Log loader high level BotNavSim state manager More...

Inheritance diagram for LogLoader:

Collaboration diagram for LogLoader:

Static Public Member Functions
static void	Enter ()
	Enter this BotNavSim state: setup camera views More...

static void	Exit ()
	Exit BotNavSim.state behaviour: remove environment, clear paths More...

static void	LoadPaths (string csvFilePath)
	Loads the paths stored in a CSV file. Also attempts to load the relevant environment. More...

static void	AddPath (BotPath path)
	Adds a path to paths list. More...

static void	RemovePath (BotPath path)
	Removes the path. More...

static void	UpdatePathColors ()
	Updates the path colors with evenly spaced hues. More...

Static Public Attributes
static LogLoader	Instance
	Reference to MonoBehaviour instance. More...

Properties
static List< BotPath >	paths `[get, private set]`
	The BotPaths loaded from file. More...

static bool	loading `[get, private set]`
	Gets a value indicating whether this LogLoader is loading from CSV. More...

static GameObject	environment `[get, private set]`
	Gets the environment game object. More...

Bounds	bounds `[get, private set]`
	Gets the environment bounds. More...

Properties inherited from IObservable
string	name `[get]`
	Gets the name of the observable object More...

Bounds	bounds `[get]`
	Gets the bounds of the observable object (size and location) More...

Private Member Functions
void	Awake ()
	Awake this instance. More...

void	OnGUI ()
	Raises the GUI event. More...

void	OnDrawGizmos ()
	Raises the draw gizmos event. More...

Static Private Member Functions
static	LogLoader ()

static void	PromptResponse (bool response)
	UI_Prompt.Response callback function More...

static IEnumerator	LoadCsvRoutine (string csvFilePath)
	Main routine for loading a CSV log file. More...

static void	LoadEnvironment (string name)
	Loads the environment. More...

static Vector3	ParseVector3 (string strv)
	Parses the vector3 object from a string like "(1.0,2.0,3.0)" More...

Static Private Attributes
static bool	_waitingForResponse
	Bool indicating whether waiting for user response to prompt More...

static bool	_response
	The UI_Prompt response from the user. More...

Detailed Description

Log loader high level BotNavSim state manager

Definition at line 10 of file LogLoader.cs.

Constructor & Destructor Documentation

static LogLoader.LogLoader ( )

staticprivate

Definition at line 18 of file LogLoader.cs.

                        {
         paths = new List<BotPath>();
     }

Member Function Documentation

static void LogLoader.AddPath ( BotPath path )

static

Adds a path to paths list.

Parameters

path Path.

Definition at line 263 of file LogLoader.cs.

                                              {
         if (!paths.Contains(path)) paths.Add(path);
         CamController.AddAreaOfInterest(path);
     }

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void LogLoader.Awake ( )

private

Awake this instance.

Instance Methods

Definition at line 325 of file LogLoader.cs.

                  {
         if (Instance == null) {
             Instance = this;
         } else {
             Destroy(this);
         }
     }

static void LogLoader.Enter ( )

static

Enter this BotNavSim state: setup camera views

Definition at line 64 of file LogLoader.cs.

                                {
         CamController.AddViewMode(CamController.ViewMode.Birdseye);
         CamController.AddViewMode(CamController.ViewMode.FreeMovement);
         CamController.AddAreaOfInterest(Instance);
     }

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static void LogLoader.Exit ( )

static

Exit BotNavSim.state behaviour: remove environment, clear paths

Definition at line 73 of file LogLoader.cs.

                               {
         CamController.ClearAreaList();
         CamController.ClearViewModeList();
         environment.transform.Recycle();
         paths.Clear();
     }

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static IEnumerator LogLoader.LoadCsvRoutine ( string csvFilePath )

staticprivate

Main routine for loading a CSV log file.

Parameters

csvFilePath Csv file path.

not yet implemented

Definition at line 106 of file LogLoader.cs.

                                                           {
         loading = true;
         
         string csvPath = Path.GetDirectoryName(csvFilePath);
         string csvFileName = Path.GetFileName(csvFilePath);
         
         // try opening the file with StreamReader
         StreamReader sr;
         try {
             sr = new StreamReader(csvFilePath);
         }
         catch (Exception e) {
             // log exception
             Debug.LogException(e);
             UI_Toolbar.I.additionalWindows.Add( 
                 new UI_Prompt(
                 PromptResponse,
                 UI_Prompt.Type.Close,
                 "File Load Exception!",
                 "See log for details"
                 )
             );
             // stop loading
             loading = false;
             yield break;
         }
 
         // inspect CSV header 
         string line;
         string header = "";
         string xmlFileName = null;
         while ((line = sr.ReadLine()) != null) {
             // stop inspecting when comments are no longer found
             if (!line.StartsWith(Strings.csvComment)) {
                 break;
             }
             header += line;
             // find XML filename stored in CSV
             if (line.Contains(Strings.csvXmlCommentTag)) {
                 xmlFileName = line.Substring(
                     line.IndexOf(Strings.csvXmlCommentTag) + 
                     Strings.csvXmlCommentTag.Length);
                 Debug.Log("XML filename from CSV is: " + xmlFileName);
             }
         }
         
         // temporary settings object for deserialization
         Simulation.Settings settings;
         
         
         // if xml filename was not found in csv...
         if (xmlFileName == null) {
             settings = new Simulation.Settings();
             // prompt user whether to select environment
             _waitingForResponse = true;
             UI_Toolbar.I.additionalWindows.Add( 
                 new UI_Prompt(
                     PromptResponse,
                     UI_Prompt.Type.YesNo,
                     "XML filename not found in CSV header!",
                     header + "\n Select environment to load?"
                 )
             );
             while (_waitingForResponse) {
                 yield return new WaitForSeconds(0.1f);
             }
             if (_response) {
                 // browse environments and load selection
                 Debug.Log("Not yet implemented: browse and load environment");
             }
         }
         else {
             // try loading environment
             settings = ObjectSerializer.DeSerializeObject<Simulation.Settings>(csvPath + "\\" + xmlFileName);
             // if environment is different to the currently loaded environment
             // prompt user for action  (discard other paths, or load new env and paths?)
             // (not yet implemented)
             if (environment) {
                 if (environment.name != settings.environmentName) {
                     _waitingForResponse = true;
                     UI_Toolbar.I.additionalWindows.Add( 
                         new UI_Prompt(
                             PromptResponse,
                             UI_Prompt.Type.OkCancel,
                             "Load new environment and paths?",
                             "CSV log is for a different environment. Load new environment and paths instead?"
                         )
                     );
                     while (_waitingForResponse) {
                         yield return new WaitForSeconds(0.1f);
                     }
                     if (_response) {
                         // load environment and clear paths if YES
                         paths.Clear();
                         CamController.ClearAreaList();
                         LoadEnvironment(settings.environmentName);
                     } 
                     else {
                         // stop loading if NO
                         loading = false;
                         yield break;
                     }
                 }
             }
             else {
                 LoadEnvironment(settings.environmentName);
             }
         }
         
         // load paths from CSV and display them
         
         // go to line with SimulationTime as first string
         while ((line = sr.ReadLine()) != null) {
             if (line.StartsWith(Log.Parameters.SimulationTime.ToString())) {
                 break;
             }
         }
         
         // extract headings and store column indexes for path types
         int robotPositionIndex;
         string[] row = line.Split(Strings.csvDelimiter); 
         for(robotPositionIndex = 0; robotPositionIndex < row.Length; robotPositionIndex++) {
             if (row[robotPositionIndex] == Log.Parameters.RobotPosition.ToString())
                 break;
         }
         
         
         BotPath botpos = new BotPath();
         botpos.csvName = csvFileName;
         
         // Build BotPath objects for each path type columns found
         while((line = sr.ReadLine()) != null) {
             row = line.Split(Strings.csvDelimiter);
             if (robotPositionIndex > row.Length) {
                 Debug.LogWarning("LogLoader: row length too short?");
                 continue;
             }
             // try deserializing this vector3 data
             // (catch parsing errors not yet implemented)
             Vector3 pos = ParseVector3(row[robotPositionIndex]);
             // remove " chars from "12.3", for example
             // (catch parsing errors not yet implemented)
             float time = float.Parse(row[0].Substring(1,row[0].Length-2));
             botpos.AddNode(pos, time);
         }
         
         
         AddPath(botpos);
         UpdatePathColors();
         loading = false;
     }

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static void LogLoader.LoadEnvironment ( string name )

staticprivate

Loads the environment.

Parameters

name Name.

Definition at line 293 of file LogLoader.cs.

                                                      {
         EnvLoader.SearchForEnvironments();
         if (environment) environment.transform.Recycle();
         environment = EnvLoader.LoadEnvironment(name);
         environment.name = name; // avoids: Unity appending "(Clone)" to instance names
         Debug.Log(environment);
         Bounds b = new Bounds();
         foreach(Renderer r in environment.GetComponentsInChildren<Renderer>())
             b.Encapsulate(r.bounds);
         Instance.bounds = b;
         CamController.SetViewMode(CamController.ViewMode.Birdseye);
     }

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static void LogLoader.LoadPaths ( string csvFilePath )

static

Loads the paths stored in a CSV file. Also attempts to load the relevant environment.

Returns: List of paths found in CSV file.

Parameters

csvFilePath Path to CSV file.

Definition at line 86 of file LogLoader.cs.

                                                      {
         
         Instance.StartCoroutine( LoadCsvRoutine(csvFilePath) );
         
     }

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void LogLoader.OnDrawGizmos ( )

private

Raises the draw gizmos event.

Definition at line 346 of file LogLoader.cs.

                         {
         foreach(BotPath p in paths) {
             if (p.visible) {
                 Gizmos.color = p.color;
                 Gizmos.DrawCube(p.bounds.center, p.bounds.size);
                 Gizmos.DrawLine(p.start, p.end);
             }
         }
     }

void LogLoader.OnGUI ( )

private

Raises the GUI event.

Definition at line 336 of file LogLoader.cs.

                  {
         // draw path lines
         foreach(BotPath p in paths) {
              if (p.visible) p.DrawPath();
         }
     }

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static Vector3 LogLoader.ParseVector3 ( string strv )

staticprivate

Parses the vector3 object from a string like "(1.0,2.0,3.0)"

Returns: The vector3.

Parameters

strv	Vector3 string i.e. "(1.0,2.0,3.0)".

Definition at line 311 of file LogLoader.cs.

                                                      {
         // remove " and bracket chars then split by commas
         string[] split = strv.Substring(2,strv.Length-4).Split(',');
         float x = float.Parse(split[0]);
         float y = float.Parse(split[1]);
         float z = float.Parse(split[2]);
         return new Vector3(x, y, z);
     }

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static void LogLoader.PromptResponse ( bool response )

staticprivate

UI_Prompt.Response callback function

Parameters

response If set to true response.

Definition at line 97 of file LogLoader.cs.

                                               {
         _waitingForResponse = false;
         _response = response;
     }

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static void LogLoader.RemovePath ( BotPath path )

static

Removes the path.

Parameters

path Path.

Definition at line 272 of file LogLoader.cs.

                                                 {
         paths.Remove(path);
         CamController.RemoveAreaOfInterest(path);
     }

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static void LogLoader.UpdatePathColors ( )

static

Updates the path colors with evenly spaced hues.

Definition at line 280 of file LogLoader.cs.

                                           {
         float d = 1f/(float)paths.Count;
         for(int i = 0; i < paths.Count; i++) {
             float h = i*d;
             Color c = HSBColor.ToColor(new HSBColor(h,1f,1f));
             paths[i].color = c;
         }
     }

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Member Data Documentation

bool LogLoader._response

staticprivate

The UI_Prompt response from the user.

Definition at line 59 of file LogLoader.cs.

bool LogLoader._waitingForResponse

staticprivate

Bool indicating whether waiting for user response to prompt

Definition at line 54 of file LogLoader.cs.

LogLoader LogLoader.Instance

static

Reference to MonoBehaviour instance.

Definition at line 15 of file LogLoader.cs.

Property Documentation

Bounds LogLoader.bounds

getprivate set

Gets the environment bounds.

Definition at line 47 of file LogLoader.cs.

GameObject LogLoader.environment

staticgetprivate set

Gets the environment game object.

Definition at line 40 of file LogLoader.cs.

bool LogLoader.loading

staticgetprivate set

Gets a value indicating whether this LogLoader is loading from CSV.

true if loading; otherwise, false.

Definition at line 33 of file LogLoader.cs.

List<BotPath> LogLoader.paths

staticgetprivate set

The BotPaths loaded from file.

Definition at line 25 of file LogLoader.cs.

The documentation for this class was generated from the following file:

Assets/botnavsim/Scripts/LogLoader.cs

Static Public Member Functions

Static Public Attributes

Properties

Private Member Functions

Static Private Member Functions

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Property Documentation