Simulation Class Reference

This is a manager class used to overlook the running of a simulation. More...

Inheritance diagram for Simulation:

Collaboration diagram for Simulation:

Classes
class	Observer
class	Settings

Public Types
enum	State {   State.inactive, State.starting, State.simulating, State.stopped,   State.end }
enum	StopCode {   StopCode.Unspecified, StopCode.UserRequestNextTest, StopCode.RobotReachedDestination, StopCode.MaxTimeExceeded,   StopCode.RobotIsStuck }

Static Public Member Functions
static void	Enter ()
	Enter this instance. More...
static void	Begin ()
	Begin simulating. More...
static void	NextSimulation ()
	Halt current simulation. Load the next simulation in batch, or change state to State.end if at the end of batch. More...
static void	NextTest ()
	Stops the current test and starts the next test in current simulation. More...
static void	Run ()
	Run the simulation. More...
static void	Pause ()
	Pause the simulation. More...
static void	Halt (StopCode code)
	Halt simulation and write log to file. More...
static void	End ()
	Stop all simulations. More...
static void	Exit ()
	Exit simulation. More...
static Vector3	RandomInBounds (Bounds b)
	Return a random position inside the bounds, but not inside any physical objects. More...

Static Public Attributes
static Simulation	Instance
	Reference to the MonoBebehaviour instance More...
static bool	exhibitionMode
	Exhibition mode will run continually and randomly choose camera perspectives and simulation settings. More...
static List< Settings >	batch = new List<Settings>()
	List of settings to iterate through in batch mode. More...
static bool	loggingEnabled = true
	If true, simulation will be logged to a file via Log class. More...

Properties
static State	state [get, private set]
	Gets the simulation state. More...
static Settings	settings [get, set]
	Gets or sets the settings for the current simulation. More...
static int	simulationNumber [get, private set]
	Gets the simulation number (index in batch list, 1 to batch.Count). More...
static int	testNumber [get, private set]
	Gets the current test number (1 to settings.numberOfTests). More...
static Robot	robot [get, private set]
	Gets reference to the robot in the current simulation. More...
static GameObject	environment [get, set]
	Gets or sets reference to the environment in the current simulation. More...
static GameObject	destination [get, private set]
	Gets reference to the destination. More...
static IObservable	testArea [get, private set]
	Gets the test area (Observer object) More...
static bool	isInactive [get]
	Gets a value indicating whether this Simulation has not yet started. More...
static bool	isRunning [get]
	Gets a value indicating whether this Simulation is running. More...
static bool	isStopped [get]
	Gets a value indicating whether this Simulation is stopped. More...
static bool	isFinished [get]
	Gets a value indicating whether this Simulation is finished. More...
static bool	paused [get, set]
	Gets or sets a value indicating whether this Simulation is paused. More...
static float	time [get]
	Time (in seconds) since robot started searching for destination. More...
static float	timeScale [get, set]
	Gets or sets the time scale. More...
Bounds	bounds [get, private set]
	The simulation bounds described as a cube. This is the search space indicated to INavigation. More...

Private Member Functions
void	Awake ()
void	Start ()
	Called on the first frame More...
void	Update ()
	Update this instance (called every rendered frame) More...
void	OnDrawGizmos ()
	Raises the draw gizmos event. More...
void	OnApplicationQuit ()
	called before application shuts down More...

Static Private Member Functions
static	Simulation ()
	Initializes the Simulation class. More...
static IEnumerator	StartTestRoutine ()
	Routine for starting a new test More...
static void	PlaceRobotInStartArea ()
	Places the robot in start area. More...
static void	PlaceDestination ()
	Places the destination. More...
static void	SetBounds ()

Static Private Attributes
static float	_startTime
static float	_stopTime
static Settings	_settings
static Robot	_robot
static Environment	_environment
static bool	_paused
static float	_timeScale = 1f

Detailed Description

This is a manager class used to overlook the running of a simulation.

Definition at line 8 of file Simulation.cs.

Member Enumeration Documentation

enum Simulation.State

Enumerator
inactive	BotNavSim is not simulating.
starting	Simulation is about to start.
simulating	Simulation is running.
stopped	Simulation is stopped.
end	Simulation has reached the end of the batch.

Definition at line 10 of file Simulation.cs.

                      {
        inactive,
        
        starting,
        
        simulating,
        
        stopped,
        
        end
    }

enum Simulation.StopCode

Enumerator
Unspecified	Reason for simulation stopping is not given.
UserRequestNextTest	Simulation stopped because user requested next test.
RobotReachedDestination	Simulation stopped because the robot reached the destination.
MaxTimeExceeded	Simulation stopped because the maximum test time was exceeded.
RobotIsStuck	Simulation stopped because the robot appears to be stuck. i.e. the robot position has not changed for some time.

Definition at line 37 of file Simulation.cs.

                         {
        Unspecified,
        
        UserRequestNextTest,
        
        RobotReachedDestination,
        
        MaxTimeExceeded,
        
        RobotIsStuck
    }

Constructor & Destructor Documentation

static Simulation.Simulation ( )

staticprivate

Initializes the Simulation class.

Definition at line 215 of file Simulation.cs.

                        {
        testArea = new Observer();
    }

Member Function Documentation

void Simulation.Awake ( )

private

Definition at line 643 of file Simulation.cs.

                 {
        // singleton pattern (can only be one Instance of Simulation)
        if (Instance) {
            Destroy(this.gameObject);
        }
        else {
            Instance = this;
        }
        _settings = new Settings();
    }

static void Simulation.Begin ( )

static

Begin simulating.

Definition at line 412 of file Simulation.cs.

                               {
        Debug.Log("Simulation Begin");
        simulationNumber = 0;
        NextSimulation();
    }

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static void Simulation.End ( )

static

Stop all simulations.

Definition at line 516 of file Simulation.cs.

                             {
        Debug.Log("Simulation End.");
        settings.active = false;
        state = State.end;
        
        // in exhibition mode, run more simulations with random settings
        if (exhibitionMode) {
            if (batch.Count > 10) {
                batch.RemoveAt(0);
            }
            settings = new Settings();
            settings.Randomize();
            batch.Add(settings);
            Begin();
        }
    }

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static void Simulation.Enter ( )

static

Enter this instance.

Definition at line 401 of file Simulation.cs.

                               {
        CamController.AddViewMode(CamController.ViewMode.Birdseye);
        CamController.AddViewMode(CamController.ViewMode.FreeMovement);
        CamController.AddViewMode(CamController.ViewMode.Mounted);
        CamController.AddViewMode(CamController.ViewMode.Orbit);
        CamController.AddAreaOfInterest(testArea);
    }

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static void Simulation.Exit ( )

static

Exit simulation.

Definition at line 536 of file Simulation.cs.

                              {
        Debug.Log("Simulation Exit.");
        Instance.StopAllCoroutines();
        settings = null;
        if (Log.logging) Log.Stop(StopCode.Unspecified);
        if (robot) robot.Recycle();
        if (environment) environment.transform.Recycle();
        CamController.ClearAreaList();
        CamController.ClearViewModeList();
        state = State.inactive;
    }

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static void Simulation.Halt ( StopCode  code )

static

Halt simulation and write log to file.

Parameters

code	Reason for halt.

Definition at line 497 of file Simulation.cs.

                                           {
        Debug.Log("Simulation Halt! " + code.ToString());
        // stop logging
        if (Log.logging) Log.Stop(code);

        // freeze the robot
        if (robot) {
            robot.rigidbody.velocity = Vector3.zero;
            robot.rigidbody.angularVelocity = Vector3.zero;
            robot.moveEnabled = false;
        }
        // set simulation state
        state = State.stopped;
    }

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static void Simulation.NextSimulation ( )

static

Halt current simulation. Load the next simulation in batch, or change state to State.end if at the end of batch.

Definition at line 423 of file Simulation.cs.

                                        {
        // stop current simulation
        if (state == State.simulating) {
            Halt(StopCode.Unspecified);
        }
        // next in batch
        simulationNumber++;
        if (simulationNumber > batch.Count) {
            // end of batch
            Halt(StopCode.Unspecified);
            End();
            return;
        }
        Debug.Log("Simulation NextSimulation: " + simulationNumber + " of " + batch.Count);
        // load simulation settings
        settings = batch[simulationNumber-1];
        Log.Settings();
        // load environment
        EnvLoader.SearchForEnvironments();
        environment = EnvLoader.LoadEnvironment(settings.environmentName);
        destination.transform.position = RandomInBounds(Instance.bounds);
        // load robot
        if (robot) CamController.RemoveAreaOfInterest(robot);
        BotLoader.SearchForRobots();
        robot = BotLoader.LoadRobot(settings.robotName);
        robot.navigation = NavLoader.LoadPlugin(settings.navigationAssemblyName);
        // configure camera
        CamController.AddAreaOfInterest(robot);
        CamController.SetViewMode(CamController.ViewMode.Birdseye);
        CamController.SetAreaOfInterest(robot);
        // reset test number
        testNumber = 0;
        NextTest();
    }

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static void Simulation.NextTest ( )

static

Stops the current test and starts the next test in current simulation.

Definition at line 461 of file Simulation.cs.

                                  {
        if (testNumber >= settings.numberOfTests) {
            Halt(StopCode.Unspecified);
            NextSimulation();
            return;
        }
        // start test routine
        if (state != State.starting) Instance.StartCoroutine(StartTestRoutine());
    }

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void Simulation.OnApplicationQuit ( )

private

called before application shuts down

Definition at line 696 of file Simulation.cs.

                             {
        Log.Stop(StopCode.Unspecified);
    }

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void Simulation.OnDrawGizmos ( )

private

Raises the draw gizmos event.

Definition at line 689 of file Simulation.cs.

                        {
        Gizmos.DrawWireCube(bounds.center, bounds.size);
    }

static void Simulation.Pause ( )

static

Pause the simulation.

Definition at line 485 of file Simulation.cs.

                               {
        Debug.Log("Simulation Pause.");
        if (state == State.simulating) {
            Time.timeScale = 0f;
            state = State.stopped;
        }
    }

static void Simulation.PlaceDestination ( )

staticprivate

Places the destination.

Definition at line 614 of file Simulation.cs.

                                           {
        if (settings.randomizeDestination) {
            destination.transform.position = RandomInBounds(_environment.destinationBounds);
        } else {
            destination.transform.position = _environment.destinationBounds.center;
        }
    }

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static void Simulation.PlaceRobotInStartArea ( )

staticprivate

Places the robot in start area.

Definition at line 602 of file Simulation.cs.

                                                {
        if (settings.randomizeOrigin) {
            robot.position = RandomInBounds(_environment.originBounds);
        } else {
            robot.position = _environment.originBounds.center;
        }
        robot.transform.rotation = Quaternion.identity;
    }

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static Vector3 Simulation.RandomInBounds ( Bounds  b )

static

Return a random position inside the bounds, but not inside any physical objects.

Returns

Random position inside bounds.

Definition at line 553 of file Simulation.cs.

                                                   {
        Vector3 v = new Vector3();
        v.x = Random.Range(b.min.x, b.max.x);
        v.y = b.max.y;
        v.z = Random.Range(b.min.z, b.max.z);
        RaycastHit hit;
        if (Physics.Raycast(v, Vector3.down, out hit)) {
            v = hit.point + hit.normal* 0.25f;
            Debug.DrawRay(v, Vector3.down, Color.white, 5f);
        }
        return v;
    }

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static void Simulation.Run ( )

static

Run the simulation.

Definition at line 474 of file Simulation.cs.

                             {
        Debug.Log("Simulation run.");
        if (state == State.stopped) {
            Time.timeScale = _timeScale;
            state = State.simulating;
        }
    }

static void Simulation.SetBounds ( )

staticprivate

Definition at line 623 of file Simulation.cs.

                                    {
        Bounds b = new Bounds();
        foreach(Renderer r in environment.GetComponentsInChildren<Renderer>())
            b.Encapsulate(r.bounds);
            
        Instance.bounds = b;
    }

void Simulation.Start ( )

private

Called on the first frame

Definition at line 657 of file Simulation.cs.

                 {
        destination = GameObject.Find("Destination");
    }

static IEnumerator Simulation.StartTestRoutine ( )

staticprivate

Routine for starting a new test

Returns

The test routine.

Definition at line 570 of file Simulation.cs.

                                                  {
        if (isRunning) Halt(StopCode.Unspecified);
        state = State.starting;
        CamController.Instance.OnTestEnd();
        yield return new WaitForSeconds(1f);
        
        // place the robot
        robot.Reset();
        PlaceRobotInStartArea();
            
        // place the destination
        PlaceDestination();
            
        yield return new WaitForSeconds(1f);
        
        CamController.Instance.OnTestStart();
        destination.SendMessage("ChooseRandomSprite");
        testNumber++;
        Debug.Log("Simulation NextTest: " + testNumber + " of " + settings.numberOfTests);
        
        yield return new WaitForSeconds(1f);
        
        _startTime = Time.time;
        state = State.simulating;
        if (loggingEnabled) Log.Start();
        robot.moveEnabled = true;
        robot.NavigateToDestination();
    }

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void Simulation.Update ( )

private

Update this instance (called every rendered frame)

Definition at line 664 of file Simulation.cs.

                  {
        if (isRunning) {
            // check for conditions to end the test
            if (robot.atDestination && settings.continueOnNavObjectiveComplete) {
                Debug.Log("Simulation: nav objective complete!");
                Halt(StopCode.RobotReachedDestination);
                NextTest();
            }
            else if (robot.isStuck && settings.continueOnRobotIsStuck) {
                Debug.LogWarning("Simulation: Robot appears to be stuck! Skipping test.");
                Halt(StopCode.RobotIsStuck);
                NextTest();
            }
            else if (settings.maximumTestTime > 0 && time > settings.maximumTestTime) {
                Debug.LogWarning("Simulation: Max test time exceeded! Skipping test.");
                Halt(StopCode.MaxTimeExceeded);
                NextTest();
            }

        }
    }

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Member Data Documentation

Environment Simulation._environment

staticprivate

Definition at line 392 of file Simulation.cs.

bool Simulation._paused

staticprivate

Definition at line 393 of file Simulation.cs.

Robot Simulation._robot

staticprivate

Definition at line 391 of file Simulation.cs.

Settings Simulation._settings

staticprivate

Definition at line 390 of file Simulation.cs.

float Simulation._startTime

staticprivate

Definition at line 387 of file Simulation.cs.

float Simulation._stopTime

staticprivate

Definition at line 388 of file Simulation.cs.

float Simulation._timeScale = 1f

staticprivate

Definition at line 394 of file Simulation.cs.

List<Settings> Simulation.batch = new List<Settings>()

static

List of settings to iterate through in batch mode.

Definition at line 254 of file Simulation.cs.

bool Simulation.exhibitionMode

static

Exhibition mode will run continually and randomly choose camera perspectives and simulation settings.

Definition at line 236 of file Simulation.cs.

Simulation Simulation.Instance

static

Reference to the MonoBebehaviour instance

Definition at line 222 of file Simulation.cs.

bool Simulation.loggingEnabled = true

static

If true, simulation will be logged to a file via Log class.

Definition at line 347 of file Simulation.cs.

Property Documentation

Bounds Simulation.bounds

getprivate set

The simulation bounds described as a cube. This is the search space indicated to INavigation.

Instance Methods

Definition at line 637 of file Simulation.cs.

GameObject Simulation.destination

staticgetprivate set

Gets reference to the destination.

Definition at line 302 of file Simulation.cs.

GameObject Simulation.environment

staticgetset

Gets or sets reference to the environment in the current simulation.

Definition at line 286 of file Simulation.cs.

bool Simulation.isFinished

staticget

Gets a value indicating whether this Simulation is finished.

true if is finished; otherwise, false.

Definition at line 339 of file Simulation.cs.

bool Simulation.isInactive

staticget

Gets a value indicating whether this Simulation has not yet started.

true if pre simulation; otherwise, false.

Definition at line 318 of file Simulation.cs.

bool Simulation.isRunning

staticget

Gets a value indicating whether this Simulation is running.

true if is running; otherwise, false.

Definition at line 325 of file Simulation.cs.

bool Simulation.isStopped

staticget

Gets a value indicating whether this Simulation is stopped.

true if is stopped; otherwise, false.

Definition at line 332 of file Simulation.cs.

bool Simulation.paused

staticgetset

Gets or sets a value indicating whether this Simulation is paused.

true if paused; otherwise, false.

Definition at line 354 of file Simulation.cs.

Robot Simulation.robot

staticgetprivate set

Gets reference to the robot in the current simulation.

Definition at line 273 of file Simulation.cs.

Settings Simulation.settings

staticgetset

Gets or sets the settings for the current simulation.

Definition at line 241 of file Simulation.cs.

int Simulation.simulationNumber

staticgetprivate set

Gets the simulation number (index in batch list, 1 to batch.Count).

Definition at line 259 of file Simulation.cs.

State Simulation.state

staticgetprivate set

Gets the simulation state.

Definition at line 230 of file Simulation.cs.

IObservable Simulation.testArea

staticgetprivate set

Gets the test area (Observer object)

Definition at line 309 of file Simulation.cs.

int Simulation.testNumber

staticgetprivate set

Gets the current test number (1 to settings.numberOfTests).

Definition at line 266 of file Simulation.cs.

float Simulation.time

staticget

Time (in seconds) since robot started searching for destination.

Definition at line 366 of file Simulation.cs.

float Simulation.timeScale

staticgetset

Gets or sets the time scale.

Definition at line 376 of file Simulation.cs.

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

• Assets/botnavsim/Scripts/Simulation.cs