tcp network wip

Assets/AddOns/UMANS_plugin/Plugins/UMANS-Library.dll.meta

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Assets/AddOns/UMANS_plugin/SimUMANS.cs

@@ -67,7 +67,7 @@ namespace CrowdMP.Core
 
                 if (ObstWall.isClockwise(center, wall.A, wall.B) > 0)
                 {
-                    Debug.Log("Clockwise");
+                    // Debug.Log("Clockwise");
                     poly.Add(-wall.A.x);
                     poly.Add(wall.A.z);
                                         

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+  - first:
+      4: 400146
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+  - first:
+      4: 400148
+    second: Spine
+  - first:
+      4: 400150
+    second: TongueBack
+  - first:
+      4: 400152
+    second: TongueTip
+  - first:
+      74: 7400000
+    second: Walk
+  - first:
+      95: 9500000
+    second: //RootNode
+  - first:
+      41386430: 2186277476908879412
+    second: ImportLogs
   externalObjects: {}
   materials:
-    importMaterials: 1
+    materialImportMode: 1
     materialName: 0
     materialSearch: 1
     materialLocation: 0
@@ -193,6 +507,7 @@ ModelImporter:
     - serializedVersion: 16
       name: Walk
       takeName: _1_a_U1_M_P_WalkForward_NtrlFaceFwd__Fb_p0_No_0_PJ_3
+      internalID: 0
       firstFrame: 215.2
       lastFrame: 244.9
       wrapMode: 0
@@ -203,9 +518,9 @@ ModelImporter:
       hasAdditiveReferencePose: 0
       loopTime: 1
       loopBlend: 1
-      loopBlendOrientation: 0
-      loopBlendPositionY: 0
-      loopBlendPositionXZ: 0
+      loopBlendOrientation: 1
+      loopBlendPositionY: 1
+      loopBlendPositionXZ: 1
       keepOriginalOrientation: 0
       keepOriginalPositionY: 0
       keepOriginalPositionXZ: 0
@@ -225,6 +540,7 @@ ModelImporter:
     meshCompression: 0
     addColliders: 0
     useSRGBMaterialColor: 1
+    sortHierarchyByName: 1
     importVisibility: 0
     importBlendShapes: 1
     importCameras: 0
@@ -232,18 +548,19 @@ ModelImporter:
     swapUVChannels: 0
     generateSecondaryUV: 0
     useFileUnits: 1
-    optimizeMeshForGPU: 1
     keepQuads: 0
     weldVertices: 1
     preserveHierarchy: 0
+    skinWeightsMode: 0
+    maxBonesPerVertex: 4
+    minBoneWeight: 0.001
+    meshOptimizationFlags: -1
     indexFormat: 1
     secondaryUVAngleDistortion: 8
     secondaryUVAreaDistortion: 15.000001
     secondaryUVHardAngle: 88
     secondaryUVPackMargin: 4
     useFileScale: 0
-    previousCalculatedGlobalScale: 0.01
-    hasPreviousCalculatedGlobalScale: 1
   tangentSpace:
     normalSmoothAngle: 60
     normalImportMode: 0
@@ -252,10 +569,10 @@ ModelImporter:
     legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1
     blendShapeNormalImportMode: 1
     normalSmoothingSource: 0
+  referencedClips: []
   importAnimation: 1
-  copyAvatar: 1
   humanDescription:
-    serializedVersion: 2
+    serializedVersion: 3
     human:
     - boneName: Hips
       humanName: Hips
@@ -983,14 +1300,17 @@ ModelImporter:
     armStretch: 0.05
     legStretch: 0.05
     feetSpacing: 0
+    globalScale: 0.01
     rootMotionBoneName: 
     hasTranslationDoF: 0
     hasExtraRoot: 0
     skeletonHasParents: 0
   lastHumanDescriptionAvatarSource: {fileID: 9000000, guid: 2a03116b561b956418f1fc84100e6072,
     type: 3}
+  autoGenerateAvatarMappingIfUnspecified: 1
   animationType: 3
   humanoidOversampling: 1
+  avatarSetup: 2
   additionalBone: 0
   userData: 
   assetBundleName: 

Assets/MainAssets/Scripts/Agents/ControlAnimation/AnimationController.cs

@@ -38,11 +38,7 @@ public class AnimationController : MonoBehaviour
         _objectAnimator.SetFloat("AngularSpeed", 0);
         _objectAnimator.SetInteger("AnimationType", UnityEngine.Random.Range(1,4));  // 1, 2 or 3
 
-#if MIDDLEVR
-        _objectAnimator.cullingMode = AnimatorCullingMode.CullUpdateTransforms;
-        _objectAnimator.enabled = false;
-#endif
-        if(ToolsTime.useRos()){
+        if(ToolsTime.useExternal()){
             _objectAnimator.cullingMode = AnimatorCullingMode.AlwaysAnimate;
             _objectAnimator.enabled = false;
         }
@@ -73,7 +69,7 @@ public class AnimationController : MonoBehaviour
     }
 
     // Update is called once per frame
-    void Update()
+    void LateUpdate()
     {
 
         if (ToolsTime.DeltaTime != 0)
@@ -139,33 +135,10 @@ public class AnimationController : MonoBehaviour
         _oldRotation = this.transform.rotation;
         _oldVelocity = this.transform.forward;
 
-#if MIDDLEVR
-        _objectAnimator.Update(ToolsTime.DeltaTime);
-#endif
-        if(ToolsTime.useRos()){
+        if(ToolsTime.useExternal()){
             _objectAnimator.Update(ToolsTime.DeltaTime);
         }
     }
-
-    private void LateUpdate()
-    {
-        //if (ToolsInput.GetKeyDown(KeyCode.Z))
-        //{
-        //    idleAnimationID--;
-        //    if (idleAnimationID < -35)
-        //        idleAnimationID = 12;
-        //    ToolsDebug.log("idleAnimationID="+idleAnimationID);
-        //    _objectAnimator.SetFloat("IdleAnimationID", idleAnimationID);
-        //}
-        //if (ToolsInput.GetKeyDown(KeyCode.X))
-        //{
-        //    idleAnimationID++;
-        //    if (idleAnimationID > 12)
-        //        idleAnimationID = -35;
-        //    ToolsDebug.log("idleAnimationID=" + idleAnimationID);
-        //    _objectAnimator.SetFloat("IdleAnimationID", idleAnimationID);
-        //}
-    }
 }
 
 

Assets/MainAssets/Scripts/Managers/CrowdBotSim_MainManager.cs

@@ -2,6 +2,8 @@
 using System.Collections.Generic;
 using UnityEngine;
 
+namespace crowdbotsim
+{
 /// <summary>
 /// The main manager controlling the Experiment flow
 /// </summary>
@@ -204,3 +206,5 @@ public class CrowdBotSim_MainManager : MonoBehaviour, MainManager {
         }
     }
 }
+
+}
\ No newline at end of file

Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs

@@ -5,6 +5,9 @@ using UnityEngine;
 using CrowdMP.Core;
 using RosSharp.RosBridgeClient;
 
+namespace crowdbotsim
+{
+
 /// <summary>
 /// Regular trial manager with moving agents/player
 /// </summary>
@@ -17,9 +20,13 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
     protected SimManager sims;
 
     List<RosConnector> ROS;
-
     List<Publisher> Ros_Publishers;
 
+    List<TcpConnector> Tcp;
+    List<TcpPublisher> TcpPublishers;
+    
+
+
     private CrowdStampedPublisher crowdpub;
 
     private bool player_in_sim;
@@ -46,6 +53,8 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
 
         foreach(MonoBehaviour p in Ros_Publishers) p.enabled = false;
 
+        foreach(MonoBehaviour p in TcpPublishers) p.enabled = false;
+
 
         foreach(RosConnector r in ROS)
         {
@@ -53,6 +62,11 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
             r.start_scripts = true;
         }
 
+        foreach(TcpConnector t in Tcp)
+        {
+            t.enabled = false;
+            t.start_scripts = true;
+        }
 
         GameObject[] my_robots =  GameObject.FindGameObjectsWithTag("Robot");
         foreach(GameObject r in my_robots)
@@ -106,11 +120,17 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
             agentsList = new List<Agent>();
         if (sims==null)
             sims = new SimManager();
+
         if(Ros_Publishers == null)
             Ros_Publishers = new List<Publisher>();
         if(ROS == null)
             ROS = new List<RosConnector>();
 
+        if(Tcp == null)
+            Tcp = new List<TcpConnector>();
+        if(TcpPublishers == null)
+            TcpPublishers = new List<TcpPublisher>();
+
         sims.initSimulations(obst);
 
         // Setup the player
@@ -192,6 +212,7 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
             if(r.activeSelf)
             {
                 ROS.Add(r.transform.Find("RosConnector").gameObject.GetComponent<RosConnector>());
+                Tcp.Add(r.transform.Find("TcpConnector").gameObject.GetComponent<TcpConnector>());
             }
         }
 
@@ -222,6 +243,34 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
             RosCon.start_scripts = true;
         }
 
+        foreach(TcpConnector TcpCon in Tcp)
+        {
+            TcpPublishers.AddRange(new List<TcpPublisher>(TcpCon.GetComponents<TcpPublisher>()));
+            foreach(TcpPublisher script in TcpPublishers)
+            {
+                // TODO
+
+                // if(script.GetType() == typeof(TwistArrayStampedPublisher) )
+                // {
+                //     ((TwistArrayStampedPublisher)script).agents = new List<Agent>(agentsList);
+                // }
+                // if(script.GetType() == typeof(CrowdStampedPublisher) )
+                // {
+                //     crowdpub = (CrowdStampedPublisher)script;
+                //     crowdpub.agents = new RosSharp.RosBridgeClient.CrowdStampedPublisher.CrowdBotAgent[agentsList.Count];
+                //     for(int j = 0; j < agentsList.Count; j++)
+                //     {
+                //         crowdpub.agents[j] = 
+                //             new RosSharp.RosBridgeClient.CrowdStampedPublisher.CrowdBotAgent(
+                //                 (int)(agentsList[j].id), agentsList[j].Position, 
+                //                 Vector3.zero, Vector3.zero, agentsList[j].Position);
+                //     }
+                // }
+            }
+
+            TcpCon.enabled = true;
+            TcpCon.start_scripts = true;
+        }
         
 
         
@@ -363,3 +412,4 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
 
 
 }
+}
\ No newline at end of file

Assets/MainAssets/Scripts/Tools/ToolsTime.cs

@@ -14,11 +14,12 @@ public static class ToolsTime {
     private static float trialTime;
     private static float timeSinceTrialStarted;
     private static bool bPause;
-    private static bool use_ros;
+    private static bool use_external;
 
     private static RosSharp.RosBridgeClient.ClockSubscriber ros_clock;
+    private static crowdbotsim.TcpClockSubscriber tcp_clock;
 
-    public static bool useRos() {return use_ros; }
+    public static bool useExternal() {return use_external; }
     static ToolsTime() {
         realDeltaTime = 0;
         deltaTime = 0;
@@ -26,16 +27,20 @@ public static class ToolsTime {
         trialTime = 0;
         timeSinceTrialStarted = 0;
         bPause = false;
+
         GameObject clock = GameObject.FindGameObjectWithTag("Clock");
+
         if(clock != null){
+            tcp_clock = clock.GetComponent<crowdbotsim.TcpClockSubscriber>();
             ros_clock = clock.GetComponent<RosSharp.RosBridgeClient.ClockSubscriber>();
         }
-        use_ros = (ros_clock != null);
-        if(use_ros)
+        
+        use_external = (ros_clock != null) || (tcp_clock != null);
+        if(use_external)
         {
             Physics.autoSimulation = false;
         }
-        Debug.Log("Use ROS Clock : " + use_ros);
+        Debug.Log("Use external Clock : " + use_external);
     }
 
     public static bool  isInPause               { get { return bPause; } }
@@ -43,32 +48,47 @@ public static class ToolsTime {
     public static float TrialTime               { get { return trialTime; } }
     public static float TimeSinceTrialStarted   { get { return timeSinceTrialStarted; } }
     public static float DeltaTime               { get { return deltaTime; } }
-    public static float RealDelatTime           { get { return realDeltaTime; } }
+    public static float RealDeltaTime           { get { return realDeltaTime; } }
 
 
 
     public static void updateTime()
     {
-#if MIDDLEVR
-        realDeltaTime = isInPause ? 0 : (float)MiddleVR.VRKernel.GetDeltaTime();
-#else
-        if(use_ros)
+        if(use_external)
         {
-            realDeltaTime = ros_clock.DeltaTime;
-            if(realDeltaTime > 0)
+            float dt = realDeltaTime;
+            if(tcp_clock != null)
             {
-                for(int i = 0; i < realDeltaTime/0.01f; i++)
-                Physics.Simulate(0.01f);
+                dt = tcp_clock.DeltaTime;
             }
+            else if(ros_clock != null)
+            {
+                dt = ros_clock.DeltaTime;
+            }
+
+            realDeltaTime = dt;
+
+            Physics.Simulate(0.01f);
+            // if(realDeltaTime > 0)
+            // {
+            //     // for(int i = 0; i < realDeltaTime/0.01f; i++)
+            //     //     Physics.Simulate(0.01f);
+            // }
         }
         else 
             realDeltaTime = Time.deltaTime;
-#endif
         
         timeSinceTrialStarted += realDeltaTime;
-        if(use_ros)
+        if(use_external)
         {
-            absoluteTime = ros_clock.Time;
+            if(tcp_clock != null)
+            {
+                absoluteTime = tcp_clock.Time;
+            }
+            else if(ros_clock != null)
+            {
+                absoluteTime = ros_clock.Time;
+            }
         }
         else
         {

Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs

@@ -37,6 +37,7 @@ namespace RosSharp.RosBridgeClient
         [HideInInspector]
         public bool start_scripts = false;
 
+
         public void Awake()
         {
             new Thread(ConnectAndWait).Start();
@@ -46,7 +47,7 @@ namespace RosSharp.RosBridgeClient
         private void ConnectAndWait()
         {
             RosSocket = ConnectToRos(Protocol, RosBridgeServerUrl, OnConnected, OnClosed);
-
+            
             if (!isConnected.WaitOne(Timeout * 1000))
                 Debug.LogWarning("Failed to connect to RosBridge at: " + RosBridgeServerUrl);
         }
@@ -102,5 +103,6 @@ namespace RosSharp.RosBridgeClient
             isConnected.Reset();
             Debug.Log("Disconnected from RosBridge: " + RosBridgeServerUrl);
         }
+
     }
 }
\ No newline at end of file

Assets/CBChallenge.cs.meta → Assets/Robots/Scripts/CBChallenge.cs.meta

 fileFormatVersion: 2
-guid: 7f6fb0d91e49bd856afde2dde299c27d
+guid: e2cd78492fb397d868b298701023a4a6
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/CollisionReport.cs.meta → Assets/Robots/Scripts/CollisionReport.cs.meta

 fileFormatVersion: 2
-guid: c4ea7feb8c58f2e1099e66e977832104
+guid: a7257c609dac405a38d4c36a3093a119
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/DiffDriveController.cs.meta → Assets/Robots/Scripts/DiffDriveController.cs.meta

 fileFormatVersion: 2
-guid: 5ae38f483c988f4a690fbc89a88e0c4a
+guid: 8ddf27dada8b3ae2fa8b7ba6bd6452a2
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/MotorSubscriber.cs.meta → Assets/Robots/Scripts/MotorSubscriber.cs.meta

 fileFormatVersion: 2
-guid: c9798f3e9655e9a75857516341a997bf
+guid: d0fcffbfb88580a68b6d01108e31916f
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2