diff --git a/Assets/AddOns/UMANS_plugin/SimUMANS.cs b/Assets/AddOns/UMANS_plugin/SimUMANS.cs
index 985b87741d96318e55fbe86426b631b5de93ec45..77985ffe1ea1c04631ccb877380de4e6164f3396 100644
--- a/Assets/AddOns/UMANS_plugin/SimUMANS.cs
+++ b/Assets/AddOns/UMANS_plugin/SimUMANS.cs
@@ -84,7 +84,7 @@ namespace CrowdMP.Core
}
else
{
- Debug.Log("Counter Clockwise");
+ // Debug.Log("Counter Clockwise");
poly.Add(-wall.A.x);
poly.Add(wall.A.z);
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs
similarity index 94%
rename from Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs
rename to Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs
index f1f81d7033f0a4b0a392b27e7eb8f9608cc56028..d31e18f880cd4fdd64ebb017beb1624910ebd6d2 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs
@@ -2,9 +2,9 @@ using System;
using System.Collections.Generic;
using UnityEngine;
-namespace CrowdBot
+namespace crowdbotsim
{
- public class Agent
+ public class CB_Agent
{
public int id_;
public int maxNeighbors_;
@@ -17,7 +17,7 @@ namespace CrowdBot
private Vector3 velocity_;
public Vector3 pref_velocity_;
- public Agent()
+ public CB_Agent()
{
id_ = -1;
maxNeighbors_ = 10;
diff --git a/Assets/Robots/Scripts/pepper_controller.cs.meta b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs.meta
similarity index 83%
rename from Assets/Robots/Scripts/pepper_controller.cs.meta
rename to Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs.meta
index 0671b98df55911f39e7bd20533cab838ab565749..e54f67fd27269fdd8c9d2b994c9a42f70b002d13 100644
--- a/Assets/Robots/Scripts/pepper_controller.cs.meta
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/CB_agent.cs.meta
@@ -1,5 +1,5 @@
fileFormatVersion: 2
-guid: bbe842e37e97e75b6b6a7aa1b3ce111e
+guid: 56ecf5a7639ca61178c0ec6cd0113462
MonoImporter:
externalObjects: {}
serializedVersion: 2
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/RosCrowdSimulator.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/RosCrowdSimulator.cs
index 7739a452fc42865e1c900aa7268abe19c95e506b..a8a953da4c8b0cf05ac04a9f628ee904839c985c 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/RosCrowdSimulator.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/RosCrowdSimulator.cs
@@ -3,11 +3,11 @@ using System.Collections.Generic;
using UnityEngine;
using CrowdMP.Core;
-namespace CrowdBot
+namespace crowdbotsim
{
public class Simulator
{
- List<Agent> agents_;
+ List<CB_Agent> agents_;
List<ObstWall> walls_;
float timeStep_ = 0.01f;
@@ -33,13 +33,13 @@ namespace CrowdBot
public Simulator()
{
- agents_ = new List<Agent>();
+ agents_ = new List<CB_Agent>();
walls_ = new List<ObstWall>();
}
public int addAgent(Vector3 position, float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector3 velocity)
{
- Agent agent = new Agent();
+ CB_Agent agent = new CB_Agent();
agent.id_ = agents_.Count;
agent.maxNeighbors_ = maxNeighbors;
agent.maxSpeed_ = maxSpeed;
@@ -68,7 +68,7 @@ namespace CrowdBot
{
Vector3[] new_vels = new Vector3[agents_.Count];
//Do the magic here
- foreach(Agent a in agents_)
+ foreach(CB_Agent a in agents_)
{
Vector3 Gradient = new Vector3();
Vector3 Vnorm = a.getVelocity().normalized;
@@ -226,7 +226,7 @@ namespace CrowdBot
// Debug.DrawLine(a.getPosition(), a.getPosition() + Gradient*10.0f);
}
- foreach(Agent a in agents_)
+ foreach(CB_Agent a in agents_)
{
a.setVelocity(new_vels[a.id_]);
a.setPosition(a.getPosition() + a.getVelocity() * timeStep_);
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/RosSim.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/RosSim.cs
index d720ac4856bfd4be0ee6ff3adf3098872b4fdda6..93f5da9b5693c76b66526541e507c575989f0563 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/RosSim.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/RosSim.cs
@@ -2,16 +2,17 @@ using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using CrowdMP.Core;
+using crowdbotsim;
public class RosSim : ControlSim
{
int ConfigId;
- CrowdBot.Simulator sim;
+ Simulator sim;
public RosSim(int id)
{
ConfigId = id;
- sim = new CrowdBot.Simulator();
+ sim = new Simulator();
}
public void addAgent(Vector3 position, TrialControlSim infos)
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
index 5ccad18efb1d863b543213bb1a216c47c9286e78..e25b5f665b77b7c1668dda6ba412d36ab7d4da6f 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
@@ -11,8 +11,6 @@ public class SimManager {
public List<ControlSim> simulators;
List<int> agentToSim;
- Vector3 repeat;
-
/// <summary>
/// Initialize the class
/// </summary>
@@ -38,7 +36,6 @@ public class SimManager {
/// </summary>
public void initSimulations(Obstacles obst)
{
- repeat = new Vector3(49.0f, 1.0f, 10.0f);
// Create simulators
if(((TrialCamPlayer)LoaderConfig.playerInfo).in_sim)
@@ -250,14 +247,7 @@ public class SimManager {
simId = agentToSim[i];
if (simId >= 0)
{
- Vector3 posAgent = new Vector3( Mathf.Repeat(simulators[simId].getAgentPos2d(i).x + repeat.x/2 , repeat.x) - repeat.x/2,
- Mathf.Repeat(simulators[simId].getAgentPos2d(i).y + repeat.y/2 , repeat.y) - repeat.y/2,
- Mathf.Repeat(simulators[simId].getAgentPos2d(i).z + repeat.z/2 , repeat.z) - repeat.z/2);
-
- //crappy stuff here for toric world
- Vector3 speedAgent = Vector3.Min(simulators[simId].getAgentSpeed2d(i), new Vector3(1/deltaTime, 1/deltaTime, 1/deltaTime));
-
- a.simOverride(posAgent+new Vector3(0,a.transform.position.y,0), speedAgent);
+ a.simOverride(simulators[simId].getAgentPos2d(i) + new Vector3(0, a.transform.position.y, 0), simulators[simId].getAgentSpeed2d(i));
}
diff --git a/Assets/MainAssets/Scripts/Agents/RegularRobot.cs b/Assets/MainAssets/Scripts/Agents/RegularRobot.cs
index 4478899c4e8db9a7c2baa25121e2d7df4f06ca92..b578463730596c3d78cd34605fd2538ebc021c52 100644
--- a/Assets/MainAssets/Scripts/Agents/RegularRobot.cs
+++ b/Assets/MainAssets/Scripts/Agents/RegularRobot.cs
@@ -3,7 +3,7 @@ using System.Collections.Generic;
using System.Xml.Serialization;
using UnityEngine;
using CrowdMP.Core;
-using CrowdBot;
+using crowdbotsim;
using RosSharp.RosBridgeClient;
/// <summary>
diff --git a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_MainManager.cs b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_MainManager.cs
index bdb6d8492e770e1e6b6931a322bf71d98c50b707..7c2f7b85143ae2966bd599025ece38b665dbdd0f 100644
--- a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_MainManager.cs
+++ b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_MainManager.cs
@@ -22,6 +22,19 @@ public class CrowdBotSim_MainManager : MonoBehaviour, MainManager {
protected GameObject sceneGameObject;
protected TrialManager currentTrialManager;
+ public enum MainManagerState
+ {
+ idle,
+ next,
+ reset,
+ previous,
+ first,
+ last,
+ stop
+ }
+
+ public MainManagerState state = MainManagerState.idle;
+
public void Awake()
{
UnityEngine.Random.InitState(454682);
@@ -38,6 +51,11 @@ public class CrowdBotSim_MainManager : MonoBehaviour, MainManager {
ToolsDebug.Quit();
}
+ for (int i = 1; i < Display.displays.Length; i++)
+ {
+ Display.displays[i].Activate();
+ }
+
isEndXP = false;
startTrial();
startTransition();
@@ -178,6 +196,41 @@ public class CrowdBotSim_MainManager : MonoBehaviour, MainManager {
{
ToolsDebug.Quit();
}
+
+ switch (state)
+ {
+ case MainManagerState.next:
+ state = MainManagerState.idle;
+ endTrial();
+ break;
+
+ case MainManagerState.previous:
+ state = MainManagerState.idle;
+ endTrial(-1);
+ break;
+
+ case MainManagerState.reset:
+ state = MainManagerState.idle;
+ endTrial(0);
+ break;
+
+ case MainManagerState.first:
+ state = MainManagerState.idle;
+ endTrial(-1*LoaderConfig.xpCurrentTrial);
+ break;
+
+ case MainManagerState.last:
+ state = MainManagerState.idle;
+ endTrial(LoaderConfig.xpMaxTrial);
+ break;
+
+ case MainManagerState.stop:
+ ToolsDebug.Quit();
+ break;
+
+ default: //idle
+ break;
+ }
}
/// <summary>
diff --git a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
index 852633885ef9f5fa1e803289a320f24e0846ff05..99a40da95b09ea9d48a69a418f5ab6891321c8fd 100644
--- a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
+++ b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
@@ -34,6 +34,8 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
public GameObject obstaclesContainer;
+ public Vector3 ToricWorldDimensions = new Vector3(-1, -1, -1);
+
/// <summary>
/// Reset trial
/// </summary>
@@ -71,6 +73,9 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
GameObject[] my_robots = GameObject.FindGameObjectsWithTag("Robot");
foreach(GameObject r in my_robots)
{
+ r.transform.Find("base_link").localPosition = new Vector3(0,0,0);
+ r.transform.Find("base_link").localRotation = Quaternion.identity;
+
DestroyImmediate(r.GetComponent<RegularRobot>());
DestroyImmediate(r.GetComponent<UnityEngine.AI.NavMeshAgent>());
}
@@ -86,6 +91,12 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
}
+ public List<Agent> get_agents_list()
+ {
+ if(agentsList == null)
+ agentsList = new List<Agent>();
+ return agentsList;
+ }
private void lookForObst(Transform container, ref Obstacles obst)
{
@@ -248,7 +259,7 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
TcpPublishers.AddRange(new List<TcpPublisher>(TcpCon.GetComponents<TcpPublisher>()));
foreach(TcpPublisher script in TcpPublishers)
{
- // TODO
+ // TODO : no need TODO anymore thanks to CrowdTcpPublisher
// if(script.GetType() == typeof(TwistArrayStampedPublisher) )
// {
@@ -364,15 +375,26 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
a.doStep();
}
+ int start_index = 0;
+ if(player_in_sim) start_index++; //player
+ if(robots != null) start_index += robots.Count;
if( crowdpub != null)
{
- int start_index = 0;
- if(player_in_sim) start_index++; //player
- if(robots != null) start_index += robots.Count;
if(currPos.Count - start_index > 0) crowdpub.UpdateAgents(currPos.GetRange(start_index, currPos.Count-start_index), agentsList);
}
sims.doStep(ToolsTime.DeltaTime, currPos, player, agentsList, robots);
+
+ int i = start_index;
+ foreach(Agent a in agentsList)
+ {
+ Vector3 posAgent = new Vector3( Mathf.Repeat(a.Position.x + ToricWorldDimensions.x/2 , ToricWorldDimensions.x) - ToricWorldDimensions.x/2,
+ a.Position.y,
+ Mathf.Repeat(a.Position.z + ToricWorldDimensions.z/2 , ToricWorldDimensions.z) - ToricWorldDimensions.z/2);
+
+ a.transform.position = posAgent;
+ i++;
+ }
foreach(Publisher script in Ros_Publishers)
{
diff --git a/Assets/MainAssets/Scripts/Tools/ToolsTime.cs b/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
index c42ffc1945f75d65e7e6f321c29624083154a33d..64c7b339a4692fb645320380a21632aa1619e213 100644
--- a/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
+++ b/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
@@ -68,12 +68,11 @@ public static class ToolsTime {
realDeltaTime = dt;
- Physics.Simulate(0.01f);
- // if(realDeltaTime > 0)
- // {
- // // for(int i = 0; i < realDeltaTime/0.01f; i++)
- // // Physics.Simulate(0.01f);
- // }
+ if(realDeltaTime > 0)
+ {
+ for(int i = 0; i < realDeltaTime/0.01f; i++)
+ Physics.Simulate(0.01f);
+ }
}
else
realDeltaTime = Time.deltaTime;
diff --git a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
index 294de0532e235a1a3f83cfe00910b720f96da9a6..b6566379eea58b2ca746ef9fb73d8cba04bfb608 100644
--- a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
+++ b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
@@ -1,5 +1,5 @@
using UnityEngine;
-using CrowdBot;
+using crowdbotsim;
namespace RosSharp.RosBridgeClient
{
diff --git a/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfRobot.cs b/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfRobot.cs
index 4361ec68062ea40049aa126b43f3730db4b3a5d7..27be5b2f4b8418045a22c7a786c77b81764e6263 100644
--- a/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfRobot.cs
+++ b/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfRobot.cs
@@ -16,6 +16,7 @@ limitations under the License.
*/
using UnityEngine;
+using crowdbotsim;
namespace RosSharp.Urdf
{
diff --git a/Assets/Robots/Scripts/CollisionReport.cs b/Assets/Robots/Scripts/CollisionReport.cs
index 77e9ac9d77d8e238a81d0813ca3c89c58e9f4bdc..300f13f42f0050835db44acb0eb46237fe4b19df 100644
--- a/Assets/Robots/Scripts/CollisionReport.cs
+++ b/Assets/Robots/Scripts/CollisionReport.cs
@@ -19,15 +19,13 @@ public class CollisionReport : MonoBehaviour
updated = true;
}
- public void Get_report()
+ public string Get_report()
{
- int i = 0;
- foreach(string report in reports)
- {
- Debug.Log(report);
- i++;
- }
- reports.RemoveRange(0,i);
+ string str_report = string.Join("|", reports);
+
+ reports.Clear();
+
+ return str_report;
}
}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/OdomProvider.cs b/Assets/Robots/Scripts/OdomProvider.cs
index 81f8ae90eb594d9f857c26ebae9df024715269ad..e066910d528e09f52429c10ef4a2d9df79969e0e 100644
--- a/Assets/Robots/Scripts/OdomProvider.cs
+++ b/Assets/Robots/Scripts/OdomProvider.cs
@@ -4,10 +4,16 @@ using UnityEngine;
using RosSharp.RosBridgeClient;
using CrowdMP;
-namespace CrowdBot
+namespace crowdbotsim
{
public class OdomProvider : MonoBehaviour
{
+ public enum mobile_base_type {differential_drive, other}
+
+ [SerializeField]
+ [Tooltip ("Type of wheels.")]
+ public mobile_base_type type = mobile_base_type.other;
+
[SerializeField]
[Tooltip ("ticks per wheel turn.")]
protected float steps = 2578.33f;
@@ -20,6 +26,8 @@ namespace CrowdBot
[Tooltip ("Spacing between wheels (m).")]
protected float spacing = 0.3f;
+ private Rigidbody base_link;
+
[SerializeField]
[Tooltip ("List of all additive noise generator associated with this sensor.")]
protected List<AdditiveNoiseGenerator> AdditiveNoiseGenerators;
@@ -65,64 +73,90 @@ namespace CrowdBot
public virtual void Start () {
p_t = new Pose_and_twist(0,0,0,0,0,0);
last_time = ToolsTime.AbsoluteTime;
+ base_link = GetComponent<Rigidbody>();
}
public void Update()
{
- r_wheel.Read( out _, out float r_p, out float r_v, out float r_effort);
- l_wheel.Read( out _, out float l_p, out float l_v, out float l_effort);
-
- foreach( AdditiveNoiseGenerator n in AdditiveNoiseGenerators)
- {
- r_v += (float)(n.GetValue());
- r_p += (float)(n.GetValue());
- r_effort += (float)(n.GetValue());
- l_v += (float)(n.GetValue());
- l_p += (float)(n.GetValue());
- l_effort += (float)(n.GetValue());
- }
-
- // http://rossum.sourceforge.net/papers/DiffSteer/
- // get timestamp
-
- // // Quantesize the raw computation with the steps of the odometry sensor
- // float delta_r_p = (Mathf.Round(r_p - last_r_pos)*(steps/360))/(steps/360);
- // float delta_l_p = (Mathf.Round(l_p - last_l_pos)*(steps/360))/(steps/360);
-
- // // inverse kinematic
- // float delta_p = (radius*delta_l_p + radius*delta_r_p) / 2;
- // float delta_curv = (spacing/2) * ((delta_r_p + delta_l_p) / (delta_r_p - delta_l_p));
-
- // float delta_o = delta_l_p/delta_curv; // R * dtheta = dX
-
-
- float now = ToolsTime.AbsoluteTime;
- float dt = now - last_time;
-
- // inverse kinematic
- p_t.dthetadt = radius * (r_v - l_v) / spacing;
- p_t.theta = p_t.dthetadt * dt + p_t.theta;
-
- if(p_t.theta >= 2*Mathf.PI)
- {
- p_t.theta -= 2*Mathf.PI;
- }
- if(p_t.theta < 0)
+ if (ToolsTime.DeltaTime > 0)
{
- p_t.theta += 2*Mathf.PI;
+ switch (type)
+ {
+ case mobile_base_type.differential_drive:
+ r_wheel.Read( out _, out float r_p, out float r_v, out float r_effort);
+ l_wheel.Read( out _, out float l_p, out float l_v, out float l_effort);
+
+ foreach( AdditiveNoiseGenerator n in AdditiveNoiseGenerators)
+ {
+ r_v += (float)(n.GetValue());
+ r_p += (float)(n.GetValue());
+ r_effort += (float)(n.GetValue());
+ l_v += (float)(n.GetValue());
+ l_p += (float)(n.GetValue());
+ l_effort += (float)(n.GetValue());
+ }
+
+ // http://rossum.sourceforge.net/papers/DiffSteer/
+ // get timestamp
+
+ // // Quantesize the raw computation with the steps of the odometry sensor
+ // float delta_r_p = (Mathf.Round(r_p - last_r_pos)*(steps/360))/(steps/360);
+ // float delta_l_p = (Mathf.Round(l_p - last_l_pos)*(steps/360))/(steps/360);
+
+ // // inverse kinematic
+ // float delta_p = (radius*delta_l_p + radius*delta_r_p) / 2;
+ // float delta_curv = (spacing/2) * ((delta_r_p + delta_l_p) / (delta_r_p - delta_l_p));
+
+ // float delta_o = delta_l_p/delta_curv; // R * dtheta = dX
+
+
+ float now = ToolsTime.AbsoluteTime;
+ float dt = now - last_time;
+
+ // inverse kinematic
+ p_t.dthetadt = radius * (r_v - l_v) / spacing;
+ p_t.theta = p_t.dthetadt * dt + p_t.theta;
+
+ if(p_t.theta >= 2*Mathf.PI)
+ {
+ p_t.theta -= 2*Mathf.PI;
+ }
+ if(p_t.theta < 0)
+ {
+ p_t.theta += 2*Mathf.PI;
+ }
+
+ float v = radius * (r_v + l_v) / 2;
+ p_t.dxdt = v * Mathf.Cos(p_t.theta);
+ p_t.dydt = v * Mathf.Sin(p_t.theta);
+
+ p_t.x = p_t.dxdt * dt + p_t.x;
+ p_t.y = p_t.dydt * dt + p_t.y;
+
+ last_time = ToolsTime.AbsoluteTime;
+
+ if(DebugInfo)
+ Debug.Log(p_t.x + " " + p_t.y + " " + p_t.theta*Mathf.Rad2Deg);
+
+ break;
+
+ default:
+ Pose_and_twist p_t_now = new Pose_and_twist(
+ transform.position.x,
+ //careful: y and z
+ transform.position.z,
+ transform.rotation.eulerAngles.y,
+ 0,0,0);
+
+ p_t.dxdt = p_t_now.x - p_t.x;
+ p_t.dydt = p_t_now.y - p_t.y;
+ p_t.dthetadt = p_t_now.theta - p_t_now.theta;
+ p_t.x = p_t_now.x;
+ p_t.y = p_t_now.y;
+ p_t.theta = p_t_now.theta;
+ break;
+ }
}
-
- float v = radius * (r_v + l_v) / 2;
- p_t.dxdt = v * Mathf.Cos(p_t.theta);
- p_t.dydt = v * Mathf.Sin(p_t.theta);
-
- p_t.x = p_t.dxdt * dt + p_t.x;
- p_t.y = p_t.dydt * dt + p_t.y;
-
- last_time = ToolsTime.AbsoluteTime;
-
- if(DebugInfo)
- Debug.Log(p_t.x + " " + p_t.y + " " + p_t.theta*Mathf.Rad2Deg);
}
public Pose_and_twist get_pose_and_twist()
diff --git a/Assets/Robots/Scripts/SensorPatcher.cs b/Assets/Robots/Scripts/SensorPatcher.cs
index 5998f6d6aea8184d88e788667e156414c43d1482..50fa84fbaca4aee1b11e7b7160770fbc4793a3a7 100644
--- a/Assets/Robots/Scripts/SensorPatcher.cs
+++ b/Assets/Robots/Scripts/SensorPatcher.cs
@@ -1,7 +1,7 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
-using CrowdBot;
+using crowdbotsim;
using RosSharp.RosBridgeClient;
public class SensorPatcher : MonoBehaviour
diff --git a/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs b/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
index 2c9e122a0c40ddc7ea11fdc8ea3d38ee54ce0897..225a851052b25bf3d4e8ba4df312fc172238982f 100644
--- a/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
+++ b/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
@@ -25,14 +25,14 @@ public class LidarProvider : SensorProvider2D
protected float[] Intensities;
- protected float[] SegMask;
+ protected int[] SegMask;
// Use this for initialization
public override void Start ()
{
base.Start();
Intensities = new float[0];
- SegMask = new float[0];
+ SegMask = new int[0];
}
public static class CoroutineUtil
@@ -56,7 +56,7 @@ public class LidarProvider : SensorProvider2D
int nbMeasures = Mathf.RoundToInt((EndAngle - StartAngle) / AngularResolution);
SensorValues = new float[nbMeasures];
Intensities = new float[nbMeasures];
- SegMask = new float[nbMeasures];
+ SegMask = new int[nbMeasures];
RaycastHit hit;
for(int i = 0; i < nbMeasures; ++i)
{
@@ -69,7 +69,7 @@ public class LidarProvider : SensorProvider2D
float incidenceAngle = Vector3.Angle(hit.normal, -direction);
Intensities[i] = Mathf.Cos(incidenceAngle*Mathf.Deg2Rad);
Agent a = hit.transform.root.GetComponent<Agent>();
- if(a != null) SegMask[i] = (float)(a.GetID());
+ if(a != null) SegMask[i] = (int)(a.GetID());
SensorValues[i] = hit.distance;
foreach (AdditiveNoiseGenerator gen in AdditiveNoiseGenerators)
{
@@ -96,7 +96,7 @@ public class LidarProvider : SensorProvider2D
{
return Intensities;
}
- public float[] GetSegMask()
+ public int[] GetSegMask()
{
return SegMask;
}
diff --git a/Assets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs b/Assets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
index 550671f34a0566a055ee54ab007f9ef0c5b3fd2f..51897b107b316db2792fc67579643328850e3e61 100644
--- a/Assets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
+++ b/Assets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
@@ -3,6 +3,7 @@ using System.Collections.Generic;
using UnityEngine;
using RosSharp;
using System;
+using System.Linq;
namespace RosSharp.RosBridgeClient{
public class LidarPublisher : Publisher<Messages.Sensor.LaserScan>, Publisher
@@ -68,7 +69,7 @@ public class LidarPublisher : Publisher<Messages.Sensor.LaserScan>, Publisher
message.ranges = Sensor.GetData();
if(publish_seg_mask)
{
- message.intensities = Sensor.GetSegMask();
+ message.intensities = Sensor.GetSegMask().Select(a => (float)a).ToArray();
}
else
{
diff --git a/Assets/Robots/Scripts/network/SensorProperties.cs b/Assets/Robots/Scripts/Sensors/SensorProperties.cs
similarity index 100%
rename from Assets/Robots/Scripts/network/SensorProperties.cs
rename to Assets/Robots/Scripts/Sensors/SensorProperties.cs
diff --git a/Assets/Robots/Scripts/network/SensorProperties.cs.meta b/Assets/Robots/Scripts/Sensors/SensorProperties.cs.meta
similarity index 100%
rename from Assets/Robots/Scripts/network/SensorProperties.cs.meta
rename to Assets/Robots/Scripts/Sensors/SensorProperties.cs.meta
diff --git a/Assets/Robots/Scripts/collisionDetection.cs b/Assets/Robots/Scripts/collisionDetection.cs
index 0bc52dcd16b5bbc571455ec088b9e7316c7e337a..3ce50a864deb5b8079b5f73a8a2ddfc00eed6ba6 100644
--- a/Assets/Robots/Scripts/collisionDetection.cs
+++ b/Assets/Robots/Scripts/collisionDetection.cs
@@ -2,50 +2,75 @@
using System.Collections.Generic;
using UnityEngine;
+namespace crowdbotsim
+{
public class collisionDetection : MonoBehaviour
{
CollisionReport reports_handler;
- CBChallenge challenge;
+ TwistTcpSubscriber controller;
+
+ List<Rigidbody> rigidbodies;
+
+ // CBChallenge challenge;
// Start is called before the first frame update
void Start()
{
reports_handler = gameObject.transform.root.GetComponent<CollisionReport>();
- challenge = gameObject.transform.root.GetComponentInChildren<CBChallenge>();
-
+ // challenge = gameObject.transform.root.GetComponentInChildren<CBChallenge>();
+ rigidbodies = new List<Rigidbody>(transform.root.GetComponentsInChildren<Rigidbody>());
+ controller = gameObject.transform.root.Find("TcpConnector").GetComponent<TwistTcpSubscriber>();
}
void OnCollisionEnter(Collision collision)
{
if(collision.gameObject.transform.root.tag == "VirtualHumanActive")
{
-
- this.GetComponent<Rigidbody>().isKinematic = true;
- this.GetComponentInChildren<Rigidbody>().isKinematic = true;
- // string report = collision.gameObject.transform.root.GetComponent<Agent>().GetID().ToString();
- string report = collision.gameObject.name;
- report += "|";
- report += gameObject.name;
- report += "|";
+ foreach (var rb in rigidbodies)
+ {
+ rb.isKinematic = true;
+ }
+
+ if(controller !=null)
+ {
+ controller.Stop();
+ }
+
+ string report = collision.gameObject.transform.root.GetComponent<Agent>().GetID().ToString();
+ report += " (";
+ report += collision.gameObject.name.Remove(0,6); //removinving "Bip01 " at the begining of the agents body parts
+ report += " ";
+ report += '~' + gameObject.name;
+ report += ") ";
report += collision.contactCount.ToString();
- report += "|";
- report += collision.relativeVelocity.ToString();
- report += "|";
- report += collision.impulse.ToString();
- // report += "|EOL";
+
+ if( collision.relativeVelocity.sqrMagnitude > 0.001)
+ {
+ report += " ";
+ report += collision.relativeVelocity.ToString("F3");
+ }
+
+ if( collision.impulse.sqrMagnitude > 0.001)
+ {
+ report += " ";
+ report += collision.impulse.ToString("F3");
+ }
+
reports_handler.Append_report(report);
+ // Debug.Log(report);
- challenge.increment_collision_count();
+ // challenge.increment_collision_count();
}
}
void OnCollisionExit()
{
- if(this.GetComponent<Rigidbody>().isKinematic)
+ foreach (var rb in rigidbodies)
{
- this.GetComponent<Rigidbody>().isKinematic = false;
- this.GetComponentInChildren<Rigidbody>().isKinematic = false;
+ rb.isKinematic = false;
}
}
}
+
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs b/Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..64e7c318e226f321cc6ce8cc16d71512317f42cf
--- /dev/null
+++ b/Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs
@@ -0,0 +1,50 @@
+
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+namespace crowdbotsim
+{
+ public class CollisionReportTcpPublisher : TcpPublisher
+ {
+ public CollisionReport collisionReport;
+
+ [SerializeField]
+ [Tooltip ("Frame id for Tf")]
+ public string FrameId = "undefined";
+ private string message;
+
+ protected override void Start()
+ {
+ base.Start();
+ }
+
+ public override string Publish(string data_id, float time)
+ {
+ string header = concat_to(Topic, '=', data_id);
+
+ // publish infos on first message only
+ // if(int.Parse(data_id) == 0)
+ // {
+ // header = concat_to(header, '-', sensor_infos);
+ // }
+
+ return concat_to(header, '#', message);
+ }
+
+ private void LateUpdate()
+ {
+ UpdateMessage();
+ }
+
+ public void UpdateMessage()
+ {
+ if(ToolsTime.DeltaTime > 0)
+ {
+ message = collisionReport.Get_report();
+ }
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta b/Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs.meta
similarity index 83%
rename from Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta
rename to Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs.meta
index 4f212ca223736c4302e2c99a9bab7db5ac00cf43..e02f1c7774a024fa177e715b494c05a3d849ffd7 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta
+++ b/Assets/Robots/Scripts/network/CollisionReportTcpPublisher.cs.meta
@@ -1,5 +1,5 @@
fileFormatVersion: 2
-guid: 043014237e87ec31d9fa6d2412127833
+guid: 6b8c4d24752d1b228ad61d1f90813f6e
MonoImporter:
externalObjects: {}
serializedVersion: 2
diff --git a/Assets/Robots/Scripts/network/CrowdTcpPublisher.cs b/Assets/Robots/Scripts/network/CrowdTcpPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..c313aad4bbe78428e351feb48923f104050c58bd
--- /dev/null
+++ b/Assets/Robots/Scripts/network/CrowdTcpPublisher.cs
@@ -0,0 +1,63 @@
+
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+namespace crowdbotsim
+{
+ public class CrowdTcpPublisher : TcpPublisher
+ {
+
+ [SerializeField]
+ [Tooltip ("Frame id for Tf")]
+ public string FrameId = "undefined";
+ private string message;
+ private string sensor_infos = "";
+
+ private CrowdBotSim_TrialManager trialManager;
+ protected override void Start()
+ {
+ trialManager = GameObject.FindGameObjectWithTag("Stage").GetComponent<CrowdBotSim_TrialManager>();
+
+ base.Start();
+
+ sensor_infos = trialManager.get_agents_list().Count.ToString();
+
+ }
+
+ public override string Publish(string data_id, float time)
+ {
+ string header = concat_to(Topic, '=', data_id);
+
+ // publish infos on first message only
+ // if(int.Parse(data_id) == 0)
+ // {
+ // header = concat_to(header, '-', sensor_infos);
+ // }
+
+ return concat_to(header, '#', message);
+ }
+
+ private void LateUpdate()
+ {
+ UpdateMessage();
+ }
+
+ public void UpdateMessage()
+ {
+ if(ToolsTime.DeltaTime > 0)
+ {
+ message = "id pose";
+
+ List<Agent> agents = trialManager.get_agents_list();
+ foreach (var agent in agents)
+ {
+ message = concat_to(message, ' ', agent.GetID().ToString());
+ message = concat_to(message, ' ', '(' + agent.Position.x.ToString("F3") + ' ' + agent.Position.z.ToString("F3") + ')');
+ }
+ }
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs.meta b/Assets/Robots/Scripts/network/CrowdTcpPublisher.cs.meta
similarity index 83%
rename from Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs.meta
rename to Assets/Robots/Scripts/network/CrowdTcpPublisher.cs.meta
index 074183795af22a5a2c44c3a7ff776ba714c8579a..c28edb094eb204a7a6223fd05fcec8048bc6ffad 100644
--- a/Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs.meta
+++ b/Assets/Robots/Scripts/network/CrowdTcpPublisher.cs.meta
@@ -1,5 +1,5 @@
fileFormatVersion: 2
-guid: 3eda42638a1845b78b067bf8a9b859c1
+guid: fc649a062e326d8d4b4e4f1a538a1f7c
MonoImporter:
externalObjects: {}
serializedVersion: 2
diff --git a/Assets/Robots/Scripts/network/LidarTcpPublisher.cs b/Assets/Robots/Scripts/network/LidarTcpPublisher.cs
index 1942d138458097e225d06bd9c9bb24c4517f9033..e7a3e57857b8d64bba0e41fdc411a4d85509dcaa 100644
--- a/Assets/Robots/Scripts/network/LidarTcpPublisher.cs
+++ b/Assets/Robots/Scripts/network/LidarTcpPublisher.cs
@@ -1,7 +1,4 @@
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
+using UnityEngine;
namespace crowdbotsim
{
@@ -21,22 +18,11 @@ public class LidarTcpPublisher : TcpPublisher
private string message;
private string sensor_infos;
- private float[] ranges, intensities, seg_mask;
+ private float[] ranges, intensities;
+ private int[] seg_mask;
- private static string concat_to(string a, char sep, float[] b)
- {
- return a + sep + string.Join(" ", b.Select(f => f.ToString("0.000"))) ;
- }
- private static string concat_to(string a, char sep, float b)
- {
- return a + sep + b.ToString("0.000");
- }
- private static string concat_to(string a, char sep, string b)
- {
- return a + sep + b;
- }
- void Start()
+ protected override void Start()
{
base.Start();
scanPeriod = Sensor.GetScanTime();
@@ -55,7 +41,7 @@ public class LidarTcpPublisher : TcpPublisher
ranges = new float[dataLenth];
intensities = new float[dataLenth];
- seg_mask = new float[dataLenth];
+ seg_mask = new int[dataLenth];
last_timestamp = -scanPeriod;
}
@@ -65,15 +51,15 @@ public class LidarTcpPublisher : TcpPublisher
string header = concat_to(Topic, '=', data_id);
// publish infos on first message only
- if(int.Parse(data_id) == 0)
- {
- header = concat_to(header, '-', sensor_infos);
- }
+ // if(int.Parse(data_id) == 0)
+ // {
+ // header = concat_to(header, '-', sensor_infos);
+ // }
return concat_to(header, '#', message);
}
- public void Update()
+ public void LateUpdate()
{
UpdateMessage();
}
@@ -93,9 +79,11 @@ public class LidarTcpPublisher : TcpPublisher
if(ranges != null && intensities != null)
{
message = concat_to(message,'#',ranges);
+ message = concat_to(message,'#',"intensities");
message = concat_to(message,'#',intensities);
if(publish_seg_mask && seg_mask != null)
{
+ message = concat_to(message,'#',"masks");
message = concat_to(message, '#', seg_mask);
}
}
diff --git a/Assets/Robots/Scripts/network/OdomTcpPublisher.cs b/Assets/Robots/Scripts/network/OdomTcpPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..c07a8fec8d31b48d4a27d501c5df91a70eae1b08
--- /dev/null
+++ b/Assets/Robots/Scripts/network/OdomTcpPublisher.cs
@@ -0,0 +1,70 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+namespace crowdbotsim
+{
+ public class OdomTcpPublisher : TcpPublisher
+ {
+ public OdomProvider odom;
+
+ [SerializeField]
+ [Tooltip ("Frame id for Tf")]
+ public string FrameId = "undefined";
+ private string message;
+ private string sensor_infos = "";
+ private OdomProvider.Pose_and_twist pose_And_Twist;
+
+ protected override void Start()
+ {
+ base.Start();
+
+ switch (odom.type)
+ {
+ case OdomProvider.mobile_base_type.differential_drive:
+ sensor_infos = "diff_drive";
+ break;
+
+ default:
+ sensor_infos = "other";
+ break;
+ }
+ }
+
+ public override string Publish(string data_id, float time)
+ {
+ string header = concat_to(Topic, '=', data_id);
+
+ // publish infos on first message only
+ // if(int.Parse(data_id) == 0)
+ // {
+ // header = concat_to(header, '-', sensor_infos);
+ // }
+
+ return concat_to(header, '#', message);
+ }
+
+ private void LateUpdate()
+ {
+ UpdateMessage();
+ }
+
+ public void UpdateMessage()
+ {
+ if(ToolsTime.DeltaTime > 0)
+ {
+ message = "pose";
+ pose_And_Twist = odom.get_pose_and_twist();
+
+ message = concat_to(message, ' ', pose_And_Twist.x);
+ message = concat_to(message, ' ', pose_And_Twist.y);
+ message = concat_to(message, ' ', pose_And_Twist.theta);
+ message = concat_to(message, ' ', pose_And_Twist.dxdt);
+ message = concat_to(message, ' ', pose_And_Twist.dydt);
+ message = concat_to(message, ' ', pose_And_Twist.dthetadt);
+ }
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/OdomTcpPublisher.cs.meta b/Assets/Robots/Scripts/network/OdomTcpPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f9c0d9c3369c7e9e544ff7fd3162965b9545766e
--- /dev/null
+++ b/Assets/Robots/Scripts/network/OdomTcpPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1a697b47a84febf4db6136ea8eac8f3c
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/network/RGBTcpPublisher.cs b/Assets/Robots/Scripts/network/RGBTcpPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..0bc4e27f0dde745569ad353a8cdd48f83715c272
--- /dev/null
+++ b/Assets/Robots/Scripts/network/RGBTcpPublisher.cs
@@ -0,0 +1,54 @@
+using UnityEngine;
+using System.Linq;
+
+namespace crowdbotsim
+{
+public class RGBTcpPublisher : TcpPublisher
+{
+ [SerializeField]
+ [Tooltip ("Sensor providing the data to be published")]
+ private RGBProvider Sensor;
+
+ [SerializeField]
+ [Tooltip ("Frame id for Tf")]
+ public string FrameId = "undefined";
+ private string message;
+ private string sensor_infos;
+
+ protected override void Start()
+ {
+ base.Start();
+ sensor_infos = "image_size";
+ sensor_infos = concat_to(sensor_infos,',',Sensor.GetWidth());
+ sensor_infos = concat_to(sensor_infos,',',Sensor.GetHeight());
+ }
+
+ public override string Publish(string data_id, float time)
+ {
+ string header = concat_to(Topic, '=', data_id);
+
+ // publish infos on first message only
+ // if(int.Parse(data_id) == 0)
+ // {
+ // header = concat_to(header, '-', sensor_infos);
+ // }
+
+ return concat_to(header, '#', message);
+ }
+
+ public void LateUpdate()
+ {
+ UpdateMessage();
+ }
+
+ private void UpdateMessage()
+ {
+ if(ToolsTime.DeltaTime > 0)
+ {
+ message = "JPG";
+ message = concat_to(message,'#', string.Join(" ", Sensor.GetRawData().Select(b => b.ToString()) ));
+ }
+
+ }
+}
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/RGBTcpPublisher.cs.meta b/Assets/Robots/Scripts/network/RGBTcpPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9f538a170cef13933bb73d69908fe675f8611a72
--- /dev/null
+++ b/Assets/Robots/Scripts/network/RGBTcpPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 58cd76aea16a20deba2c9c5f6ae7af71
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs b/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs
new file mode 100644
index 0000000000000000000000000000000000000000..fcbb3f059d41965b296d919a23b4bc6553b6bc8a
--- /dev/null
+++ b/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs
@@ -0,0 +1,51 @@
+using UnityEngine;
+
+namespace crowdbotsim
+{
+ public class SimControllerTcpSubscriber : TcpSubscriber
+ {
+ private CrowdBotSim_MainManager mainManager;
+
+ private bool first_message = true;
+
+ protected override void Start()
+ {
+ base.Start();
+ mainManager = GameObject.FindGameObjectWithTag("GameManager").GetComponent<CrowdBotSim_MainManager>();
+ }
+
+ protected override void ReceiveMessage(string message)
+ {
+ char msg = message[0];
+ switch (msg)
+ {
+ case 'i':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.idle;
+ break;
+ case 'n':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.next;
+ break;
+ case 'p':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.previous;
+ break;
+ case 'r':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.reset;
+ break;
+ case 'f':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.first;
+ break;
+ case 'l':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.last;
+ break;
+ case 's':
+ mainManager.state = CrowdBotSim_MainManager.MainManagerState.stop;
+ break;
+
+ default:
+ ToolsDebug.logWarning("Sim controller TCP sub: Bad message");
+ break;
+ }
+ }
+ }
+
+}
diff --git a/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs.meta b/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..636d498538c77edca7926dd15cee29089e944bc5
--- /dev/null
+++ b/Assets/Robots/Scripts/network/SimControllerTcpSubscriber.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 34feff1d114f41264b8450d38c468f2f
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/network/TcpConnector.cs b/Assets/Robots/Scripts/network/TcpConnector.cs
index 4b3fc67f6ac4003ad4f8d3fa1a3b61d8c032e1b9..c7daac7336451ac4d60aff0ce2158a5807cc5018 100644
--- a/Assets/Robots/Scripts/network/TcpConnector.cs
+++ b/Assets/Robots/Scripts/network/TcpConnector.cs
@@ -5,9 +5,8 @@ using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Collections.Generic;
-using System;
-using System.Collections;
using System.Linq;
+using System.Globalization;
namespace crowdbotsim
{
@@ -41,7 +40,7 @@ namespace crowdbotsim
SubscriberHandlers = new Dictionary<string, Delegate>();
Publishers = new List<TcpPublisher>();
var main_thread = new Thread(ConnectAndWait);
- main_thread.Priority = System.Threading.ThreadPriority.Highest;
+ // main_thread.Priority = System.Threading.ThreadPriority.Highest;
main_thread.Start();
}
@@ -102,7 +101,8 @@ namespace crowdbotsim
if (dataReceived == "stop")
{
Debug.Log("Stop TCP server & CrowdBotSim");
- nwStream.Write(buffer, 0, bytesRead);
+ byte[] buffer_out = Encoding.UTF8.GetBytes(dataReceived+"@");
+ nwStream.Write(buffer_out, 0, buffer_out.Length);
running = false;
}
else
@@ -118,8 +118,9 @@ namespace crowdbotsim
foreach( KeyValuePair<string, Delegate> sub in SubscriberHandlers )
{
- // string msg = incoming_data[sub.Key];
- string msg = incoming_data["Clock"];
+ string msg = null;
+
+ incoming_data.TryGetValue(sub.Key, out msg);
if(msg != null)
{
@@ -128,17 +129,19 @@ namespace crowdbotsim
}
//sending clock back first
- data_out.Add( "Clock=" + data_counter.ToString() + "-" + incoming_data["Clock"] );
+ data_out.Add( "clock=" + data_counter.ToString() + "#" + incoming_data["clock"] );
foreach( TcpPublisher pub in Publishers)
{
- data_out.Add(pub.Publish(data_counter.ToString(), float.Parse(incoming_data["Clock"]) ) );
+ data_out.Add(pub.Publish(data_counter.ToString(), float.Parse(incoming_data["clock"] , CultureInfo.InvariantCulture.NumberFormat) ) );
}
+
data_counter++;
}
+ data_out.Add("@"); //end
string join_data_out = string.Join( ";", data_out);
byte[] buffer_out = Encoding.UTF8.GetBytes(join_data_out);
diff --git a/Assets/Robots/Scripts/network/TcpPublisher.cs b/Assets/Robots/Scripts/network/TcpPublisher.cs
index 71258f9b2c9016b7ff2a73f209d0df5bec7dc016..4d0a79248d0d75f2d04521373b35a5e454c3852d 100644
--- a/Assets/Robots/Scripts/network/TcpPublisher.cs
+++ b/Assets/Robots/Scripts/network/TcpPublisher.cs
@@ -1,6 +1,7 @@
using UnityEngine;
using RosSharp.RosBridgeClient.Messages.crowdbotsim;
using RosSharp.RosBridgeClient.Messages;
+using System.Linq;
namespace crowdbotsim
{
@@ -15,6 +16,22 @@ namespace crowdbotsim
}
public abstract string Publish(string id="-1", float time = -1);
+ public static string concat_to(string a, char sep, float[] b)
+ {
+ return a + sep + string.Join(" ", b.Select(f => f.ToString("0.000"))) ;
+ }
+ public static string concat_to(string a, char sep, int[] b)
+ {
+ return a + sep + string.Join(" ", b.Select(i => i.ToString())) ;
+ }
+ public static string concat_to(string a, char sep, float b)
+ {
+ return a + sep + b.ToString("0.000");
+ }
+ public static string concat_to(string a, char sep, string b)
+ {
+ return a + sep + b;
+ }
}
}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs b/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs
new file mode 100644
index 0000000000000000000000000000000000000000..13cee525d3ad04dacbdd0be77a20a03d6b02c183
--- /dev/null
+++ b/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs
@@ -0,0 +1,123 @@
+
+using UnityEngine;
+using RosSharp.RosBridgeClient.Messages.crowdbotsim;
+using RosSharp.RosBridgeClient.Messages;
+using System.Globalization;
+using System.Linq;
+using System;
+
+namespace crowdbotsim
+{
+ public class TwistTcpSubscriber : TcpSubscriber
+ {
+
+ public enum Mode {kinematic, force, motor_base_velocity, motor_wheel_control};
+ public Transform SubscribedTransform;
+ public Mode mode = Mode.kinematic;
+ public float max_acceleration = 0.8f;
+ public float max_angular_acceleration = 20.0f;
+ private Rigidbody base_link;
+ private float previousRealTime;
+ private float f_linearVelocity, f_angularVelocity;
+ private Vector3 linearVelocity, angularVelocity, current_forward, current_up;
+ private Vector3 current_linear_velocity, current_angular_velocity;
+ private Vector3 acceleration = new Vector3(0,0,0);
+ private Vector3 angular_acceleration = new Vector3(0,0,0);
+
+ private DiffDriveController controller;
+
+ protected override void Start()
+ {
+ base.Start();
+
+ current_forward = SubscribedTransform.InverseTransformDirection(SubscribedTransform.forward);
+ current_up = SubscribedTransform.InverseTransformDirection(SubscribedTransform.up);
+ current_linear_velocity = new Vector3(0,0,0);
+ current_angular_velocity = new Vector3(0,0,0);
+
+ base_link = SubscribedTransform.GetComponent<Rigidbody>();
+
+ try
+ {
+ controller = SubscribedTransform.GetComponent<DiffDriveController>();
+ }
+ catch (System.Exception)
+ {
+ mode = Mode.kinematic;
+ throw;
+ }
+ }
+
+ public void Stop()
+ {
+ current_angular_velocity = Vector3.zero;
+ angular_acceleration = Vector3.zero;
+ current_linear_velocity = Vector3.zero;
+ acceleration = Vector3.zero;
+ }
+
+ protected override void ReceiveMessage(string str_velocity)
+ {
+ float[] velocity = str_velocity.Split(' ').Select(v => float.Parse(v, CultureInfo.InvariantCulture.NumberFormat)).ToArray();
+ f_linearVelocity = velocity[0];
+ f_angularVelocity = velocity[1];
+ }
+
+ private void Update()
+ {
+ float deltaTime = ToolsTime.DeltaTime;
+ current_forward = SubscribedTransform.InverseTransformDirection(SubscribedTransform.forward);
+ current_up = SubscribedTransform.InverseTransformDirection(SubscribedTransform.up);
+ linearVelocity = f_linearVelocity * current_forward;
+ angularVelocity = f_angularVelocity * current_up;
+
+ if(deltaTime > 0)
+ {
+ switch(mode)
+ {
+ case Mode.force:
+ if(deltaTime > 0)
+ {
+ if(linearVelocity.magnitude > 0)
+ {
+ Vector3 force = base_link.transform.rotation * (linearVelocity - base_link.velocity) * base_link.mass / deltaTime * 2;
+ base_link.AddForce( new Vector3 (force.x, 0, force.z) );
+ }
+
+ if (angularVelocity.magnitude > 0)
+ {
+ Vector3 torque = base_link.transform.rotation * (angularVelocity - base_link.angularVelocity) * base_link.mass / deltaTime * 2;
+ base_link.AddTorque( new Vector3 (0, torque.y , 0) );
+ }
+
+ }
+ break;
+
+ case Mode.kinematic:
+ current_angular_velocity = Vector3.SmoothDamp(current_angular_velocity, angularVelocity, ref angular_acceleration, 1/max_angular_acceleration, Mathf.Infinity, deltaTime);
+ SubscribedTransform.Rotate(current_angular_velocity * deltaTime);
+ current_linear_velocity = Vector3.SmoothDamp(current_linear_velocity, linearVelocity, ref acceleration, 1/max_acceleration, Mathf.Infinity, deltaTime);
+ SubscribedTransform.Translate(current_linear_velocity * deltaTime);
+
+ break;
+
+ case Mode.motor_base_velocity:
+ if(controller == null) break;
+ controller.ControlMotorsClosedLoop(deltaTime, linearVelocity.z, angularVelocity.y);
+ break;
+
+ case Mode.motor_wheel_control:
+ if(controller == null) break;
+ controller.Accelerate(linearVelocity.x, linearVelocity.y);
+ break;
+
+ }
+
+ previousRealTime = Time.realtimeSinceStartup;
+ }
+
+
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs.meta b/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3e0b8f6bbfb7df0bc3c968a6723429c0daf298da
--- /dev/null
+++ b/Assets/Robots/Scripts/network/TwistTcpSubscriber.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs b/Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs
deleted file mode 100644
index 7a7bb102a90df8026d40e75f353f48d3b8f5b81b..0000000000000000000000000000000000000000
--- a/Assets/Robots/Scripts/network/VelCmdTcpSubscriber.cs
+++ /dev/null
@@ -1,24 +0,0 @@
-using UnityEngine;
-using RosSharp.RosBridgeClient.Messages.crowdbotsim;
-using RosSharp.RosBridgeClient.Messages;
-
-namespace crowdbotsim
-{
- public class VelCmdTcpSubscriber : TcpSubscriber
- {
-
- public pepper_controller controller;
-
- protected override void Start()
- {
- base.Start();
- }
-
- protected override void ReceiveMessage(string message)
- {
- controller.UpdateController(message);
- }
-
-
- }
-}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/pepper_controller.cs b/Assets/Robots/Scripts/pepper_controller.cs
deleted file mode 100644
index 9c20c8d9ed14478d5fc5b5a18b515fdacba2c876..0000000000000000000000000000000000000000
--- a/Assets/Robots/Scripts/pepper_controller.cs
+++ /dev/null
@@ -1,61 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using System.Globalization;
-
-public class pepper_controller : MonoBehaviour
-{
- private Rigidbody base_link;
- private Rigidbody[] childs;
-
- private float last_time = 0;
-
- private Vector3 target;
-
- private Vector3 current_pose, current_forward;
- void Start()
- {
- current_pose = transform.position;
- current_forward = transform.forward;
-
- target = Vector3.zero;
- base_link = transform.GetComponent<Rigidbody>();
- childs = transform.GetComponentsInChildren<Rigidbody>();
- }
-
- void Update()
- {
- if(ToolsTime.DeltaTime > 0)
- {
- current_pose = transform.position;
- current_forward = transform.forward;
-
- base_link.MovePosition(transform.position + target);
-
- foreach(Rigidbody child in childs)
- {
- child.MovePosition(child.transform.position + target);
- }
- }
- // if (Vector3.Distance(transform.position, transform.position + target) < 0.001f)
- // {
- // target = Vector3.zero;
- // }
- }
-
- public void UpdateController(string str_time)
- {
- float time = float.Parse(str_time, CultureInfo.InvariantCulture.NumberFormat);
-
- if(time < 20)
- {
- target = 0.1f * current_forward * (time - last_time);
- }
- else
- {
- target = Vector3.zero;
- }
-
- last_time = time;
- }
-}
diff --git a/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity b/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
index 68b8d565424f846fe8afde6483fd7598787f5041..d1b0d59b728bda49e137e47daece77149c13ec53 100644
--- a/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
+++ b/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
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diff --git a/Assets/Scenes/Tests/testEmpty.unity.meta b/Assets/Scenes/Tests/testEmpty.unity.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b3c952e02554e739486ad46fb283c5e253083957
--- /dev/null
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diff --git a/Crowdbotsim_python/.gitignore b/Crowdbotsim_python/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..37fc9d40817580a7922e9f71772922e58465b2b1
--- /dev/null
+++ b/Crowdbotsim_python/.gitignore
@@ -0,0 +1,90 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+# Usually these files are written by a python script from a template
+# before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+.venv/
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
diff --git a/Crowdbotsim_python/LICENSE b/Crowdbotsim_python/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..ccbf8103d01db8816749c4bbc5361624e54219df
--- /dev/null
+++ b/Crowdbotsim_python/LICENSE
@@ -0,0 +1,2 @@
+TODO
+
diff --git a/Crowdbotsim_python/MANIFEST.in b/Crowdbotsim_python/MANIFEST.in
new file mode 100644
index 0000000000000000000000000000000000000000..1aba38f67a2211cf5b09466d7b411206cb7223bf
--- /dev/null
+++ b/Crowdbotsim_python/MANIFEST.in
@@ -0,0 +1 @@
+include LICENSE
diff --git a/Crowdbotsim_python/Makefile b/Crowdbotsim_python/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..997cfaa14c219a83873d8f38b2d99cd12dbada70
--- /dev/null
+++ b/Crowdbotsim_python/Makefile
@@ -0,0 +1,5 @@
+init:
+ pip install -r requirements.txt
+
+test:
+ nosetests tests
diff --git a/Crowdbotsim_python/README.rst b/Crowdbotsim_python/README.rst
new file mode 100644
index 0000000000000000000000000000000000000000..598c739c46e2f76ef8f2971da7b3d9b34373dec7
--- /dev/null
+++ b/Crowdbotsim_python/README.rst
@@ -0,0 +1,8 @@
+TODO
+========================
+
+TODO
+
+---------------
+
+learn more on crowdbot.eu
diff --git a/Crowdbotsim_python/crowdbotsimcontrol/__init__.py b/Crowdbotsim_python/crowdbotsimcontrol/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..ea5fc61dd6d29a948f90ff19eef80812d454ad3d
--- /dev/null
+++ b/Crowdbotsim_python/crowdbotsimcontrol/__init__.py
@@ -0,0 +1 @@
+from .core import run
\ No newline at end of file
diff --git a/Crowdbotsim_python/crowdbotsimcontrol/core.py b/Crowdbotsim_python/crowdbotsimcontrol/core.py
new file mode 100644
index 0000000000000000000000000000000000000000..8c49c6cc8839f308f0c4775825be5c64364c21d1
--- /dev/null
+++ b/Crowdbotsim_python/crowdbotsimcontrol/core.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+from . import helpers, socket_handler
+
+from signal import signal, SIGINT
+from sys import exit
+
+import time
+
+
+
+
+def run(HOST = '127.0.0.1', PORT = 25001, time_step = 0.05, sleep_time = -1):
+ s = socket_handler.init_socket(HOST, PORT)
+
+ def handler(signal_received, frame):
+ # Handle any cleanup here
+ print('SIGINT or CTRL-C detected. Exiting gracefully')
+ socket_handler.stop(s)
+ exit(0)
+ signal(SIGINT, handler)
+
+ print("Running simulation")
+
+ for i in range(4):
+ print("Scenario # " + str(i))
+ pub = {'clock':0, 'vel_cmd': (0,0), 'sim_control':'i'}
+ while True:
+ time_in = time.time()
+ # making the raw string to send from the dict
+ to_send = helpers.publish_all(pub)
+
+ # sending and receiving raw data
+ raw = socket_handler.send_and_receive(s,to_send)
+
+ # getting dict from raw data
+ dico = helpers.raw_data_to_dict(raw)
+
+ print("Clock: " + dico["clock"])
+
+ #do cool stuff here
+ if "odom" in dico:
+ odom = dico["odom"].split(u' ')
+ ang_cmd = 0
+
+ try:
+ if float(odom[2]) > 0.5:
+ ang_cmd = -10
+ elif float(odom[2]) < -0.5 :
+ ang_cmd = 10
+ pass
+ print(map(str,odom))
+ except IndexError as ie:
+ pass
+
+ pub['vel_cmd'] = (1,ang_cmd)
+
+
+ # checking ending conditions
+ if helpers.check_ending_conditions(10.0, -20, dico):
+ break
+
+ # doing a step
+ pub = helpers.do_step(time_step, pub)
+
+ time_out = time.time()
+ if sleep_time > 0:
+ time.sleep(sleep_time)
+ elif time_out < time_in + time_step :
+ time.sleep(time_in + time_step - time_out)
+
+ # next scenario!
+ socket_handler.send_and_receive(s, helpers.publish_all(helpers.next()))
+
+ #wait for sim to load new scenario
+ time.sleep(1)
+
+ socket_handler.stop(s)
+
+
\ No newline at end of file
diff --git a/Crowdbotsim_python/crowdbotsimcontrol/helpers.py b/Crowdbotsim_python/crowdbotsimcontrol/helpers.py
new file mode 100644
index 0000000000000000000000000000000000000000..742f6c0692db03a8df01375d80c552c8a7bb9774
--- /dev/null
+++ b/Crowdbotsim_python/crowdbotsimcontrol/helpers.py
@@ -0,0 +1,74 @@
+#inputs and outputs
+def publish_all(dico):
+ to_publish = []
+ for key, value in dico.items():
+ to_publish.append(publish(key,value))
+ return ''.join(to_publish)
+
+def publish(topic, value):
+ if type(value) is tuple:
+ return topic+"={};".format(" ".join(map(str,value)))
+ else:
+ return topic+"={};".format(value)
+
+def raw_data_to_dict(received):
+ dico = {'step_number': 0}
+
+ raw_topics = received.split(';')
+ for raw_topic in raw_topics:
+ if raw_topic != "@": # end of raw data
+ topic, rest = raw_topic.split('=',1)
+ step_number, value = rest.split('#',1)
+
+ dico['step_number'] = step_number
+ dico[topic] = value
+
+ return dico
+
+# simulation controls and checks
+def do_step(step, dico):
+ if "clock" in dico:
+ dico["clock"] = round(dico["clock"] + step,3)
+ return dico
+
+def check_ending_conditions(max_time, min_x, dico):
+ if "clock" in dico:
+ if float(dico["clock"]) > max_time:
+ return True
+
+ if "odom" in dico:
+ try:
+ _, rest = dico["odom"].split(' ',1)
+ odom_x, _ = rest.split(' ',1)
+ if float(odom_x) < min_x:
+ return True
+ except ValueError as ve:
+ pass
+ except IndexError as ie:
+ pass
+
+ return False
+
+def sim_control(input):
+ return { "clock" : 0 , "sim_control" : input }
+
+def reset():
+ return sim_control('r')
+
+def next():
+ return sim_control('n')
+
+def previous():
+ return sim_control('p')
+
+def first():
+ return sim_control('f')
+
+def last():
+ return sim_control('l')
+
+def stop():
+ return sim_control('l')
+
+def idle():
+ return sim_control('i')
\ No newline at end of file
diff --git a/Crowdbotsim_python/crowdbotsimcontrol/netSend.py b/Crowdbotsim_python/crowdbotsimcontrol/netSend.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e06cee50d13ffcef424ddcd926b2e632756b70c
--- /dev/null
+++ b/Crowdbotsim_python/crowdbotsimcontrol/netSend.py
@@ -0,0 +1,97 @@
+# Initial code kept for archive
+###############################
+
+
+# #!/usr/bin/env python3
+
+# import socket
+# import time
+# import math
+
+# from signal import signal, SIGINT
+# from sys import exit
+
+# # HOST = '192.168.1.11'
+# HOST = '127.0.0.1'
+# PORT = 25001
+
+# def handler(signal_received, frame):
+# global s
+# # Handle any cleanup here
+# print('SIGINT or CTRL-C detected. Exiting gracefully')
+# send_and_receive(s, "stop")
+# s.close()
+# exit(0)
+
+# signal(SIGINT, handler)
+
+# # protocol
+# # for each topic/value pair: "key1=value1;key2=value2;key3=value3;"
+
+# data = ""
+# clock = 0
+# received = ""
+# s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+# def publish(topic, value):
+# return topic+"={};".format(" ".join(map(str,value)))
+
+# def send_and_receive(s, data):
+# global clock, received
+# s.sendall(data.encode("utf-8"))
+# print("SND<<"+data)
+# fragments = []
+# while True:
+# chunk = s.recv(4096).decode("utf-8")
+# fragments.append(chunk)
+# if chunk[-1:] == "@":
+# break
+# received = ''.join(fragments)
+# print("RCV>>"+received[:100])
+
+# def main():
+# global s, data, clock, received
+
+# time_step = 0.05 # 20hz
+# sleep_time = 0.2
+
+# try:
+# s.connect((HOST, PORT))
+
+# for _ in range(0,250):
+# # time_in = time.time()
+# data = publish("clock", (clock,) ) + publish("vel_cmd", (1, round(math.cos(clock)*45,3)))
+# send_and_receive(s, data)
+# # time_out = time.time()
+# clock = round( clock + time_step, 3)
+# time.sleep(sleep_time)
+# # if time_out < time_in + time_step :
+# # time.sleep(time_in + time_step - time_out)
+
+# clock = 0
+# data = publish("clock", (clock,) ) + publish("sim_control", ('n',))
+# send_and_receive(s, data)
+
+# for i in range(0,250):
+# # time_in = time.time()
+# data = publish("clock", (clock,) ) + publish("vel_cmd", (1, math.cos(clock)*45))
+# send_and_receive(s, data)
+# # time_out = time.time()
+# clock = round( clock + time_step, 3)
+# time.sleep(sleep_time)
+# # if time_out < time_in + time_step :
+# # time.sleep(time_in + time_step - time_out)
+
+# data = "stop"
+# send_and_receive(s, data)
+
+# finally:
+# s.close()
+
+# def data_management(incoming_data, clock):
+# outgoing_data = publish("Clock", clock)
+# return outgoing_data
+
+
+# if __name__ == '__main__':
+# main()
diff --git a/Crowdbotsim_python/crowdbotsimcontrol/socket_handler.py b/Crowdbotsim_python/crowdbotsimcontrol/socket_handler.py
new file mode 100644
index 0000000000000000000000000000000000000000..99a68261a7ee106f8cc09dd9d2100fb51dcbd60c
--- /dev/null
+++ b/Crowdbotsim_python/crowdbotsimcontrol/socket_handler.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+
+import socket
+
+def init_socket(HOST,PORT):
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.connect((HOST, PORT))
+ return s
+
+def send_and_receive(s, data, end_char = "@"):
+ s.sendall(data.encode("utf-8"))
+
+ # print("Sent")
+
+ fragments = []
+ while True:
+ chunk = s.recv(4096).decode("utf-8")
+ fragments.append(chunk)
+ if chunk[-1:] == end_char:
+ break
+ # print("Received")
+ return ''.join(fragments)
+
+def stop(s):
+ send_and_receive(s, "stop")
+ s.close()
\ No newline at end of file
diff --git a/Crowdbotsim_python/docs/Makefile b/Crowdbotsim_python/docs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f828634d1ead57a3a57570b64103bd38581cce57
--- /dev/null
+++ b/Crowdbotsim_python/docs/Makefile
@@ -0,0 +1,153 @@
+# Makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS =
+SPHINXBUILD = sphinx-build
+PAPER =
+BUILDDIR = _build
+
+# Internal variables.
+PAPEROPT_a4 = -D latex_paper_size=a4
+PAPEROPT_letter = -D latex_paper_size=letter
+ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+# the i18n builder cannot share the environment and doctrees with the others
+I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+
+.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
+
+help:
+ @echo "Please use \`make <target>' where <target> is one of"
+ @echo " html to make standalone HTML files"
+ @echo " dirhtml to make HTML files named index.html in directories"
+ @echo " singlehtml to make a single large HTML file"
+ @echo " pickle to make pickle files"
+ @echo " json to make JSON files"
+ @echo " htmlhelp to make HTML files and a HTML help project"
+ @echo " qthelp to make HTML files and a qthelp project"
+ @echo " devhelp to make HTML files and a Devhelp project"
+ @echo " epub to make an epub"
+ @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
+ @echo " latexpdf to make LaTeX files and run them through pdflatex"
+ @echo " text to make text files"
+ @echo " man to make manual pages"
+ @echo " texinfo to make Texinfo files"
+ @echo " info to make Texinfo files and run them through makeinfo"
+ @echo " gettext to make PO message catalogs"
+ @echo " changes to make an overview of all changed/added/deprecated items"
+ @echo " linkcheck to check all external links for integrity"
+ @echo " doctest to run all doctests embedded in the documentation (if enabled)"
+
+clean:
+ -rm -rf $(BUILDDIR)/*
+
+html:
+ $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
+ @echo
+ @echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
+
+dirhtml:
+ $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
+ @echo
+ @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
+
+singlehtml:
+ $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
+ @echo
+ @echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
+
+pickle:
+ $(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
+ @echo
+ @echo "Build finished; now you can process the pickle files."
+
+json:
+ $(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
+ @echo
+ @echo "Build finished; now you can process the JSON files."
+
+htmlhelp:
+ $(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
+ @echo
+ @echo "Build finished; now you can run HTML Help Workshop with the" \
+ ".hhp project file in $(BUILDDIR)/htmlhelp."
+
+qthelp:
+ $(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
+ @echo
+ @echo "Build finished; now you can run "qcollectiongenerator" with the" \
+ ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
+ @echo "# qcollectiongenerator $(BUILDDIR)/qthelp/sample.qhcp"
+ @echo "To view the help file:"
+ @echo "# assistant -collectionFile $(BUILDDIR)/qthelp/sample.qhc"
+
+devhelp:
+ $(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
+ @echo
+ @echo "Build finished."
+ @echo "To view the help file:"
+ @echo "# mkdir -p $$HOME/.local/share/devhelp/sample"
+ @echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/sample"
+ @echo "# devhelp"
+
+epub:
+ $(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
+ @echo
+ @echo "Build finished. The epub file is in $(BUILDDIR)/epub."
+
+latex:
+ $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+ @echo
+ @echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
+ @echo "Run \`make' in that directory to run these through (pdf)latex" \
+ "(use \`make latexpdf' here to do that automatically)."
+
+latexpdf:
+ $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+ @echo "Running LaTeX files through pdflatex..."
+ $(MAKE) -C $(BUILDDIR)/latex all-pdf
+ @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+text:
+ $(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
+ @echo
+ @echo "Build finished. The text files are in $(BUILDDIR)/text."
+
+man:
+ $(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
+ @echo
+ @echo "Build finished. The manual pages are in $(BUILDDIR)/man."
+
+texinfo:
+ $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+ @echo
+ @echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
+ @echo "Run \`make' in that directory to run these through makeinfo" \
+ "(use \`make info' here to do that automatically)."
+
+info:
+ $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+ @echo "Running Texinfo files through makeinfo..."
+ make -C $(BUILDDIR)/texinfo info
+ @echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
+
+gettext:
+ $(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
+ @echo
+ @echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
+
+changes:
+ $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
+ @echo
+ @echo "The overview file is in $(BUILDDIR)/changes."
+
+linkcheck:
+ $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
+ @echo
+ @echo "Link check complete; look for any errors in the above output " \
+ "or in $(BUILDDIR)/linkcheck/output.txt."
+
+doctest:
+ $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
+ @echo "Testing of doctests in the sources finished, look at the " \
+ "results in $(BUILDDIR)/doctest/output.txt."
diff --git a/Crowdbotsim_python/docs/conf.py b/Crowdbotsim_python/docs/conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac03bd0971fbc0d09e3b54063518e452ad49c033
--- /dev/null
+++ b/Crowdbotsim_python/docs/conf.py
@@ -0,0 +1,242 @@
+# -*- coding: utf-8 -*-
+#
+# sample documentation build configuration file, created by
+# sphinx-quickstart on Mon Apr 16 21:22:43 2012.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = []
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'sample'
+copyright = u'2012, Kenneth Reitz'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = 'v0.0.1'
+# The full version, including alpha/beta/rc tags.
+release = 'v0.0.1'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['_build']
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents. If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar. Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it. The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'sampledoc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+ ('index', 'sample.tex', u'sample Documentation',
+ u'Kenneth Reitz', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+ ('index', 'sample', u'sample Documentation',
+ [u'Kenneth Reitz'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+# dir menu entry, description, category)
+texinfo_documents = [
+ ('index', 'sample', u'sample Documentation',
+ u'Kenneth Reitz', 'sample', 'One line description of project.',
+ 'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
diff --git a/Crowdbotsim_python/docs/index.rst b/Crowdbotsim_python/docs/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..46f3fe8e6de1ca94e78536fb2d20ce9934c76fb8
--- /dev/null
+++ b/Crowdbotsim_python/docs/index.rst
@@ -0,0 +1,22 @@
+.. sample documentation master file, created by
+ sphinx-quickstart on Mon Apr 16 21:22:43 2012.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+Welcome to sample's documentation!
+==================================
+
+Contents:
+
+.. toctree::
+ :maxdepth: 2
+
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+
diff --git a/Crowdbotsim_python/docs/make.bat b/Crowdbotsim_python/docs/make.bat
new file mode 100644
index 0000000000000000000000000000000000000000..deed45a8d8ac4e505492a96be1e273aff501c82e
--- /dev/null
+++ b/Crowdbotsim_python/docs/make.bat
@@ -0,0 +1,190 @@
+@ECHO OFF
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set BUILDDIR=_build
+set ALLSPHINXOPTS=-d %BUILDDIR%/doctrees %SPHINXOPTS% .
+set I18NSPHINXOPTS=%SPHINXOPTS% .
+if NOT "%PAPER%" == "" (
+ set ALLSPHINXOPTS=-D latex_paper_size=%PAPER% %ALLSPHINXOPTS%
+ set I18NSPHINXOPTS=-D latex_paper_size=%PAPER% %I18NSPHINXOPTS%
+)
+
+if "%1" == "" goto help
+
+if "%1" == "help" (
+ :help
+ echo.Please use `make ^<target^>` where ^<target^> is one of
+ echo. html to make standalone HTML files
+ echo. dirhtml to make HTML files named index.html in directories
+ echo. singlehtml to make a single large HTML file
+ echo. pickle to make pickle files
+ echo. json to make JSON files
+ echo. htmlhelp to make HTML files and a HTML help project
+ echo. qthelp to make HTML files and a qthelp project
+ echo. devhelp to make HTML files and a Devhelp project
+ echo. epub to make an epub
+ echo. latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter
+ echo. text to make text files
+ echo. man to make manual pages
+ echo. texinfo to make Texinfo files
+ echo. gettext to make PO message catalogs
+ echo. changes to make an overview over all changed/added/deprecated items
+ echo. linkcheck to check all external links for integrity
+ echo. doctest to run all doctests embedded in the documentation if enabled
+ goto end
+)
+
+if "%1" == "clean" (
+ for /d %%i in (%BUILDDIR%\*) do rmdir /q /s %%i
+ del /q /s %BUILDDIR%\*
+ goto end
+)
+
+if "%1" == "html" (
+ %SPHINXBUILD% -b html %ALLSPHINXOPTS% %BUILDDIR%/html
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/html.
+ goto end
+)
+
+if "%1" == "dirhtml" (
+ %SPHINXBUILD% -b dirhtml %ALLSPHINXOPTS% %BUILDDIR%/dirhtml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/dirhtml.
+ goto end
+)
+
+if "%1" == "singlehtml" (
+ %SPHINXBUILD% -b singlehtml %ALLSPHINXOPTS% %BUILDDIR%/singlehtml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/singlehtml.
+ goto end
+)
+
+if "%1" == "pickle" (
+ %SPHINXBUILD% -b pickle %ALLSPHINXOPTS% %BUILDDIR%/pickle
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can process the pickle files.
+ goto end
+)
+
+if "%1" == "json" (
+ %SPHINXBUILD% -b json %ALLSPHINXOPTS% %BUILDDIR%/json
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can process the JSON files.
+ goto end
+)
+
+if "%1" == "htmlhelp" (
+ %SPHINXBUILD% -b htmlhelp %ALLSPHINXOPTS% %BUILDDIR%/htmlhelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can run HTML Help Workshop with the ^
+.hhp project file in %BUILDDIR%/htmlhelp.
+ goto end
+)
+
+if "%1" == "qthelp" (
+ %SPHINXBUILD% -b qthelp %ALLSPHINXOPTS% %BUILDDIR%/qthelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can run "qcollectiongenerator" with the ^
+.qhcp project file in %BUILDDIR%/qthelp, like this:
+ echo.^> qcollectiongenerator %BUILDDIR%\qthelp\sample.qhcp
+ echo.To view the help file:
+ echo.^> assistant -collectionFile %BUILDDIR%\qthelp\sample.ghc
+ goto end
+)
+
+if "%1" == "devhelp" (
+ %SPHINXBUILD% -b devhelp %ALLSPHINXOPTS% %BUILDDIR%/devhelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished.
+ goto end
+)
+
+if "%1" == "epub" (
+ %SPHINXBUILD% -b epub %ALLSPHINXOPTS% %BUILDDIR%/epub
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The epub file is in %BUILDDIR%/epub.
+ goto end
+)
+
+if "%1" == "latex" (
+ %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; the LaTeX files are in %BUILDDIR%/latex.
+ goto end
+)
+
+if "%1" == "text" (
+ %SPHINXBUILD% -b text %ALLSPHINXOPTS% %BUILDDIR%/text
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The text files are in %BUILDDIR%/text.
+ goto end
+)
+
+if "%1" == "man" (
+ %SPHINXBUILD% -b man %ALLSPHINXOPTS% %BUILDDIR%/man
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The manual pages are in %BUILDDIR%/man.
+ goto end
+)
+
+if "%1" == "texinfo" (
+ %SPHINXBUILD% -b texinfo %ALLSPHINXOPTS% %BUILDDIR%/texinfo
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The Texinfo files are in %BUILDDIR%/texinfo.
+ goto end
+)
+
+if "%1" == "gettext" (
+ %SPHINXBUILD% -b gettext %I18NSPHINXOPTS% %BUILDDIR%/locale
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The message catalogs are in %BUILDDIR%/locale.
+ goto end
+)
+
+if "%1" == "changes" (
+ %SPHINXBUILD% -b changes %ALLSPHINXOPTS% %BUILDDIR%/changes
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.The overview file is in %BUILDDIR%/changes.
+ goto end
+)
+
+if "%1" == "linkcheck" (
+ %SPHINXBUILD% -b linkcheck %ALLSPHINXOPTS% %BUILDDIR%/linkcheck
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Link check complete; look for any errors in the above output ^
+or in %BUILDDIR%/linkcheck/output.txt.
+ goto end
+)
+
+if "%1" == "doctest" (
+ %SPHINXBUILD% -b doctest %ALLSPHINXOPTS% %BUILDDIR%/doctest
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Testing of doctests in the sources finished, look at the ^
+results in %BUILDDIR%/doctest/output.txt.
+ goto end
+)
+
+:end
diff --git a/Crowdbotsim_python/netSend.py b/Crowdbotsim_python/netSend.py
deleted file mode 100644
index 4d68866df2ba39e6fad456a0a55c400f6736aa05..0000000000000000000000000000000000000000
--- a/Crowdbotsim_python/netSend.py
+++ /dev/null
@@ -1,70 +0,0 @@
-#!/usr/bin/env python3
-
-import socket
-import time
-
-from signal import signal, SIGINT
-from sys import exit
-
-HOST = '127.0.0.1'
-PORT = 25001
-
-def handler(signal_received, frame):
- global s
- # Handle any cleanup here
- print('SIGINT or CTRL-C detected. Exiting gracefully')
- send_and_receive(s, "stop")
- s.close()
- exit(0)
-
-signal(SIGINT, handler)
-
-# protocol
-# for each topic/value pair: "key1=value1;key2=value2;key3=value3;"
-
-data = ""
-clock = 0
-received = ""
-s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-
-def publish(topic, value):
- return topic+"={};".format(value)
-
-def send_and_receive(s, data):
- global clock, received
- s.sendall(data.encode("utf-8"))
- received = s.recv(1000000).decode("utf-8")
- print("RCV>>"+received)
-
-def main():
- global s, data, clock, received
-
- time_step = 0.2
-
- try:
- s.connect((HOST, PORT))
-
- for i in range(0,2500):
- time_in = time.time()
- data = publish("Clock",clock) + publish("vel_cmd",0)
- send_and_receive(s, data)
- time_out = time.time()
- clock = round( clock + time_step, 3)
- if time_out < time_in + time_step :
- time.sleep(time_in + time_step - time_out)
-
- data = "stop"
- send_and_receive(s, data)
-
- finally:
- s.close()
-
-def data_management(incoming_data, clock):
- outgoing_data = publish("Clock", clock)
- return outgoing_data
-
-
-
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/Crowdbotsim_python/requirement.txt b/Crowdbotsim_python/requirement.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Crowdbotsim_python/setup.py b/Crowdbotsim_python/setup.py
new file mode 100755
index 0000000000000000000000000000000000000000..dc16f70278c11449067215cfde3ed31f12d402d0
--- /dev/null
+++ b/Crowdbotsim_python/setup.py
@@ -0,0 +1,25 @@
+# -*- coding: utf-8 -*-
+
+# Learn more: https://github.com/kennethreitz/setup.py
+
+from setuptools import setup, find_packages
+
+
+with open('README.rst') as f:
+ readme = f.read()
+
+with open('LICENSE') as f:
+ license = f.read()
+
+setup(
+ name='crowdbotsimcontrol',
+ version='0.1.0',
+ description='python API to control CrowdBotSim executable',
+ long_description=readme,
+ author='Fabien Grzeskowiak',
+ author_email='fabien.grzeskowiak@inria.fr',
+ url='https://gitlab.inria.fr',
+ license=license,
+ packages=find_packages(exclude=('tests', 'docs'))
+)
+
diff --git a/Crowdbotsim_python/tests/__init__.py b/Crowdbotsim_python/tests/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Crowdbotsim_python/tests/context.py b/Crowdbotsim_python/tests/context.py
new file mode 100644
index 0000000000000000000000000000000000000000..42bedb8725b2377550b0d4079e039ce5c4d9f342
--- /dev/null
+++ b/Crowdbotsim_python/tests/context.py
@@ -0,0 +1,7 @@
+# -*- coding: utf-8 -*-
+
+import sys
+import os
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
+
+import crowdbotsimcontrol
\ No newline at end of file
diff --git a/Crowdbotsim_python/tests/test.py b/Crowdbotsim_python/tests/test.py
new file mode 100644
index 0000000000000000000000000000000000000000..cc440ef7e9e591a2f6b66fead2926850b28f4bfa
--- /dev/null
+++ b/Crowdbotsim_python/tests/test.py
@@ -0,0 +1,16 @@
+# -*- coding: utf-8 -*-
+
+import context
+from context import crowdbotsimcontrol
+import unittest
+
+
+class AdvancedTestSuite(unittest.TestCase):
+ """Advanced test cases."""
+
+ def test_thoughts(self):
+ self.assertIsNone(crowdbotsimcontrol.run())
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/ProjectSettings/EditorBuildSettings.asset b/ProjectSettings/EditorBuildSettings.asset
index 163a011e16fe3097cac73aec92e71a418908e5fd..aafc3c36fbb62283457a1befaf222e9d76b9bb35 100644
--- a/ProjectSettings/EditorBuildSettings.asset
+++ b/ProjectSettings/EditorBuildSettings.asset
@@ -8,7 +8,4 @@ EditorBuildSettings:
- enabled: 1
path: Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
guid: 3018e19580acdc941b941cb874ab9c1e
- - enabled: 0
- path:
- guid: 00000000000000000000000000000000
m_configObjects: {}
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 1f5613dd6c6915986332e55c5381fbb9982cec49..2dd01c9a124534cba035009223abdc5fdbebac16 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -190,22 +190,6 @@ PlayerSettings:
uIStatusBarHidden: 1
uIExitOnSuspend: 0
uIStatusBarStyle: 0
- iPhoneSplashScreen: {fileID: 0}
- iPhoneHighResSplashScreen: {fileID: 0}
- iPhoneTallHighResSplashScreen: {fileID: 0}
- iPhone47inSplashScreen: {fileID: 0}
- iPhone55inPortraitSplashScreen: {fileID: 0}
- iPhone55inLandscapeSplashScreen: {fileID: 0}
- iPhone58inPortraitSplashScreen: {fileID: 0}
- iPhone58inLandscapeSplashScreen: {fileID: 0}
- iPadPortraitSplashScreen: {fileID: 0}
- iPadHighResPortraitSplashScreen: {fileID: 0}
- iPadLandscapeSplashScreen: {fileID: 0}
- iPadHighResLandscapeSplashScreen: {fileID: 0}
- iPhone65inPortraitSplashScreen: {fileID: 0}
- iPhone65inLandscapeSplashScreen: {fileID: 0}
- iPhone61inPortraitSplashScreen: {fileID: 0}
- iPhone61inLandscapeSplashScreen: {fileID: 0}
appleTVSplashScreen: {fileID: 0}
appleTVSplashScreen2x: {fileID: 0}
tvOSSmallIconLayers: []
diff --git a/Scenario/CrowdBot/EPFL/1Dflow.xml b/Scenario/CrowdBot/EPFL/1Dflow.xml
index 00f3bbd6fcf18ebb497aa639cf33d77ac287e751..00d95ad46d8a8e1ac0233494c7e19ef0f591f994 100644
--- a/Scenario/CrowdBot/EPFL/1Dflow.xml
+++ b/Scenario/CrowdBot/EPFL/1Dflow.xml
@@ -19,8 +19,8 @@
</player>
<robots>
<robot>
- <TrialRegularRobot mesh="Qolo_sensors_driver" radius="0.5">
- <Position x="-1" y="0" z="0.11" />
+ <TrialRegularRobot mesh="Pepper_sensors" radius="0.5">
+ <Position x="-21" y="1" z="0.11" />
<Rotation x="0" y="-0" z="270" />
<controlLaw>
<LawFake />
diff --git a/Scenario/CrowdBot/EPFL/300crowd.xml b/Scenario/CrowdBot/EPFL/300crowd.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d10732be2f2bce408af2fedca18bb7aec6822f2b
--- /dev/null
+++ b/Scenario/CrowdBot/EPFL/300crowd.xml
@@ -0,0 +1,4851 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <scene meshName="ChallengeCorridor">
+ <Position x="-0" y="0" z="0" />
+ <Rotation x="0" y="0" z="0" />
+ <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
+ <endingConditions>
+ <condition parameter="time" test="less" value="0" />
+ </endingConditions>
+ </scene>
+ <player>
+ <TrialCamPlayer mesh="CamPlayer" radius="0.33" in_sim="false">
+ <Position x="0.15" y="-8.22" z="18.5" />
+ <Rotation x="-71.84722" y="-0" z="-0" />
+ <controlLaw>
+ <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+ </controlLaw>
+ </TrialCamPlayer>
+ </player>
+ <robots>
+ <robot>
+ <TrialRegularRobot mesh="Pepper_sensors" radius="0.5">
+ <Position x="-21.3" y="0" z="0.11" />
+ <Rotation x="0" y="-0" z="270" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ </robots>
+ <agents>
+ <agent>
+ <TrialRegularAgent mesh="m019" radius="0.33" visualVariation="1" animationOffset="0.538981855" heightOffset="-0.002776593">
+ <Position x="-13.1295662" y="-2.845991" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.46626" speedDefault="2.290906" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.8553581" y="-0.0337312371" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="9" animationOffset="0.440506041" heightOffset="-0.0170384236">
+ <Position x="-6.79314661" y="-2.803629" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.42612326" speedDefault="1.94974136" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-31.0923786" y="-2.01794362" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m020" radius="0.33" visualVariation="3" animationOffset="0.655678868" heightOffset="-0.007335536">
+ <Position x="-23.7469063" y="2.9183104" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.09326792" speedDefault="2.13556719" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.8223228" y="2.35020781" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="9" animationOffset="0.476394355" heightOffset="0.008615069">
+ <Position x="6.290168" y="-2.34339619" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.21967149" speedDefault="2.17147231" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.90015" y="1.0786891" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="9" animationOffset="0.8748208" heightOffset="-0.0273730047">
+ <Position x="-19.7623119" y="3.58829355" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.52705073" speedDefault="1.94079351" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.7547874" y="0.112570092" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="9" animationOffset="0.159144759" heightOffset="0.017392287">
+ <Position x="-9.007259" y="-1.2794354" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.501199" speedDefault="1.74201751" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.97348" y="2.100518" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m018" radius="0.33" visualVariation="3" animationOffset="0.9950187" heightOffset="-0.0306313969">
+ <Position x="7.442116" y="-1.56421375" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.13158119" speedDefault="2.07858515" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.1685238" y="0.28930828" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m018" radius="0.33" visualVariation="1" animationOffset="0.825314641" heightOffset="-0.045205418">
+ <Position x="13.2853308" y="2.78289986" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.06141949" speedDefault="1.98930442" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-31.16827" y="-2.64716887" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="0" animationOffset="0.7370198" heightOffset="0.0021462366">
+ <Position x="5.62695742" y="3.091619" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.302045" speedDefault="1.95724952" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.9852123" y="-0.9591985" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="4" animationOffset="0.00451362133" heightOffset="0.00504097342">
+ <Position x="23.2340355" y="2.971627" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.23467541" speedDefault="2.154993" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.1596222" y="-3.03395462" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="6" animationOffset="0.7317815" heightOffset="-0.00429090858">
+ <Position x="-12.0253" y="1.74437213" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.37872124" speedDefault="2.25239134" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.4557533" y="3.62277126" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f017" radius="0.33" visualVariation="7" animationOffset="0.27469188" heightOffset="-0.021663364">
+ <Position x="-6.238728" y="-2.44413948" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.286195" speedDefault="2.25174332" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.9575748" y="-1.23396373" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="0" animationOffset="0.9232912" heightOffset="0.0172018744">
+ <Position x="-17.6547337" y="-0.1233962" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.267319" speedDefault="1.94935584" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.31788" y="0.5263725" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="8" animationOffset="0.185653687" heightOffset="-0.00191316009">
+ <Position x="11.7768164" y="-3.30679822" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.33834481" speedDefault="2.29112577" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.7974434" y="2.29018569" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="0" animationOffset="0.08349657" heightOffset="-0.0182558354">
+ <Position x="-19.10244" y="-0.6036316" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.44198215" speedDefault="1.70929933" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.4889469" y="0.8368225" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
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+ <agent>
+ <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="8" animationOffset="0.292551816" heightOffset="-0.0195975862">
+ <Position x="6.693092" y="1.45529389" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.53450561" speedDefault="1.86059189" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.410017" y="2.57234359" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="1" animationOffset="0.535160363" heightOffset="-0.0318161">
+ <Position x="-14.5061865" y="-3.37700176" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.39636683" speedDefault="2.00882578" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.321104" y="2.49795771" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ </agents>
+ <obstacles>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-30" x2="25" y2="20" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-20" x2="25" y2="30" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ </obstacles>
+</Trial>
\ No newline at end of file
diff --git a/Scenario/CrowdBot/EPFL/FileOrder.csv b/Scenario/CrowdBot/EPFL/FileOrder.csv
index 15065aaad61c6efc9f0d98a6a7a735ec9e9cb03d..c3bdc3ccba539b8386c7f1452aeeb3f63b947cb9 100644
--- a/Scenario/CrowdBot/EPFL/FileOrder.csv
+++ b/Scenario/CrowdBot/EPFL/FileOrder.csv
@@ -1,3 +1,3 @@
-/Scenario/CrowdBot/EPFL/nocrowd.xml
+/Scenario/CrowdBot/EPFL/300crowd.xml
/Scenario/CrowdBot/EPFL/1Dflow.xml
/Scenario/CrowdBot/EPFL/counter1D.xml
\ No newline at end of file
diff --git a/Scenario/CrowdBot/EPFL/FileOrder1.csv b/Scenario/CrowdBot/EPFL/FileOrder1.csv
new file mode 100644
index 0000000000000000000000000000000000000000..271bfa74af7f4f9ef1ca8f68f5fb0b71e9a1fd89
--- /dev/null
+++ b/Scenario/CrowdBot/EPFL/FileOrder1.csv
@@ -0,0 +1 @@
+/../Scenario/CrowdBot/EPFL/nocrowd.xml
diff --git a/Scenario/CrowdBot/EPFL/nocrowd.xml b/Scenario/CrowdBot/EPFL/nocrowd.xml
index 765b0764c7a1889c46d79f7c97e16ae56f897f1c..fb117bf97e350c829f85be99d5c101b4d56efd79 100644
--- a/Scenario/CrowdBot/EPFL/nocrowd.xml
+++ b/Scenario/CrowdBot/EPFL/nocrowd.xml
@@ -28,24 +28,6 @@
</TrialRegularRobot>
</robot>
</robots>
- <agents>
- <agent>
- <TrialRegularAgent mesh="f017" radius="0.33" visualVariation="7" animationOffset="0.188473821" heightOffset="-0.0113307908">
- <Position x="-14.0964746" y="-4.70617151" z="0" />
- <Rotation x="0" y="0" z="270" />
- <controlLaw>
- <LawWaypoints speedCurrent="1.61049652" speedDefault="2.2880888" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
- <Waypoints>
- <Waypoint x="-30.7054482" y="1.50849175" z="0.01" />
- </Waypoints>
- </LawWaypoints>
- </controlLaw>
- <controlSim>
- <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
- </controlSim>
- </TrialRegularAgent>
- </agent>
- </agents>
<obstacles>
<obstacle>
<TrialObstacle>
@@ -64,4 +46,4 @@
</TrialObstacle>
</obstacle>
</obstacles>
-</Trial>
\ No newline at end of file
+</Trial>