUpRenderTexture); droneNumber++; Clone.transform.SetParent(transform); @@ -238,7 +236,7 @@ void ManageSidePanelInfo(){ TextMeshProUGUI height = child.Find("Height").GetComponent(); TextMeshProUGUI objective = child.Find("Objective").GetComponent(); float droneAltitude = 0.0f; - droneAltitude = Drones.drones[i].transform.localPosition.y - Map.QueryElevationInUnityUnitsAt(Map.WorldToGeoPosition(Drones.drones[i].transform.position)); + droneAltitude = Drones.drones[i].DroneGameObject.transform.localPosition.y - Map.QueryElevationInUnityUnitsAt(Map.WorldToGeoPosition(Drones.drones[i].DroneGameObject.transform.position)); height.text = "Height:" + Mathf.Round(droneAltitude) + "m"; objective.text = "Objective: " + mission.drones[i].checkpoints[0].name; i++; @@ -278,7 +276,7 @@ void Start() } - public jsonUrlDataClass jsonData; + public DroneFlightData jsonData; public float offset = 1.0F; public float zoneOffset = 100.0F; void Update() @@ -292,7 +290,7 @@ void Update() { //Check if mission isnt over if(drone.checkpoints.Count > 0){ - Vector3 dronePosition = Drones.drones[i].transform.position; + Vector3 dronePosition = Drones.drones[i].DroneGameObject.transform.position; int last_index = drone.checkpoints[0].points.Count - 1; Vector3 objectivePosition = drone.checkpoints[0].points[last_index].pointGameObject.transform.position; // SETTING @@ -337,16 +335,16 @@ void Update() if(mission.drones[i].url != null){ StartCoroutine(getData(mission.drones[i].url)); Vector3 position3d; - Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(jsonData.latitude,jsonData.longitude); + Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(jsonData.Latitude,jsonData.Longitude); position3d = Map.GeoToWorldPosition(mapboxPosition,false); groundAltitude = Map.QueryElevationInUnityUnitsAt(Map.WorldToGeoPosition(position3d)); - position3d.y = groundAltitude + (float)jsonData.height; - Drones.drones[i].transform.position = position3d; + position3d.y = groundAltitude + (float)jsonData.Height; + Drones.drones[i].DroneGameObject.transform.position = position3d; } else if(simulationEnabled){ - Drones.drones[i].transform.position = Vector3.MoveTowards(dronePosition, objectivePosition, Time.deltaTime * speed); - Drones.drones[i].transform.LookAt(objectivePosition); + Drones.drones[i].DroneGameObject.transform.position = Vector3.MoveTowards(dronePosition, objectivePosition, Time.deltaTime * speed); + Drones.drones[i].DroneGameObject.transform.LookAt(objectivePosition); } } // Drone is at the point @@ -421,7 +419,7 @@ IEnumerator getData(string url){ } private void processJsonData(string _url){ - jsonData = JsonUtility.FromJson(_url); + jsonData = JsonUtility.FromJson(_url); } private void AssignCurrentObjective() @@ -438,17 +436,12 @@ public void destroyMission(){ Destroy(child.gameObject); } } -} -[Serializable] -public class jsonUrlDataClass{ - public double height; - public double latitude; - public double longitude; + } [System.Serializable] public class Mission{ - public List drones; + public List drones; public List checkpoints; } [System.Serializable] @@ -475,11 +468,11 @@ public class Point{ } [System.Serializable] -public class Drone{ +public class DroneM{ public string name; public double latitude; public double longitude; public string url; public List checkpoints; -} \ No newline at end of file +} diff --git a/VSTool/Assets/Scripts/Multiplayer/AddDrone.cs b/VSTool/Assets/Scripts/Multiplayer/AddDrone.cs index 8e944c28..9f271712 100644 --- a/VSTool/Assets/Scripts/Multiplayer/AddDrone.cs +++ b/VSTool/Assets/Scripts/Multiplayer/AddDrone.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; @@ -24,11 +24,10 @@ public void addDrone(Transform position){ Clone.name = "DroneObject" + droneNumber.ToString(); //DroneList.drones.Add(Clone);ß //DisplayDrones.dronesList.Add(Clone); - Drones.drones.Add(Clone); + Drones.drones.Add(new Drone(Clone, new DroneFlightData())); Drones.DroneAdded(tarfetTransform,dronesPrefab,iconTransform,icon, PopUp, RenderTexture); Debug.Log(Clone.name + "added"); droneNumber++; //Clone.GetComponent("DroneController").enabled = false; } } -   \ No newline at end of file diff --git a/VSTool/Assets/Scripts/Multiplayer/Drone.cs b/VSTool/Assets/Scripts/Multiplayer/Drone.cs new file mode 100644 index 00000000..49cc33ab --- /dev/null +++ b/VSTool/Assets/Scripts/Multiplayer/Drone.cs @@ -0,0 +1,37 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Drone { + + public GameObject DroneGameObject { + get; set; + } + + public DroneFlightData FlightData { + get; set; + } + + public Drone(GameObject droneGameObject, DroneFlightData flightData) { + DroneGameObject = droneGameObject; + FlightData = flightData; + } + + public void UpdateDroneFlightData(DroneFlightData flightData) { + FlightData = flightData; + if (double.IsNaN(FlightData.Latitude) || double.IsNaN(FlightData.Longitude)) { + return; + } + + Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(FlightData.Latitude, FlightData.Longitude); + Vector3 position3d = MapController.Instance.Map.GeoToWorldPosition(mapboxPosition, false); + if (FlightData.DroneId == "DJI-Mavic2") { + float groundAltitude = MapController.Instance.Map.QueryElevationInUnityUnitsAt(MapController.Instance.Map.WorldToGeoPosition(position3d)); + position3d.y = groundAltitude + (float) FlightData.Height; + } else { + position3d.y = (float) FlightData.Height; + } + DroneGameObject.transform.position = position3d; + } + +} diff --git a/VSTool/Assets/Scripts/Multiplayer/Drone.cs.meta b/VSTool/Assets/Scripts/Multiplayer/Drone.cs.meta new file mode 100644 index 00000000..fc6c4cf1 --- /dev/null +++ b/VSTool/Assets/Scripts/Multiplayer/Drone.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b6b59eb322c6d0a419d80c8a16047a89 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/VSTool/Assets/Scripts/Multiplayer/Drones.cs b/VSTool/Assets/Scripts/Multiplayer/Drones.cs index 2059fbd1..e0b7d7df 100644 --- a/VSTool/Assets/Scripts/Multiplayer/Drones.cs +++ b/VSTool/Assets/Scripts/Multiplayer/Drones.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; @@ -8,7 +8,7 @@ public class Drones : MonoBehaviour { - public static List drones = new List(); + public static List drones = new List(); public static List icones = new List(); @@ -27,12 +27,12 @@ public class Drones : MonoBehaviour public GameObject PopUp; void Start() { - foreach(GameObject item in drones) + foreach(Drone item in drones) { GameObject droneDisplay = (GameObject)Instantiate(dronesPrefab); droneDisplay.transform.SetParent(tarfetTransform); droneName = droneDisplay.GetComponentsInChildren(); - droneName[0].text = item.name; + droneName[0].text = item.DroneGameObject.name; droneName[1].text = drones.Count.ToString(); droneDisplay.transform.localScale = new Vector3(1,1,1); droneDisplay.GetComponent().PopUp = PopUp; @@ -47,7 +47,7 @@ void Update() foreach(Transform child in tarfetTransform.transform) { droneName = child.GetComponentsInChildren(); - distance = Vector3.Distance(drones[0].transform.position,drones[i].transform.position); + distance = Vector3.Distance(drones[0].DroneGameObject.transform.position,drones[i].DroneGameObject.transform.position); droneName[1].text = Mathf.Round(distance) + "m"; i++; } @@ -56,7 +56,7 @@ void Update() public static void DroneAdded(Transform tarfetTransform, GameObject dronesPrefab,Transform iconTargetTransform,GameObject iconPrefab,GameObject PopUp,RenderTexture PopUpRenderTexture) { - GameObject item = drones[drones.Count - 1]; + GameObject item = drones[drones.Count - 1].DroneGameObject; GameObject droneDisplay = (GameObject)Instantiate(dronesPrefab); droneDisplay.transform.SetParent(tarfetTransform); TextMeshProUGUI[] droneName = droneDisplay.GetComponentsInChildren(); @@ -64,7 +64,7 @@ public static void DroneAdded(Transform tarfetTransform, GameObject dronesPrefab droneName[1].text = "0m"; droneDisplay.GetComponent().PopUp = PopUp; droneDisplay.GetComponent().RenderTexture = PopUpRenderTexture; - float distance = Vector3.Distance(drones[0].transform.position, item.transform.position); + float distance = Vector3.Distance(drones[0].DroneGameObject.transform.position, item.transform.position); Debug.Log(distance); // Icon diff --git a/VSTool/Assets/Scripts/Multiplayer/LookAtDrone.cs b/VSTool/Assets/Scripts/Multiplayer/LookAtDrone.cs index 90a4cd64..ac3afe13 100644 --- a/VSTool/Assets/Scripts/Multiplayer/LookAtDrone.cs +++ b/VSTool/Assets/Scripts/Multiplayer/LookAtDrone.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; @@ -22,7 +22,7 @@ public void LookDrone(){ // Camera.LookAt(Drones.drones[i].transform); PopUp.SetActive(true); Camera PopUpCamera; - PopUpCamera = Drones.drones[i].transform.Find("TopCamera").GetComponent(); + PopUpCamera = Drones.drones[i].DroneGameObject.transform.Find("TopCamera").GetComponent(); PopUpCamera.gameObject.SetActive(true); PopUpCamera.targetTexture = RenderTexture; PopUpCamera.enabled = true; @@ -34,7 +34,7 @@ public void DontLookDrone(){ droneName = transform.GetComponentsInChildren(); i = Int32.Parse(droneName[0].text.Substring(droneName[0].text.Length -1)); Camera PopUpCamera; - PopUpCamera = Drones.drones[i].transform.Find("TopCamera").GetComponent(); + PopUpCamera = Drones.drones[i].DroneGameObject.transform.Find("TopCamera").GetComponent(); PopUpCamera.gameObject.SetActive(false); PopUp.SetActive(false); } diff --git a/VSTool/Assets/Scripts/SideScripts/PositionHandler.cs b/VSTool/Assets/Scripts/SideScripts/PositionHandler.cs index 20f8c018..f88b96ca 100644 --- a/VSTool/Assets/Scripts/SideScripts/PositionHandler.cs +++ b/VSTool/Assets/Scripts/SideScripts/PositionHandler.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using RosSharp.RosBridgeClient.Messages; @@ -21,12 +21,12 @@ void Update() private void NewMethod1() { - transform.position = new Vector3(transform.position.x, Drones.drones[MissionHandler.activeDrone].transform.position.y, transform.position.z); + transform.position = new Vector3(transform.position.x, Drones.drones[MissionHandler.activeDrone].DroneGameObject.transform.position.y, transform.position.z); } private void NewMethod() { - transform.position = Drones.drones[MissionHandler.activeDrone].transform.position; - transform.rotation = Drones.drones[MissionHandler.activeDrone].transform.rotation; + transform.position = Drones.drones[MissionHandler.activeDrone].DroneGameObject.transform.position; + transform.rotation = Drones.drones[MissionHandler.activeDrone].DroneGameObject.transform.rotation; } } diff --git a/VSTool/Assets/Scripts/SideScripts/WayPointManager.cs b/VSTool/Assets/Scripts/SideScripts/WayPointManager.cs index 7d533e90..36bebe01 100644 --- a/VSTool/Assets/Scripts/SideScripts/WayPointManager.cs +++ b/VSTool/Assets/Scripts/SideScripts/WayPointManager.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; @@ -30,8 +30,7 @@ void Update() pos.y = Mathf.Clamp(pos.y, Icon.GetPixelAdjustedRect().height / 2 +20, Screen.height*0.96f - Icon.GetPixelAdjustedRect().height / 2); Icon.transform.position = pos; - - float dist = Vector3.Distance(Drones.drones[0].transform.position,Waypoint.position); + float dist = Vector3.Distance(Drones.drones[0].DroneGameObject.transform.position,Waypoint.position); Distance.text = Mathf.Round(dist) + "m"; } -} \ No newline at end of file +} diff --git a/VSTool/Assets/Scripts/Singleton.cs b/VSTool/Assets/Scripts/Singleton.cs new file mode 100644 index 00000000..ea16a410 --- /dev/null +++ b/VSTool/Assets/Scripts/Singleton.cs @@ -0,0 +1,68 @@ +using UnityEngine; + +/// +/// Inherit from this base class to create a singleton. +/// e.g. public class MyClassName : Singleton {} +/// + +namespace DroCo { + public class Singleton : MonoBehaviour where T : MonoBehaviour { + // Check to see if we're about to be destroyed. + private static bool m_ShuttingDown = false; + private static object m_Lock = new object(); + private static T m_Instance; + + /// + /// Access singleton instance through this propriety. + /// + public static T Instance { + get { + if (m_ShuttingDown) { + Debug.LogWarning("[Singleton] Instance '" + typeof(T) + + "' already destroyed. Returning null."); + return null; + } + + lock (m_Lock) { + if (m_Instance == null) { + // Search for existing instance. + m_Instance = (T) FindObjectOfType(typeof(T)); + + //if there is no active object of given type, try to find in inactive objects + if (m_Instance == null) { + Object[] objects = Resources.FindObjectsOfTypeAll(typeof(T)); + // if there is such object, it is bug and it shuld to be reported + if (objects.Length > 0) { + m_Instance = (T) objects[0]; + Debug.LogError("Calling method of inactive object"); + } + } + + // or create new instance + if (m_Instance == null) { + // Need to create a new GameObject to attach the singleton to. + GameObject singletonObject = new GameObject(); + m_Instance = singletonObject.AddComponent(); + singletonObject.name = typeof(T).ToString() + " (Singleton)"; + + // Make instance persistent. + DontDestroyOnLoad(singletonObject); + } + } + + return m_Instance; + } + } + } + + + private void OnApplicationQuit() { + m_ShuttingDown = true; + } + + + private void OnDestroy() { + m_ShuttingDown = true; + } + } +} diff --git a/VSTool/Assets/Scripts/Singleton.cs.meta b/VSTool/Assets/Scripts/Singleton.cs.meta new file mode 100644 index 00000000..03eaf7b9 --- /dev/null +++ b/VSTool/Assets/Scripts/Singleton.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 137910dfe99ab1d4e9ec924445ce12e4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/VSTool/Assets/Scripts/ToggleController.cs b/VSTool/Assets/Scripts/ToggleController.cs deleted file mode 100644 index b35cfc1a..00000000 --- a/VSTool/Assets/Scripts/ToggleController.cs +++ /dev/null @@ -1,158 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using UnityEngine.UI; - -public class ToggleController : MonoBehaviour -{ - public bool isOn; - - public Color onColorBg; - public Color offColorBg; - - public Image toggleBgImage; - public RectTransform toggle; - - public GameObject handle; - private RectTransform handleTransform; - - private float handleSize; - private float onPosX; - private float offPosX; - - public float handleOffset; - - public GameObject onIcon; - public GameObject offIcon; - - - public float speed; - static float t = 0.0f; - - private bool switching = false; - - - void Awake() - { - handleTransform = handle.GetComponent(); - RectTransform handleRect = handle.GetComponent(); - handleSize = handleRect.sizeDelta.x; - float toggleSizeX = toggle.sizeDelta.x; - onPosX = (toggleSizeX / 2) - (handleSize/2) - handleOffset; - offPosX = onPosX * -1; - - } - - - void Start() - { - if(isOn) - { - toggleBgImage.color = onColorBg; - handleTransform.localPosition = new Vector3(onPosX, 0f, 0f); - onIcon.gameObject.SetActive(true); - offIcon.gameObject.SetActive(false); - } - else - { - toggleBgImage.color = offColorBg; - handleTransform.localPosition = new Vector3(offPosX, 0f, 0f); - onIcon.gameObject.SetActive(false); - offIcon.gameObject.SetActive(true); - } - } - - void Update() - { - - if(switching) - { - Toggle(isOn); - } - } - - public void DoYourStaff() - { - Debug.Log(isOn); - } - - public void Switching() - { - switching = true; - } - - - - public void Toggle(bool toggleStatus) - { - if(!onIcon.active || !offIcon.active) - { - onIcon.SetActive(true); - offIcon.SetActive(true); - } - - if(toggleStatus) - { - toggleBgImage.color = SmoothColor(onColorBg, offColorBg); - Transparency (onIcon, 1f, 0f); - Transparency (offIcon, 0f, 1f); - handleTransform.localPosition = SmoothMove(handle, onPosX, offPosX); - } - else - { - toggleBgImage.color = SmoothColor(offColorBg, onColorBg); - Transparency (onIcon, 0f, 1f); - Transparency (offIcon, 1f, 0f); - handleTransform.localPosition = SmoothMove(handle, offPosX, onPosX); - } - - } - - - Vector3 SmoothMove(GameObject toggleHandle, float startPosX, float endPosX) - { - - Vector3 position = new Vector3 (Mathf.Lerp(startPosX, endPosX, t += speed * Time.deltaTime), 0f, 0f); - StopSwitching(); - return position; - } - - Color SmoothColor(Color startCol, Color endCol) - { - Color resultCol; - resultCol = Color.Lerp(startCol, endCol, t += speed * Time.deltaTime); - return resultCol; - } - - CanvasGroup Transparency (GameObject alphaObj, float startAlpha, float endAlpha) - { - CanvasGroup alphaVal; - alphaVal = alphaObj.gameObject.GetComponent(); - alphaVal.alpha = Mathf.Lerp(startAlpha, endAlpha, t += speed * Time.deltaTime); - return alphaVal; - } - - void StopSwitching() - { - if(t > 1.0f) - { - switching = false; - - t = 0.0f; - switch(isOn) - { - case true: - isOn = false; - DoYourStaff(); - break; - - case false: - isOn = true; - DoYourStaff(); - break; - } - - } - } - -} diff --git a/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs b/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs new file mode 100644 index 00000000..cf3bb6b4 --- /dev/null +++ b/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs @@ -0,0 +1,119 @@ +/* +Copyright 2015 Pim de Witte All Rights Reserved. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using System; +using System.Threading.Tasks; + +/// Author: Pim de Witte (pimdewitte.com) and contributors, https://github.com/PimDeWitte/UnityMainThreadDispatcher +/// +/// A thread-safe class which holds a queue with actions to execute on the next Update() method. It can be used to make calls to the main thread for +/// things such as UI Manipulation in Unity. It was developed for use in combination with the Firebase Unity plugin, which uses separate threads for event handling +/// +public class UnityMainThreadDispatcher : MonoBehaviour { + + private static readonly Queue _executionQueue = new Queue(); + + public void Update() { + lock(_executionQueue) { + while (_executionQueue.Count > 0) { + _executionQueue.Dequeue().Invoke(); + } + } + } + + /// + /// Locks the queue and adds the IEnumerator to the queue + /// + /// IEnumerator function that will be executed from the main thread. + public void Enqueue(IEnumerator action) { + lock (_executionQueue) { + _executionQueue.Enqueue (() => { + StartCoroutine (action); + }); + } + } + + /// + /// Locks the queue and adds the Action to the queue + /// + /// function that will be executed from the main thread. + public void Enqueue(Action action) + { + Enqueue(ActionWrapper(action)); + } + + /// + /// Locks the queue and adds the Action to the queue, returning a Task which is completed when the action completes + /// + /// function that will be executed from the main thread. + /// A Task that can be awaited until the action completes + public Task EnqueueAsync(Action action) + { + var tcs = new TaskCompletionSource(); + + void WrappedAction() { + try + { + action(); + tcs.TrySetResult(true); + } catch (Exception ex) + { + tcs.TrySetException(ex); + } + } + + Enqueue(ActionWrapper(WrappedAction)); + return tcs.Task; + } + + + IEnumerator ActionWrapper(Action a) + { + a(); + yield return null; + } + + + private static UnityMainThreadDispatcher _instance = null; + + public static bool Exists() { + return _instance != null; + } + + public static UnityMainThreadDispatcher Instance() { + if (!Exists ()) { + throw new Exception ("UnityMainThreadDispatcher could not find the UnityMainThreadDispatcher object. Please ensure you have added the MainThreadExecutor Prefab to your scene."); + } + return _instance; + } + + + void Awake() { + if (_instance == null) { + _instance = this; + DontDestroyOnLoad(this.gameObject); + } + } + + void OnDestroy() { + _instance = null; + } + + +} diff --git a/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs.meta b/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs.meta new file mode 100644 index 00000000..f7b95794 --- /dev/null +++ b/VSTool/Assets/Scripts/UnityMainThreadDispatcher.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 79fe1142c2bfd164f92b3a6c767eb095 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/VSTool/Assets/Scripts/WebSocketManager.cs b/VSTool/Assets/Scripts/WebSocketManager.cs new file mode 100644 index 00000000..d7a524fd --- /dev/null +++ b/VSTool/Assets/Scripts/WebSocketManager.cs @@ -0,0 +1,133 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using DroCo; +//using NativeWebSocket; +using System; +using System.Text; +using Newtonsoft.Json; +using System.Threading; +using WebSocketSharp; + +public class WebSocketManager : Singleton { + + public string APIDomainWS = ""; + private WebSocket websocket; + + public delegate void DroneFlightDataEventHandler(object sender, DroneFlightDataEventArgs args); + public class DroneFlightDataEventArgs { + public string Data { + get; set; + } + + public DroneFlightDataEventArgs(string data) { + Data = data; + } + } + public DroneFlightDataEventHandler OnDroneDataReceived; + + /// + /// ARServer domain or IP address + /// + private string serverDomain; + + /// + /// Requset id pool + /// + private int requestID = 1; + + /// + /// Dictionary of unprocessed responses + /// + private Dictionary responses = new Dictionary(); + + + private void Start() { + ConnectToServer("pcbambusek.fit.vutbr.cz", 5555); + } + + + /// + /// Create websocket URI from domain name and port + /// + /// Domain name or IP address + /// Server port + /// + public string GetWSURI(string domain, int port) { + return "ws://" + domain + ":" + port.ToString(); + } + + public void ConnectToServer(string domain, int port) { + try { + APIDomainWS = GetWSURI(domain, port); + websocket = new WebSocket(APIDomainWS); + serverDomain = domain; + + websocket.OnOpen += OnConnectedWS; + websocket.OnError += OnErrorWS; + websocket.OnClose += OnCloseWS; + websocket.OnMessage += HandleReceivedDataWS; + + websocket.Connect(); + } catch (UriFormatException ex) { + Debug.LogError(ex); + } + } + + private void HandleReceivedDataWS(object sender, MessageEventArgs e) { + //string data = Encoding.Default.GetString(e.Data); + UnityMainThreadDispatcher.Instance().Enqueue(UpdateDroneData(e.Data)); + } + + public IEnumerator UpdateDroneData(string data) { + DroneManager.Instance.HandleReceivedDroneData(data); + yield return null; + } + + private void OnCloseWS(object sender, CloseEventArgs e) { + Debug.Log("Connection closed!"); + } + + private void OnErrorWS(object sender, ErrorEventArgs e) { + Debug.LogError(e.Message + " : " + e.Exception); + } + + private void OnConnectedWS(object sender, EventArgs e) { + Debug.Log("On connected"); + } + /// + /// Universal method for sending data to server + /// + /// String to send + /// ID of request (used to obtain result) + /// Flag whether or not store result + /// Flag whether or not log sended message + public void SendDataToServer(string data, int key = -1, bool storeResult = false, bool logInfo = false) { + if (key < 0) { + key = Interlocked.Increment(ref requestID); + } + if (logInfo) + Debug.Log("Sending data to server: " + data); + + if (storeResult) { + responses[key] = null; + } + SendWebSocketMessage(data); + } + + /// + /// Sends data to server + /// + /// + private async void SendWebSocketMessage(string data) { + //if (websocket.State == WebSocketState.Open) { + if (websocket.IsAlive == true) { + websocket.Send(data); + } + } + + private void OnDestroy() { + websocket.Close(); + } + +} diff --git a/VSTool/Assets/Scripts/WebSocketManager.cs.meta b/VSTool/Assets/Scripts/WebSocketManager.cs.meta new file mode 100644 index 00000000..12cb5180 --- /dev/null +++ b/VSTool/Assets/Scripts/WebSocketManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ad8878a530e52ab40ad0cc683854a034 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/VSTool/Packages/manifest.json b/VSTool/Packages/manifest.json index ed600d40..d422f526 100644 --- a/VSTool/Packages/manifest.json +++ b/VSTool/Packages/manifest.json @@ -2,20 +2,20 @@ "dependencies": { "com.unity.2d.sprite": "1.0.0", "com.unity.2d.tilemap": "1.0.0", - "com.unity.ads": "3.4.4", + "com.unity.ads": "3.4.7", "com.unity.analytics": "3.3.5", "com.unity.collab-proxy": "1.2.16", "com.unity.ext.nunit": "1.0.0", "com.unity.ide.rider": "1.1.4", - "com.unity.ide.vscode": "1.1.3", - "com.unity.multiplayer-hlapi": "1.0.4", + "com.unity.ide.vscode": "1.2.1", + "com.unity.multiplayer-hlapi": "1.0.6", "com.unity.purchasing": "2.0.6", - "com.unity.test-framework": "1.1.13", + "com.unity.test-framework": "1.1.14", "com.unity.textmeshpro": "2.0.1", "com.unity.timeline": "1.2.12", "com.unity.ugui": "1.0.0", "com.unity.vectorgraphics": "2.0.0-preview.12", - "com.unity.xr.legacyinputhelpers": "2.0.2", + "com.unity.xr.legacyinputhelpers": "2.1.4", "com.unity.modules.ai": "1.0.0", "com.unity.modules.androidjni": "1.0.0", "com.unity.modules.animation": "1.0.0", From 94c471e43de30577fdc490bebb7cdc38a9881bc8 Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 17 Sep 2020 18:40:32 +0200 Subject: [PATCH 06/12] Added drone IMU + Compass for rotation --- .../DroneControlScripts/DroneController.cs | 3 ++- VSTool/Assets/Scripts/DroneManager.cs | 22 ++++++++++++++----- .../Assets/Scripts/Missions/MissionHandler.cs | 2 +- VSTool/Assets/Scripts/Multiplayer/Drone.cs | 5 +++-- 4 files changed, 23 insertions(+), 9 deletions(-) diff --git a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs index de8b98f4..a745323b 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs @@ -238,7 +238,8 @@ void Update() if (nextUpdate > droneUpdateInterval) { nextUpdate = 0f; Vector2d latitudelongitude = Map.WorldToGeoPosition(transform.localPosition); - drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y); + Vector3 rotation = positionData.GetPitchRoll(); + drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y, rotation.x, rotation.y, rotation.z, positionData.GetRotation().y); WebSocketManager.Instance.SendDataToServer(JsonUtility.ToJson(drone.FlightData)); } nextUpdate += Time.deltaTime; diff --git a/VSTool/Assets/Scripts/DroneManager.cs b/VSTool/Assets/Scripts/DroneManager.cs index 466b6d1a..41511220 100644 --- a/VSTool/Assets/Scripts/DroneManager.cs +++ b/VSTool/Assets/Scripts/DroneManager.cs @@ -21,7 +21,7 @@ public void AddDrone(DroneFlightData flightData) { Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(flightData.Latitude, flightData.Longitude); Vector3 position3d = MapController.Instance.Map.GeoToWorldPosition(mapboxPosition, false); //float groundAltitude = MapController.Instance.Map.QueryElevationInUnityUnitsAt(MapController.Instance.Map.WorldToGeoPosition(position3d)); - position3d.y = (float) flightData.Height; + position3d.y = (float) flightData.Altitude; GameObject Clone = Instantiate(newDrone, position3d, ourDrone.rotation); Clone.name = "DroneObject" + droneNumber.ToString(); @@ -52,20 +52,32 @@ public void HandleReceivedDroneData(string data) { [Serializable] public class DroneFlightData { public string DroneId; - public double Height; + public double Altitude; public double Latitude; public double Longitude; + public double Pitch; + public double Roll; + public double Yaw; + public double Compass; public DroneFlightData() { DroneId = "unset"; - Height = 0; + Altitude = 0; Latitude = 0; Longitude = 0; + Pitch = 0; + Roll = 0; + Yaw = 0; + Compass = 0; } - public void SetData(double height, double latitude, double longitute) { - Height = height; + public void SetData(double height, double latitude, double longitute, double pitch, double roll, double yaw, double compass) { + Altitude = height; Latitude = latitude; Longitude = longitute; + Pitch = pitch; + Roll = roll; + Yaw = yaw; + Compass = compass; } } diff --git a/VSTool/Assets/Scripts/Missions/MissionHandler.cs b/VSTool/Assets/Scripts/Missions/MissionHandler.cs index fb534789..2db60c94 100644 --- a/VSTool/Assets/Scripts/Missions/MissionHandler.cs +++ b/VSTool/Assets/Scripts/Missions/MissionHandler.cs @@ -338,7 +338,7 @@ void Update() Mapbox.Utils.Vector2d mapboxPosition = new Mapbox.Utils.Vector2d(jsonData.Latitude,jsonData.Longitude); position3d = Map.GeoToWorldPosition(mapboxPosition,false); groundAltitude = Map.QueryElevationInUnityUnitsAt(Map.WorldToGeoPosition(position3d)); - position3d.y = groundAltitude + (float)jsonData.Height; + position3d.y = groundAltitude + (float)jsonData.Altitude; Drones.drones[i].DroneGameObject.transform.position = position3d; } else diff --git a/VSTool/Assets/Scripts/Multiplayer/Drone.cs b/VSTool/Assets/Scripts/Multiplayer/Drone.cs index 49cc33ab..58e51221 100644 --- a/VSTool/Assets/Scripts/Multiplayer/Drone.cs +++ b/VSTool/Assets/Scripts/Multiplayer/Drone.cs @@ -27,11 +27,12 @@ public void UpdateDroneFlightData(DroneFlightData flightData) { Vector3 position3d = MapController.Instance.Map.GeoToWorldPosition(mapboxPosition, false); if (FlightData.DroneId == "DJI-Mavic2") { float groundAltitude = MapController.Instance.Map.QueryElevationInUnityUnitsAt(MapController.Instance.Map.WorldToGeoPosition(position3d)); - position3d.y = groundAltitude + (float) FlightData.Height; + position3d.y = groundAltitude + (float) FlightData.Altitude; } else { - position3d.y = (float) FlightData.Height; + position3d.y = (float) FlightData.Altitude; } DroneGameObject.transform.position = position3d; + DroneGameObject.transform.eulerAngles = new Vector3((float)FlightData.Pitch, (float)FlightData.Roll + (float)FlightData.Compass, (float)FlightData.Yaw); } } From cdb1617c6c7b6cd090958138c00657380a45673a Mon Sep 17 00:00:00 2001 From: xBambusekD Date: Thu, 17 Sep 2020 19:17:11 +0200 Subject: [PATCH 07/12] Rotations fix --- .../Scenes/DroneControlScripts/DroneController.cs | 2 +- VSTool/Assets/Scenes/DroneScene.unity | 12 ++++++++---- VSTool/Assets/Scripts/Multiplayer/Drone.cs | 2 +- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs index a745323b..7b5665f2 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/DroneController.cs @@ -239,7 +239,7 @@ void Update() nextUpdate = 0f; Vector2d latitudelongitude = Map.WorldToGeoPosition(transform.localPosition); Vector3 rotation = positionData.GetPitchRoll(); - drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y, rotation.x, rotation.y, rotation.z, positionData.GetRotation().y); + drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y, pitch:rotation.x, roll:rotation.z, yaw:rotation.y + 90f, positionData.GetRotation().y); WebSocketManager.Instance.SendDataToServer(JsonUtility.ToJson(drone.FlightData)); } nextUpdate += Time.deltaTime; diff --git a/VSTool/Assets/Scenes/DroneScene.unity b/VSTool/Assets/Scenes/DroneScene.unity 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VSTool/Assets/Scripts/WebSocketManager.cs | 34 +- VSTool/Assets/SetupPlayerPrefs.cs | 52 +- 4 files changed, 1174 insertions(+), 42 deletions(-) diff --git a/VSTool/Assets/Scenes/DroneControlScripts/GuiController.cs b/VSTool/Assets/Scenes/DroneControlScripts/GuiController.cs index a532a0f0..afa16266 100644 --- a/VSTool/Assets/Scenes/DroneControlScripts/GuiController.cs +++ b/VSTool/Assets/Scenes/DroneControlScripts/GuiController.cs @@ -286,10 +286,18 @@ public void ChangeIP(string value){ ReconnectButtonClick(); } + public void ChangeDrocoServerIP(string value) { + // reconnect only if url really changed + if (!WebSocketManager.Instance.APIDomainWS.Equals(value)) { + Debug.Log("Reconnecting to the DroCo server: " + value); + PlayerPrefs.SetString("DrocoServerURL", value); + WebSocketManager.Instance.ReconnectToServer(value); + } + } public void ReconnectButtonClick() { - droneController.ConnectToRos(); + droneController.ConnectToRos(); } public void DefineAreaButtonClick() diff --git 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DroneFlightDataEventArgs(string data) { } public DroneFlightDataEventHandler OnDroneDataReceived; - /// - /// ARServer domain or IP address - /// - private string serverDomain; - /// /// Requset id pool /// @@ -43,7 +37,7 @@ public DroneFlightDataEventArgs(string data) { private void Start() { - ConnectToServer("pcbambusek.fit.vutbr.cz", 5555); + ConnectToServer(PlayerPrefs.GetString("DrocoServerURL")); } @@ -57,17 +51,39 @@ public string GetWSURI(string domain, int port) { return "ws://" + domain + ":" + port.ToString(); } + public void ReconnectToServer(string domain, int port) { + if (websocket.IsAlive) { + websocket.Close(); + } + ConnectToServer(domain, port); + } + + public void ReconnectToServer(string wsURI) { + if (websocket.IsAlive) { + websocket.Close(); + } + ConnectToServer(wsURI); + } + public void ConnectToServer(string domain, int port) { try { APIDomainWS = GetWSURI(domain, port); + ConnectToServer(APIDomainWS); + } catch (UriFormatException ex) { + Debug.LogError(ex); + } + } + + public void ConnectToServer(string wsURI) { + try { + APIDomainWS = wsURI; websocket = new WebSocket(APIDomainWS); - serverDomain = domain; websocket.OnOpen += OnConnectedWS; websocket.OnError += OnErrorWS; websocket.OnClose += OnCloseWS; websocket.OnMessage += HandleReceivedDataWS; - + websocket.Connect(); } catch (UriFormatException ex) { Debug.LogError(ex); diff --git a/VSTool/Assets/SetupPlayerPrefs.cs b/VSTool/Assets/SetupPlayerPrefs.cs index 95cc75ac..de954cac 100644 --- a/VSTool/Assets/SetupPlayerPrefs.cs +++ b/VSTool/Assets/SetupPlayerPrefs.cs @@ -1,4 +1,4 @@ -using System.Collections; +using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; @@ -8,6 +8,7 @@ public class SetupPlayerPrefs : MonoBehaviour { public TMP_InputField RosBridgeURL; + public TMP_InputField DrocoServerURL; public TMP_InputField MapCenter; public Slider CameraFOV; @@ -19,25 +20,44 @@ public class SetupPlayerPrefs : MonoBehaviour public TMP_InputField Topic; public Slider MapSize; - // Start is called before the first frame update - void Start() - { - if (!PlayerPrefs.HasKey("CameraResWidth") ) PlayerPrefs.SetInt("CameraResWidth", 672); - if (!PlayerPrefs.HasKey("CameraResHeight") ) PlayerPrefs.SetInt("CameraResHeight", 376); - if (!PlayerPrefs.HasKey("CameraFOV") ) PlayerPrefs.SetInt("CameraFOV", 130); - if (!PlayerPrefs.HasKey("CameraScreenDistance") ) PlayerPrefs.SetFloat("CameraScreenDistance", 20f); - if (!PlayerPrefs.HasKey("VideoCompression") ) PlayerPrefs.SetInt("VideoCompression", 1); - if (!PlayerPrefs.HasKey("RosBridgeURL") ) PlayerPrefs.SetString("RosBridgeURL", "ws://10.42.0.1:9090"); + private void Awake() { + if (!PlayerPrefs.HasKey("CameraResWidth")) + PlayerPrefs.SetInt("CameraResWidth", 672); + if (!PlayerPrefs.HasKey("CameraResHeight")) + PlayerPrefs.SetInt("CameraResHeight", 376); + if (!PlayerPrefs.HasKey("CameraFOV")) + PlayerPrefs.SetInt("CameraFOV", 130); + if (!PlayerPrefs.HasKey("CameraScreenDistance")) + PlayerPrefs.SetFloat("CameraScreenDistance", 20f); + if (!PlayerPrefs.HasKey("VideoCompression")) + PlayerPrefs.SetInt("VideoCompression", 1); - if (!PlayerPrefs.HasKey("MapDefaultLayer") ) PlayerPrefs.SetString("MapDefaultLayer", "mapbox.satellite");//mapbox://styles/mapbox/streets-v10 - if (!PlayerPrefs.HasKey("MapCenter") ) PlayerPrefs.SetString("MapCenter", "49.226564, 16.596639"); - if (!PlayerPrefs.HasKey("MapSize") ) PlayerPrefs.SetInt("MapSize", 4); - if (!PlayerPrefs.HasKey("VideoTimeStep") ) PlayerPrefs.SetFloat("VideoTimeStep", 0); - if (!PlayerPrefs.HasKey("VideoTopic") ) PlayerPrefs.SetString("VideoTopic", "/zed/right/image_rect_color/compressed/optimized"); - if (!PlayerPrefs.HasKey("AltitudeOffset") ) PlayerPrefs.SetFloat("AltitudeOffset", 0); + if (!PlayerPrefs.HasKey("RosBridgeURL")) + PlayerPrefs.SetString("RosBridgeURL", "ws://10.42.0.1:9090"); + if (!PlayerPrefs.HasKey("DrocoServerURL")) + PlayerPrefs.SetString("DrocoServerURL", "ws://pcbambusek.fit.vutbr.cz:5555"); + + if (!PlayerPrefs.HasKey("MapDefaultLayer")) + PlayerPrefs.SetString("MapDefaultLayer", "mapbox.satellite");//mapbox://styles/mapbox/streets-v10 + if (!PlayerPrefs.HasKey("MapCenter")) + PlayerPrefs.SetString("MapCenter", "49.226564, 16.596639"); + if (!PlayerPrefs.HasKey("MapSize")) + PlayerPrefs.SetInt("MapSize", 4); + if (!PlayerPrefs.HasKey("VideoTimeStep")) + PlayerPrefs.SetFloat("VideoTimeStep", 0); + if (!PlayerPrefs.HasKey("VideoTopic")) + PlayerPrefs.SetString("VideoTopic", "/zed/right/image_rect_color/compressed/optimized"); + if (!PlayerPrefs.HasKey("AltitudeOffset")) + PlayerPrefs.SetFloat("AltitudeOffset", 0); + } + // Start is called before the first frame update + void Start() + { RosBridgeURL.text = PlayerPrefs.GetString("RosBridgeURL"); + DrocoServerURL.text = PlayerPrefs.GetString("DrocoServerURL"); + MapCenter.text = PlayerPrefs.GetString("MapCenter"); MapSize.value = PlayerPrefs.GetInt("MapSize"); CameraFOV.value = PlayerPrefs.GetInt("CameraFOV"); From d1cde283137c1926374bc9dcaf38b8cad85366dc Mon Sep 17 00:00:00 2001 From: Hubinatorr Date: Mon, 28 Sep 2020 15:28:13 +0200 Subject: [PATCH 09/12] Point Cloud visuaization --- VSTool/Assets/PointCloudSubscriber1.cs | 519 ++++++++++++++++ VSTool/Assets/PointCloudSubscriber1.cs.meta | 11 + .../DroneControlScripts/DroneRosData.cs | 5 +- VSTool/Assets/Scenes/TestScene.unity | 225 ++++--- .../Scripts/Danger/PointCloudSubscriber.cs | 583 +++++++----------- VSTool/Assets/Scripts/Danger/Vertex.shader | 33 + .../Assets/Scripts/Danger/Vertex.shader.meta | 9 + .../Scripts/SideScripts/PositionHandler.cs | 9 +- 8 files changed, 943 insertions(+), 451 deletions(-) create mode 100644 VSTool/Assets/PointCloudSubscriber1.cs create mode 100644 VSTool/Assets/PointCloudSubscriber1.cs.meta create mode 100644 VSTool/Assets/Scripts/Danger/Vertex.shader create mode 100644 VSTool/Assets/Scripts/Danger/Vertex.shader.meta diff --git a/VSTool/Assets/PointCloudSubscriber1.cs b/VSTool/Assets/PointCloudSubscriber1.cs new file mode 100644 index 00000000..88de3526 --- /dev/null +++ b/VSTool/Assets/PointCloudSubscriber1.cs @@ -0,0 +1,519 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using System; +using RosSharp.RosBridgeClient; +using Random=UnityEngine.Random; +using sensor_msgs = RosSharp.RosBridgeClient.Messages.Sensor; +using System.IO; +using Object = UnityEngine.Object; + +public class PointCloudSubscriber1 : MonoBehaviour +{ + + //public string uri = "ws://10.42.0.1:9090"; + public string uri = "ws://192.168.56.101:9090"; + private RosSocket rosSocket; + string subscriptionId = ""; + + public RgbPoint3[] Points; + public GameObject PC2Octree; + + + //Mesh components + Mesh mesh; + + + Vector3[] newverts; + + public class RgbPoint3 + { + public float x; + public float y; + public float z; + public int[] rgb; + + public RgbPoint3(byte[] bytes, RosSharp.RosBridgeClient.Messages.Sensor.PointField[] fields) + { + foreach (var field in fields) + { + byte[] slice = new byte[field.count * 4]; + Array.Copy(bytes, field.offset, slice, 0, field.count * 4); + switch (field.name) + { + case "x": + x = GetValue(slice); + break; + case "y": + y = GetValue(slice); + break; + case "z": + z = GetValue(slice); + break; + case "rgb": + rgb = GetRGB(slice); + break; + } + } + } + + public override string ToString() + { + return "xyz=(" + x.ToString() + ", " + y.ToString() + ", " + z.ToString() + ")" + + " rgb=(" + rgb[0].ToString() + ", " + rgb[1].ToString() + ", " + rgb[2].ToString() + ")"; + } + private static float GetValue(byte[] bytes) + { + if (!BitConverter.IsLittleEndian) + Array.Reverse(bytes); + + float result = BitConverter.ToSingle(bytes, 0); + return result; + } + private static int[] GetRGB(byte[] bytes) + { + int[] rgb = new int[3]; + rgb[0] = Convert.ToInt16(bytes[0]); + rgb[1] = Convert.ToInt16(bytes[1]); + rgb[2] = Convert.ToInt16(bytes[2]); + + return rgb; + } + } + + int[] choise; + int index; + int ci; + long delta = 1; + int kk = 0; + long Inew = 0; + long Ikk = 0; + int ninc = 0; + int layer =0; + private bool flag = true; + private bool create_object = false; + private bool create_object_second = false; + private bool create_mesh = true; + private bool create_mesh_second = false; + private bool flag_object = false; + private bool flag_object_init = false; + private bool flag_object_second = false; + private bool key = false; + private bool key_second = true; + private bool keymesh = true; + private bool keyobject = true; + private bool key2 = false; + private bool key3 = true; + private bool allow_mesh = false; + private bool mesh_key = false; + int Ic = 0; + int Ik = 4546; + int objcount = 0; + long Iold; + + + private Vector3[] vertices; + private int[] triangles; + private Color[] colors; + + private bool update_mesh = false; + + List GObj = new List(); + List MObj = new List(); + + + + // Start is called before the first frame update + void Start() + { + Debug.Log("RosSocket Initialization!!!"); + rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri)); // 10.189.42.225:9090 + Subscribe("/octomap_point_cloud_centers"); + //Subscribe("/zed/rtabmap/octomap_occupied_space"); + } + + + + void Update() + { + + + if((create_object==true) && (key ==true)){ + Mesh meshinit; + GameObject newMeshGameObject = new GameObject("MeshObject"); + GObj.Add(newMeshGameObject); + GObj[objcount].transform.parent = transform; + + MeshFilter meshFilter = GObj[objcount].AddComponent(); + MeshRenderer meshRenderer = GObj[objcount].AddComponent(); + meshinit = new Mesh(); + MObj.Add(meshinit); + MObj[objcount] = GObj[objcount].GetComponent().mesh; + GObj[objcount].GetComponent().material = GetComponent().material ; + + create_object=false; + key=false; + + } + + if((create_mesh==true) && (key2 ==true)){ + + MObj[objcount].Clear(); + MObj[objcount].vertices = vertices; + MObj[objcount].triangles = triangles; + MObj[objcount].colors = colors; + + create_mesh=false; + + } + + } + + + + + + public void Subscribe(string id) + { + subscriptionId = rosSocket.Subscribe(id, SubscriptionHandler); + } + + private IEnumerator WaitForKey() + { + Debug.Log("Press any key to close..."); + + while (!Input.anyKeyDown) + { + yield return null; + } + + Debug.Log("Closed"); + // rosSocket.Close(); + } + + + public void SubscriptionHandler(sensor_msgs.PointCloud2 message) + { + + + long I = message.data.Length / message.point_step; + + RgbPoint3[] Points = new RgbPoint3[I]; + byte[] byteSlice = new byte[message.point_step]; + + for (long i = 0; i < I; i++) + { + Array.Copy(message.data, i * message.point_step, byteSlice, 0, message.point_step); + Points[i] = new RgbPoint3(byteSlice, message.fields); + } + + + newverts = new Vector3[I]; + double[] y_array = new double[I]; + + //Assign all PointCloud points to the Vecto3[] + for (var i = 0; i < I; i++) + { + newverts[i] = new Vector3(Points[i].x, Points[i].z ,Points[i].y); + y_array[i] = newverts[i].y; + } + + if(I((layer+1)*Ik)){ + if(flag==true){ + layer++; + flag=false; + + } + if(I>(layer*Ik)){ + + + + Ic=(int)Iold;//layer*Ik; + flag=true; + flag_object=true; + create_mesh=false; + objcount++; + + + } + + } + + CreateMesh(I,Ic,newverts); + Iold = I; + + } + + public void CreateMesh(long I, int Ic,Vector3[] newverts) { + + if(flag_object_init == true){ + + + if((I VectorList; - public static List VectorList1; public string uri = "ws://192.168.56.101:9090"; private RosSocket rosSocket; string subscriptionId = ""; + string subscription2Id = ""; - public RgbPoint3[] Points; - //Mesh components - Mesh mesh; - Vector3[] vertices; - int[] triangles; - int[] newtrigs; + public RgbPoint3[] Points; Vector3[] newverts; - Vector3[] tempverts; - Color[] colors; - int[] choise; - int index; int ci; + int MaxVerts = 7000; + int objcount = 0; + + private MeshFilter meshFilter1; + private Vector3[] vertices; + private int[] triangles; + + private Color[] colors; + private long ProcessedClouds = 0; - private bool update_mesh = false; - // PointOctree pointTree; - // BoundsOctree boundsTree; + private long LastNumberOfClouds = 0; - public class RgbPoint3 + List MeshGOList = new List(); + + private long layer = 0; + + public class RgbPoint3 { public float x; public float y; @@ -52,7 +53,6 @@ public RgbPoint3(byte[] bytes, RosSharp.RosBridgeClient.Messages.Sensor.PointFie { byte[] slice = new byte[field.count * 4]; Array.Copy(bytes, field.offset, slice, 0, field.count * 4); - switch (field.name) { case "x": @@ -90,381 +90,256 @@ private static int[] GetRGB(byte[] bytes) rgb[0] = Convert.ToInt16(bytes[0]); rgb[1] = Convert.ToInt16(bytes[1]); rgb[2] = Convert.ToInt16(bytes[2]); - return rgb; + + return rgb; } } + // Start is called before the first frame update void Start() { - - VectorList = new List(); - VectorList1 = new List(); - - mesh = new Mesh(); - GetComponent().mesh = mesh; - - //CreateShape(); - //UpdateMesh(); - - //mesh.vertices = newVertices; - //mesh.uv = newUV; - //mesh.triangles = newTriangles; - - - - - Debug.Log("RosSocket Initialization!!!"); - //RosSocket rosSocket = new RosSocket("ws://147.229.14.150:9090"); rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri)); // 10.189.42.225:9090 - //Subscribe("/cloud"); - //Subscribe("/zed/rtabmap/cloud_map"); - Subscribe("/octomap_point_cloud_centers"); + Subscribe("/zed/rtabmap/octomap_occupied_space"); } - - - - void Update() - { - if(update_mesh) { - update_mesh = false; - - //CreateShape(); - UpdateMesh(); + void Update(){ + if(createGO){ + createGO = false; + GameObject newMeshGameObject = new GameObject("MeshObject"); + newMeshGameObject.AddComponent(); + newMeshGameObject.AddComponent(); + newMeshGameObject.transform.SetParent(transform); + newMeshGameObject.transform.localPosition =new Vector3(0,0,0); + newMeshGameObject.transform.localEulerAngles = new Vector3(0,0,0); + newMeshGameObject.GetComponent().material = GetComponent().material; + MeshGOList.Add(newMeshGameObject); } - } - - - - /*void CreateShape(){ - //Debug.Log("received one"); - vertices = new Vector3[(xSize+1)*(zSize+1)]; - - for(int i = 0, z =0; z <= zSize; z++) - { - for(int x =0; x <= xSize; x++){ - vertices[i] = new Vector3(x,0,z); - i++; + if(updateMesh){ + updateMesh = false; + for(int i = 0; i < layer; i++){ + Mesh mesh = new Mesh(); + mesh.vertices = vertices2d[i]; + mesh.triangles = triangles2d[i]; + mesh.colors = colors2d[i]; + MeshGOList[i].GetComponent().mesh = mesh; } - } - //Debug.Log("received two"); - }*/ - - void UpdateMesh() - { - //Debug.Log("received three"); - try { - mesh.Clear(); - } catch (Exception e) { - Debug.Log(e); } - //Debug.Log("received four"); - - mesh.vertices = vertices; - //mesh.newverts = newverts; - mesh.triangles = triangles; - } - public void OnDrawGizmos() - { - Gizmos.color = new Color(1, 0.2F, 0, 0.5F); - if(vertices == null) - return; - for(int i =0; i < vertices.Length; i++) - { - Gizmos.DrawSphere(vertices[i], 0.03f); - //Gizmos.DrawCube(vertices[i], new Vector3(0.1f, 0.1f, 0.1f)); - } - } public void Subscribe(string id) { subscriptionId = rosSocket.Subscribe(id, SubscriptionHandler); } - private IEnumerator WaitForKey() - { - Debug.Log("Press any key to close..."); + private bool createGO = false; + private bool updateMesh = false; - while (!Input.anyKeyDown) - { - yield return null; - } + private Vector3[][] vertices2d; + private int[][] triangles2d; + private Color[][] colors2d; - Debug.Log("Closed"); - // rosSocket.Close(); - } - - public int rndnumber(){ - //try { - int number = Random.Range(0,10); - Debug.Log("MMM " + number); - return number; - //} catch (Exception e) { - // Debug.Log(e); - //} - } + public void SubscriptionHandler(sensor_msgs.PointCloud2 message) + { - //Function that color the cubes - public void ColorLayer(int k, int index){ - for(int i = 0; i < 8; i++){ - ci = i + (8*k); - if(index==0) - colors[ci] = Color.Lerp(Color.green, Color.red, vertices[ci].y); - else if(index==1) - colors[ci] = Color.Lerp(Color.blue, Color.red, vertices[ci].y); - //else if(index==2) - // colors[ci] = Color.Lerp(Color.black, Color.black, vertices[ci].y); - else if(index==2) - colors[ci] = Color.Lerp(Color.cyan, Color.cyan, vertices[ci].y); - //else if(index==4) - // colors[ci] = Color.Lerp(Color.gray, Color.gray, vertices[ci].y); - else if(index==3) - colors[ci] = Color.Lerp(Color.magenta, Color.magenta, vertices[ci].y); - else if(index==4) - colors[ci] = Color.Lerp(Color.red, Color.red, vertices[ci].y); - else if(index==5) - colors[ci] = Color.Lerp(Color.yellow, Color.yellow, vertices[ci].y); + long NumberOfClouds = message.data.Length / message.point_step; // Cut the pointcloud to points + Debug.Log(NumberOfClouds); + if(NumberOfClouds > layer*MaxVerts){ + layer ++; + createGO = true; } - } - public void SubscriptionHandler(sensor_msgs.PointCloud2 message) - { - long I = message.data.Length / message.point_step; - Debug.Log("Long I " + I); - RgbPoint3[] Points = new RgbPoint3[I]; + RgbPoint3[] Points = new RgbPoint3[NumberOfClouds]; byte[] byteSlice = new byte[message.point_step]; - for (long i = 0; i < I; i++) + for (long i = 0; i < NumberOfClouds; i++) { Array.Copy(message.data, i * message.point_step, byteSlice, 0, message.point_step); Points[i] = new RgbPoint3(byteSlice, message.fields); } - - newverts = new Vector3[I]; - double[] y_array = new double[I]; - - //Assign all PointCloud points to the Vecto3[] - for (var i = 0; i < I; i++) + newverts = new Vector3[NumberOfClouds]; + + //Assign all PointCloud points to the Vector3[] + for (var i = 0; i < NumberOfClouds; i++) { newverts[i] = new Vector3(Points[i].x, Points[i].z ,Points[i].y); - y_array[i] = newverts[i].y; - VectorList.Add(newverts[i]); - } - - - - float inc = 0.15f; - - //Assign all the vertices - vertices = new Vector3[I*8]; - int vinc=0; - for(int k=0; k < I; k++){ - for(int i = 0; i < I*8; i++){ - if(i==0+vinc){ - vertices[i] = new Vector3(newverts[k].x - inc, newverts[k].y - inc, newverts[k].z + inc); - } - else if(i==1+vinc){ - vertices[i] = new Vector3(newverts[k].x - inc, newverts[k].y - inc, newverts[k].z - inc); - } - else if(i==2+vinc){ - vertices[i] = new Vector3(newverts[k].x - inc, newverts[k].y + inc, newverts[k].z - inc); - } - else if(i==3+vinc){ - vertices[i] = new Vector3(newverts[k].x - inc, newverts[k].y + inc, newverts[k].z + inc); - } - else if(i==4+vinc){ - vertices[i] = new Vector3(newverts[k].x + inc, newverts[k].y + inc, newverts[k].z + inc); - } - else if(i==5+vinc){ - vertices[i] = new Vector3(newverts[k].x + inc, newverts[k].y + inc, newverts[k].z - inc); - } - else if(i==6+vinc){ - vertices[i] = new Vector3(newverts[k].x + inc, newverts[k].y - inc, newverts[k].z - inc); - } - else if(i==7+vinc){ - vertices[i] = new Vector3(newverts[k].x + inc, newverts[k].y - inc, newverts[k].z + inc); - } - - } - vinc = vinc + 8; } + vertices2d = new Vector3[layer][]; + triangles2d = new int[layer][]; + colors2d = new Color[layer][]; - - - - int tris = 0;//36; - int vert = 0;//8; - - triangles = new int[36*I]; - - - //Assign triangules of all the vertices - for(int k=0;k unique_y = new List(); - for(int i = 0; i Date: Tue, 6 Oct 2020 18:54:06 +0200 Subject: [PATCH 10/12] Saving mesh scripts + camera improvement --- .DS_Store | Bin 0 -> 6148 bytes VSTool/.DS_Store | Bin 8196 -> 10244 bytes VSTool/Assets/.DS_Store | Bin 0 -> 10244 bytes .../CameraControlScript/CameraController.cs | 24 + .../Scenes/CameraControlScript/CameraZoom.cs | 2 - .../CameraControlScript/LiveVideoMaterial.mat | 2 +- VSTool/Assets/Scenes/DroneScene.unity | 2518 ++++++++++++++++- VSTool/Assets/Scenes/TestScene.unity | 1020 ++++++- .../Scripts/Danger/PointCloudSubscriber.cs | 4 +- VSTool/Assets/Scripts/MeshLoader.cs | 35 + VSTool/Assets/Scripts/MeshLoader.cs.meta | 11 + VSTool/Assets/Scripts/SerializableMeshInfo.cs | 103 + .../Scripts/SerializableMeshInfo.cs.meta | 11 + VSTool/Assets/Submodules.meta | 2 +- VSTool/RosReplace/.DS_Store | Bin 0 -> 6148 bytes 15 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Mesh object's parts. + { + vertices = new float[m.vertexCount * 3]; // initialize vertices array. + for (int i = 0; i < m.vertexCount; i++) // Serialization: Vector3's values are stored sequentially. + { + vertices[i * 3] = m.vertices[i].x; + vertices[i * 3 + 1] = m.vertices[i].y; + vertices[i * 3 + 2] = m.vertices[i].z; + } + triangles = new int[m.triangles.Length]; // initialize triangles array + for (int i = 0; i < m.triangles.Length; i++) // Mesh's triangles is an array that stores the indices, sequentially, of the vertices that form one face + { + triangles[i] = m.triangles[i]; + } + uv = new float[m.uv.Length * 2]; // initialize uvs array + for (int i = 0; i < m.uv.Length; i++) // uv's Vector2 values are serialized similarly to vertices' Vector3 + { + uv[i * 2] = m.uv[i].x; + uv[i * 2 + 1] = m.uv[i].y; + } + uv2 = new float[m.uv2.Length]; // uv2 + for (int i = 0; i < m.uv2.Length; i++) + { + uv[i * 2] = m.uv2[i].x; + uv[i * 2 + 1] = m.uv2[i].y; + } + normals = new float[m.normals.Length]; // normals are very important + for (int i = 0; i < m.normals.Length; i++) // Serialization + { + normals[i * 3] = m.normals[i].x; + normals[i * 3 + 1] = m.normals[i].y; + normals[i * 3 + 2] = m.normals[i].z; + } + colors = new Color[m.colors.Length]; + for (int i = 0; i < m.colors.Length; i++) + { + colors[i] = m.colors[i]; + } + } + + // GetMesh gets a Mesh object from currently set data in this SerializableMeshInfo object. + // Sequential values are deserialized to Mesh original data types like Vector3 for vertices. + public Mesh GetMesh() + { + Mesh m = new Mesh(); + List verticesList = new List(); + for (int i = 0; i < vertices.Length / 3; i++) + { + verticesList.Add(new Vector3( + vertices[i * 3], vertices[i * 3 + 1], vertices[i * 3 + 2] + )); + } + m.SetVertices(verticesList); + m.triangles = triangles; + List uvList = new List(); + for (int i = 0; i < uv.Length / 2; i++) + { + uvList.Add(new Vector2( + uv[i * 2], uv[i * 2 + 1] + )); + } + m.SetUVs(0, 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b/VSTool/Assets/Submodules.meta index be42cd6b..2a8b6431 100644 --- a/VSTool/Assets/Submodules.meta +++ b/VSTool/Assets/Submodules.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: bcd18b8b52321904cbdddaa38fea37a5 +guid: 26806076e600147ab85d1d3b0c170fe8 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/VSTool/RosReplace/.DS_Store b/VSTool/RosReplace/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6 GIT binary patch literal 6148 zcmeH~Jr2S!425mzP>H1@V-^m;4Wg<&0T*E43hX&L&p$$qDprKhvt+--jT7}7np#A3 zem<@ulZcFPQ@L2!n>{z**++&mCkOWA81W14cNZlEfg7;MkzE(HCqgga^y>{tEnwC%0;vJ&^%eQ zLs35+`xjp>T0 Date: Thu, 8 Oct 2020 20:17:44 +0200 Subject: [PATCH 11/12] Video screen moved lower and slightly tilted to better match the virtual environment --- .../DroneControlScripts/VideoScreenResizer.cs | 4 +- VSTool/Assets/Scenes/DroneScene.unity | 342 ++++++++---------- 2 files changed, 150 insertions(+), 196 deletions(-) diff 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