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+31,14 @@ public class EgoConfiguration public Vector3 EulerAngles; } + [Serializable] + public class ControllableNpcConfiguration + { + public string Name; + public Vector3 Position; + public Vector3 EulerAngles; + } + [Serializable] public class Configuration { @@ -40,6 +48,7 @@ public class Configuration public int MaxVehicleCount; // Reflected in TrafficManager.maxVehicleCount public string G29DevicePath; // Reflected in VehicleG29Input.DevicePath public EgoConfiguration Ego = new EgoConfiguration(); + public ControllableNpcConfiguration ControllableNpc = new ControllableNpcConfiguration(); } void Awake() @@ -76,9 +85,23 @@ void Awake() if (g29DevicePath != null) vehicleG29Input.DevicePath = g29DevicePath; - // set time source timeSourceSelector?.SetType(config.TimeSource); + + // if controllable NPC manager is on the scene initialize it with json data + ControllableNPCVehicleManager controllableNpcManager = FindObjectOfType(); + if(controllableNpcManager != null) + { + var npcPosition = config.ControllableNpc.Position - Environment.Instance.MgrsOffsetPosition; + var npcRotation = Quaternion.Euler(config.ControllableNpc.EulerAngles); + + controllableNpcManager.DoStart( + config.ControllableNpc.Name, + ROS2Utility.RosToUnityPosition(npcPosition), + ROS2Utility.RosToUnityRotation(npcRotation) + ); + } + } } } diff --git a/Assets/AWSIM/Scripts/ControllableNPCs.meta b/Assets/AWSIM/Scripts/ControllableNPCs.meta new file mode 100644 index 000000000..0aca775ab --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 2ee4965e06a13f2adb344854c0ee4311 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs new file mode 100644 index 000000000..bd338f042 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs @@ -0,0 +1,70 @@ +using UnityEngine; + +namespace AWSIM +{ + /// + /// Class for handling the camera view of controllable NPC vehicle. + /// + public class ControllableNPCVehicleCamera : MonoBehaviour + { + [Header("Components")] + [SerializeField] private FollowCamera followCamera = default; + [SerializeField] private Camera camera = default; + + [Header("Settings")] + [Range(256, 2048)] + [SerializeField] private int textureWidth = 1280; + + [Range(256, 2048)] + [SerializeField] private int textureHeight = 720; + + private RenderTexture renderTexture = default; + public RenderTexture RenderTexture + { + get => renderTexture; + } + + private Vehicle followedVehicle = default; + + + #region [Public Methods] + + /// + /// Create and assign render texture to camera. + /// + public void Init() + { + CreateRenderTexture(); + camera.targetTexture = renderTexture; + } + + /// + /// Set vehicle to be followed by the camera. + /// + public void SetFollowVehicle(Vehicle vehicle) + { + if(vehicle == null) + { + return; + } + + followedVehicle = vehicle; + followCamera.target = vehicle.transform; + camera.enabled = true; + } + + #endregion + + #region [Private Methods] + + private void CreateRenderTexture() + { + renderTexture = new RenderTexture( + textureWidth, textureHeight, 32, RenderTextureFormat.BGRA32); + } + + #endregion + } + +} + diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs.meta b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs.meta new file mode 100644 index 000000000..62417748a --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCamera.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 8045fd4c0ca13a676ac33e1db8e93463 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs new file mode 100644 index 000000000..7c5010dec --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs @@ -0,0 +1,46 @@ +using System; +using UnityEngine; + +namespace AWSIM +{ + /// + /// Class used to detect when this object collides with other specified objects. + /// + public class ControllableNPCVehicleCollisionDetector : MonoBehaviour + { + public enum CollisionType + { + UNKNOWN, + VEHICLE, + ENVIRONMENT, + } + + [Header("Settings")] + [SerializeField] private LayerMask vehicleMask = default; + [SerializeField] private LayerMask environmentMask = default; + + private Action onCollisionDetected = default; + + public void Init(Action collisionDetectedCallback) + { + this.onCollisionDetected = collisionDetectedCallback; + } + + private void OnCollisionEnter(Collision other) + { + if(((1 << other.gameObject.layer) & vehicleMask) != 0) + { + onCollisionDetected?.Invoke(CollisionType.VEHICLE); + } + else if(((1 << other.gameObject.layer) & environmentMask) != 0) + { + onCollisionDetected?.Invoke(CollisionType.ENVIRONMENT); + } + else + { + onCollisionDetected?.Invoke(CollisionType.UNKNOWN); + } + } + } + +} diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs.meta b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs.meta new file mode 100644 index 000000000..94197c090 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleCollisionDetector.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 83388aad1dfe99cc1ac569197e4d5656 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs new file mode 100644 index 000000000..a1c32e196 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs @@ -0,0 +1,201 @@ +using System.Collections; +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +namespace AWSIM +{ + /// + /// Manager class for controllable NPC vehicle functionality. + /// + public class ControllableNPCVehicleManager : MonoBehaviour + { + [System. Serializable] + public class ControllableNPCPrefabHandler + { + public string Name; + public GameObject Prefab; + } + + [Header("EGO Vehicle")] + [SerializeField] private Vehicle egoVehicle = default; + + [Header("Components")] + [SerializeField] private Transform spawnPoint = default; + [SerializeField] private ControllableNPCVehicleCamera npcVehicleCamera = default; + + [Header("UI")] + [SerializeField] private ControllableNPCVehicleUI uiView = default; + + [Header("NPC Prefabs")] + [SerializeField] private List controllableNPCPrefabs = default; + + [Header("Controlled NPC")] + [SerializeField] private GameObject npcVehiclePrefab = default; + + private Vehicle controlledNPC = default; + private ControllableNPCVehicleOverrideInputManager controlledNPCInputManager = default; + private ControllableNPCVehicleCollisionDetector controlledNPCCollisionDetector = default; + + private bool isInitialized = false; + + #region [Init] + + private void Start() + { + if(!isInitialized && npcVehiclePrefab != null) + { + Initialize(npcVehiclePrefab, spawnPoint.position, spawnPoint.rotation); + } + } + + /// + /// When invoked before the Unity Start message, it initializes the controllable manager with the selected NPC vehicle at a specific position and rotation. + /// + public void DoStart(string npcName, Vector3 npcPosition, Quaternion npcRotation) + { + if(!isInitialized) + { + ControllableNPCPrefabHandler npcPrefabHandler = controllableNPCPrefabs.FirstOrDefault(e => string.CompareOrdinal(e.Name, npcName) == 0); + if(npcPrefabHandler == null) + { + return; + } + + Initialize(npcPrefabHandler.Prefab, npcPosition, npcRotation); + } + } + + private void Initialize(GameObject npcPrefab, Vector3 npcPosition, Quaternion npcRotation) + { + SpawnNPC(npcPrefab, npcPosition, npcRotation); + InitCamera(); + InitCollisionDetector(); + InitUI(); + DisableEGOManualInput(); + isInitialized = true; + } + + #endregion + + #region [Listeners] + + private void OnEnable() + { + uiView.onVehicleDeviceInputChanged += OnVehicleDeviceInputChanged; + } + + private void OnDisable() + { + uiView.onVehicleDeviceInputChanged -= OnVehicleDeviceInputChanged; + } + + /// + /// Listener of the UI event dispatched on changed the manually input device type. + /// + private void OnVehicleDeviceInputChanged(ControllableNPCVehicleOverrideInputManager.VehicleDeviceInput inputType) + { + ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler messageHandler = null; + + controlledNPCInputManager.SetManuallyInput(inputType, out messageHandler); + if(messageHandler == null) + { + uiView.SetDebugInfo(false, "", ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler.MessageType.INFO); + } + else + { + uiView.SetDebugInfo(true, messageHandler.Message, messageHandler.Type); + } + + } + + #endregion + + #region [Private Methods] + + /// + /// Spawn NPC and assign it to controlled NPC. + /// + private void SpawnNPC(GameObject npcPrefab, Vector3 npcPosition, Quaternion npcRotation) + { + if(controlledNPC == null) + { + GameObject go = GameObject.Instantiate(npcPrefab, npcPosition, npcRotation, this.transform); + controlledNPC = go?.GetComponent(); + controlledNPCInputManager = go?.GetComponentInChildren(); + controlledNPCCollisionDetector = go?.GetComponent(); + } + } + + /// + /// Initialize camera view for controlled NPC. + /// + private void InitCamera() + { + if(controlledNPC == null) + { + return; + } + + npcVehicleCamera.Init(); + npcVehicleCamera.SetFollowVehicle(controlledNPC); + } + + /// + /// Initialize collision detector in controlled NPC vehicle. + /// + private void InitCollisionDetector() + { + if(controlledNPCCollisionDetector != null) + { + controlledNPCCollisionDetector.Init(CollisionDetectorCallback); + } + + void CollisionDetectorCallback(ControllableNPCVehicleCollisionDetector.CollisionType collisionType) + { + if(collisionType == ControllableNPCVehicleCollisionDetector.CollisionType.VEHICLE) + { + uiView.SetCollisionInfo("Collision Detected: Vehicle"); + Debug.Log("[ControllableNPC] Collision Detected with Vehicle"); + } + else if(collisionType == ControllableNPCVehicleCollisionDetector.CollisionType.ENVIRONMENT) + { + uiView.SetCollisionInfo("Collision Detected: Environment"); + Debug.Log("[ControllableNPC] Collision Detected with Environment"); + } + else + { + uiView.SetCollisionInfo("Collision Detected"); + Debug.Log("[ControllableNPC] Collision Detected with Unknown"); + } + } + } + + /// + /// Initialize UI view for controlled NPC. + /// + private void InitUI() + { + uiView.SetRenderTexture(npcVehicleCamera.RenderTexture); + uiView.SetVehicle(controlledNPC); + uiView.SetVehicleInputType(ControllableNPCVehicleOverrideInputManager.VehicleDeviceInput.KEYBOARD); //todo: read this value from input manager + } + + /// + /// Disable the possibility to switch to the manually input device for EGO. + /// + private void DisableEGOManualInput() + { + if(egoVehicle != null) + { + VehicleOverrideInputManager egoInputManager = egoVehicle.GetComponentInChildren(); + egoInputManager.ManuallyInputEnable = false; + } + } + + #endregion + + } + +} + diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs.meta b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs.meta new file mode 100644 index 000000000..7d5fb74b5 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f53f208058d99166ca995deab3df8448 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs new file mode 100644 index 000000000..1d338e4a4 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs @@ -0,0 +1,126 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using System.Linq; + +namespace AWSIM +{ + /// + /// Handles controllable NPC vehicle override inputs. + /// Only Manually Input components are supported. + /// + public class ControllableNPCVehicleOverrideInputManager : MonoBehaviour + { + /// + /// Types of supported input devices. + /// + public enum VehicleDeviceInput + { + KEYBOARD = 0, + LOGITECH_G29 = 1, + } + + /// + /// Handler for the vehicle input behaviour. + /// + [System.Serializable] + public class VehicleDeviceInputHandler + { + public VehicleDeviceInput Device; + public VehicleInputBase Behaviour; + } + + /// + /// Class for debug message related to the vehicle device input. + /// + public class VehicleDeviceInputMessageHandler + { + public MessageType Type = MessageType.INFO; + public string Message = ""; + + public enum MessageType + { + INFO, + WARNING, + ERROR + } + } + + /// + /// List of inputs used by controllable npc vehicle. + /// + [SerializeField] private List inputHandlers = new List(); + + /// + /// Inputs used during Manually driving. such as keyboard, controller, etc. + /// + public VehicleInputBase ManuallyInput; + + /// + /// Reference to controllable npc vehicle. + /// + [SerializeField] private Vehicle vehicle; + + private void Update() + { + if(vehicle == null) + { + return; + } + + VehicleInputBase.InputArg inputArg = new VehicleInputBase.InputArg(VehicleControlMode.MANUAL, 0f); + + // Update new input for Manually Inputs. + ManuallyInput?.OnUpdate(inputArg); + + // Apply input to the vehicle. + vehicle.AccelerationInput = ManuallyInput.AccelerationInput; + vehicle.SteerAngleInput = ManuallyInput.SteeringInput; + vehicle.AutomaticShiftInput = ManuallyInput.ShiftInput; + vehicle.SignalInput = ManuallyInput.TurnSignalInput; + } + + /// + /// Set the manual input device of the desired type. + /// + /// Type of input device. + /// Debug message handler. + public void SetManuallyInput(VehicleDeviceInput device, out VehicleDeviceInputMessageHandler messageHandler) + { + messageHandler = null; + + VehicleDeviceInputHandler inputHandler = inputHandlers.FirstOrDefault(e => e.Device == device); + if(inputHandler == null) + { + Debug.LogWarning("Vehicle Input for " + device + " device could not be found."); + return; + } + + // check if the logitech is connected + if(inputHandler.Device == VehicleDeviceInput.LOGITECH_G29) + { + VehicleG29Input vehicleG29Input = (VehicleG29Input)inputHandler.Behaviour; + if(vehicleG29Input == null) + { + Debug.LogWarning("Vehicle Input for " + inputHandler.Device + " device is expected to be of type " + + typeof(VehicleG29Input) + ", but it is not."); + return; + } + + if(!vehicleG29Input.IsConnected) + { + messageHandler = new VehicleDeviceInputMessageHandler() + { + Type = VehicleDeviceInputMessageHandler.MessageType.WARNING, + Message = "Disconnected", + }; + } + } + + ManuallyInput.enabled = false; + ManuallyInput = inputHandler.Behaviour; + ManuallyInput.enabled = true; + } + } + +} diff --git a/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs.meta b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs.meta new file mode 100644 index 000000000..8f372ed00 --- /dev/null +++ b/Assets/AWSIM/Scripts/ControllableNPCs/ControllableNPCVehicleOverrideInputManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f5660ebd4424da52b99dc7fef23e1b48 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs new file mode 100644 index 000000000..f0030a4ed --- /dev/null +++ b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs @@ -0,0 +1,48 @@ +using UnityEngine; +using UnityEngine.UI; + +namespace AWSIM +{ + /// + /// UI component for displaying the debug information on the controllable NPC vehicle view. + /// + public class ControllableNPCVehicleDebugInfoUI : MonoBehaviour + { + [Header("Components")] + [SerializeField] private CanvasGroup canvasGroup = default; + [SerializeField] private Text debugText = default; + + [Header("Settings")] + [SerializeField] private Color infoColor = default; + [SerializeField] private Color warningColor = default; + [SerializeField] private Color errorColor = default; + + public void Show() + { + canvasGroup.alpha = 1.0f; + } + + public void Hide() + { + canvasGroup.alpha = 0.0f; + } + + public void SetDebugInfo(string text, ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler.MessageType type) + { + if(type == ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler.MessageType.ERROR) + { + debugText.color = errorColor; + } + else if(type == ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler.MessageType.WARNING) + { + debugText.color = warningColor; + } + else + { + debugText.color = infoColor; + } + + debugText.text = text; + } + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs.meta b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs.meta new file mode 100644 index 000000000..b9c9be386 --- /dev/null +++ b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleDebugInfoUI.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ffb3f7a091697064791b175f44801c54 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs new file mode 100644 index 000000000..a783c648c --- /dev/null +++ b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs @@ -0,0 +1,122 @@ +using System; +using UnityEngine; +using UnityEngine.UI; + +namespace AWSIM +{ + /// + /// UI view dedicated to controllable NPC vehicle. + /// + public class ControllableNPCVehicleUI : MonoBehaviour + { + public event Action onVehicleDeviceInputChanged; + + [Header("Components")] + [SerializeField] private RawImage cameraRenderTexture = default; + [SerializeField] private Text velocityText = default; + [SerializeField] private Text gearText = default; + [SerializeField] private Text collisionText = default; + [SerializeField] private Dropdown inputSelectDropdown = default; + [SerializeField] private ControllableNPCVehicleDebugInfoUI debugInfo = default; + + private Vehicle vehicle; + + + #region [Unity Messages] + + private void Awake() + { + debugInfo.Hide(); + } + + private void Update() + { + if(vehicle == null) + { + SetVelocityText(0f); + SetGearText(Vehicle.Shift.NEUTRAL); + return; + } + + SetVelocityText(vehicle.Speed * 3.6f); + SetGearText(vehicle.AutomaticShift); + } + + #endregion + + #region [Public Methods] + + public void SetRenderTexture(RenderTexture renderTexture) + { + cameraRenderTexture.texture = renderTexture; + } + + public void SetVehicle(Vehicle vehicle) + { + this.vehicle = vehicle; + } + + public void SetCollisionInfo(string collisionInfo) + { + collisionText.text = collisionInfo; + } + + public void SetVehicleInputType(ControllableNPCVehicleOverrideInputManager.VehicleDeviceInput inputType) + { + inputSelectDropdown.value = (int)inputType; + } + + public void SetDebugInfo(bool show, string info, ControllableNPCVehicleOverrideInputManager.VehicleDeviceInputMessageHandler.MessageType messageType) + { + if(!show) + { + debugInfo.Hide(); + } + else + { + debugInfo.SetDebugInfo(info, messageType); + debugInfo.Show(); + } + } + + #endregion + + #region [Public Button Callback] + + public void OnInputSelectDropdownValueChanged(int selected) + { + onVehicleDeviceInputChanged?.Invoke((ControllableNPCVehicleOverrideInputManager.VehicleDeviceInput)selected); + } + + #endregion + + #region [Private Methods] + + private void SetVelocityText(float velocity) + { + velocityText.text = Mathf.Floor(velocity).ToString("F0"); + } + + private void SetGearText(Vehicle.Shift shift) + { + if(shift == Vehicle.Shift.PARKING) + { + gearText.text = "P"; + } + else if(shift == Vehicle.Shift.DRIVE) + { + gearText.text = "D"; + } + else if(shift == Vehicle.Shift.REVERSE) + { + gearText.text = "R"; + } + else + { + gearText.text = "N"; + } + } + + #endregion + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs.meta b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs.meta new file mode 100644 index 000000000..5bb78929c --- /dev/null +++ b/Assets/AWSIM/Scripts/UI/ControllableNPCVehicleUI.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0b5166d9b2585dc678048e24aa9093af +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleInputBase.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleInputBase.cs index 50155e4ea..f876e312b 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleInputBase.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleInputBase.cs @@ -10,7 +10,6 @@ namespace AWSIM /// that inherit from this class, you can reproduce actual vehicle input overrides. /// Actual vehicle input is performed by VehicleOverrideInputManager. /// - [RequireComponent(typeof(VehicleOverrideInputManager))] public class VehicleInputBase : MonoBehaviour { public struct InputArg diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleOverrideInputManager.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleOverrideInputManager.cs index d444f5eb3..74898b94b 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleOverrideInputManager.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleOverrideInputManager.cs @@ -27,6 +27,16 @@ public class VehicleOverrideInputManager : MonoBehaviour /// public VehicleControlMode ControlMode { get; set; } = VehicleControlMode.AUTONOMOUS; + /// + /// Control flag to allow or disallow the use of manually input. + /// + private bool manuallyInputEnable = true; + public bool ManuallyInputEnable + { + get => manuallyInputEnable; + set => manuallyInputEnable = value; + } + [SerializeField] Vehicle vehicle; private void FixedUpdate() @@ -44,7 +54,7 @@ void ApplyInput() // If override input is present, switch new ControlMode. - if (ManuallyInput.Overridden) + if (manuallyInputEnable && ManuallyInput.Overridden) { ControlMode = ManuallyInput.NewControlMode; } diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index a7114ca57..0bf932ddf 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -5,6 +5,8 @@ TagManager: serializedVersion: 2 tags: - Ego + - Vehicle + - Truck layers: - Default - TransparentFX @@ -16,7 +18,7 @@ TagManager: - Ground - - - - + - ControllableNPC - Visualization - - diff --git a/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_game_view.png b/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_game_view.png new file mode 100644 index 000000000..565784ad0 Binary files /dev/null and b/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_game_view.png differ diff --git a/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_vehicle_manager_annot.png b/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_vehicle_manager_annot.png new file mode 100644 index 000000000..1a0e94dd3 Binary files /dev/null and b/docs/Components/ControllableNPC/ControllableNPCComponents/controllableNPC_vehicle_manager_annot.png differ diff --git a/docs/Components/ControllableNPC/ControllableNPCComponents/index.md b/docs/Components/ControllableNPC/ControllableNPCComponents/index.md new file mode 100644 index 000000000..9b272beaf --- /dev/null +++ b/docs/Components/ControllableNPC/ControllableNPCComponents/index.md @@ -0,0 +1,56 @@ + +The ControllableNPC feature allows the user to control a NPC vehicle, when EGO is in Autonomous mode. The user can set the type of NPC vehicle to control and the spawn location of this vehicle. In addition, a dedicated UI view shows the controlled NPC from a bird's-eye view. + +![controllableNPC main view](controllableNPC_game_view.png) + +## Prefabs + +There are two prefabs for this feature: + +- `ControllableNPCVehicleManager.prefab` +- `ControllableNPCVehicleUI.prefab` + +These prefabs should be added to the *Unity* scene and they are located at: +``` +Assets/AWSIM/Prefabs/ControllableNPCs/* +``` + +## Components + +The main components for this feature are as follows: + +- [`ControllableNPCVehicleManager`](#controllablenpcvehiclemanager) + + It is the manager component and it is meant to be placed on the *Unity* scene. It handles all elements required by the controllable NPC vehicle, including spawning the selected vehicle, and initializing its camera view. Additionally, it serves as an intermediary between the vehicle object and the `ControllableNPCVehicleUI`, facilitating tasks such as retrieving collision information and passing it to the UI view. + +- `ControllableNPCVehicleUI` + + This component displays the UI for controllable NPC vehicle. The UI view includes: + + - a top-down camera view of the controlled vehicle, + - an info about current speed and gear shift of controlled vehicle, + - an info about collisions with other vehicles, + - a dropdown menu to select the input device. + +### ControllableNPCVehicleManager + +`ControllableNPCVehicleManager` requires configuration steps before use. There are four items to look at: + +- `EGO Vehicle` - must be assigned to the current EGO vehicle. +- `UI View` - must be assigned to the `ControllableNPCVehicleUI` component. +- `NPC Vehicle Prefab` - specifies which controllable NPC vehicle will be spawned. Select one prefab from the list of available [`controllable NPC vehicles`](../Vehicles/index.md#prefabs). _It can also be specified in the JSON configuration file._ +- `SpawnPoint` - specifies the location where a controllable NPC vehicle will be spawned. Move the SpawnPoint gameobject to desired position and rotation. _It can also be specified in the JSON configuration file._ + +![controllableNPC vehicle manager](controllableNPC_vehicle_manager_annot.png) + +#### JSON Configuration + +The `NPC Vehicle Prefab` and `SpawnPoint` can also be specified in JSON file. The `ControllableNpc` field must be present in the JSON file with the members: + +- "Name": name of the prefab to be spawned, +- “Position” : initial location of the spawned prefab, +- “EulerAngles”: initial rotation of the spawned prefab. + +!!! note "JSON configuration" + The JSON configuration is loaded on the Awake() method, so it overrides the values in `ControllableNPCVehicleManager` + diff --git a/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_components.png b/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_components.png new file mode 100644 index 000000000..8fc99eb46 Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_components.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_content.png b/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_content.png new file mode 100644 index 000000000..3585b6848 Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/controllableNPC_prefab_content.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/controllableNP_prefab_input_manager.png b/docs/Components/ControllableNPC/Vehicles/controllableNP_prefab_input_manager.png new file mode 100644 index 000000000..f99f0fc97 Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/controllableNP_prefab_input_manager.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/hatchback.png b/docs/Components/ControllableNPC/Vehicles/hatchback.png new file mode 100644 index 000000000..b027a7eee Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/hatchback.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/index.md b/docs/Components/ControllableNPC/Vehicles/index.md new file mode 100644 index 000000000..45229bfc8 --- /dev/null +++ b/docs/Components/ControllableNPC/Vehicles/index.md @@ -0,0 +1,53 @@ +#　ControllableNPC Vehicle + +## Introduction + +`ControllableNPCVehicle` is a non-EGO vehicle that can be controlled by the user. + +## Prefabs +Prefabs can be found under the following path: + +``` +Assets/AWSIM/Prefabs/ControllableNPCs/Vehicles/* +``` + +The table shows the available prefabs of the vehicles: + +| | Hatchback | SmallCar | Taxi | Truck | Van | +| :----------: | :----------------------: | :----------------------: | :----------------------: | :----------------------: | :----------------------: | +| *Appearance* | ![vehicles](hatchback.png) | ![vehicles](smallcar.png) | ![vehicles](taxi.png) | ![vehicles](truck_2t.png) | ![vehicles](van.png) | +| *Prefab* | `ControllableHatchback.prefab` | `ControllableSmallCar.prefab` | `ControllableTaxi.prefab` | `ControllableTruck_2t.prefab` | `ControllableVan.prefab` | +| *Name for JSON* | Hatchback | SmallCar | Taxi | Truck_2t | Van | + + +_ControllableNPCVehicle_ prefab has the following content: + +![controllableNPC prefab](controllableNPC_prefab_content.png) + +It contains: + +- Visuals - collection of visual elements of the vehicle, +- Colliders - collection of colliders of the vehicle, such as body mesh collider and wheels colliders, +- CoM - center of mass used by rigidbody, +- InputManager - object with [`ControllableNPCVehicleOverrideInputManager`](#controllablenpcvehicle-overrideinputmanager) + +## Components + +The controllable NPC vehicle uses some functionality of the EGO vehicle. Therefore, the prefab composition and included components are similar to the EGO vehicle and they are as follows: + +- `Vehicle` script - provides the ability to set the acceleration of the vehicle and the steering angle of its wheels. It is the same as the [Vehicle script](../../Vehicle/EgoVehicle/index.md#vehicle-script) attached to EGO vehicle. +- `VehicleVisualEffect` script - provides the ability to simulate vehicle lights, such as turn signals, brake lights, and hazard light. It is the same as the [Vehicle Visual Effect script](../../Vehicle/EgoVehicle/index.md#vehicle-visual-effect-script) attached to EGO vehicle. +- `ControllableNPCVehicleCollisionDetector` script - detects when the controllable NPC vehicle collides with other objects, such as other vehicle. + +![controllableNPC components](controllableNPC_prefab_components.png) + +!!! note "Controllable NPC Vehicle" + Controllable NPC vehicle does not contain any sensors and it does not support autonomous mode. + +## ControllableNPCVehicle OverrideInputManager + +This component collects input data from a selected input device, such as the keyboard, and applies it to the `Vehicle` script. It supports input devices such as: the keyboard and Logitech G29. [AWSIM supported input devices](../../Vehicle/VehicleInput/index.md#awsim-supports-these-device-inputs) + +![controllableNPC input manager](controllableNP_prefab_input_manager.png) + + diff --git a/docs/Components/ControllableNPC/Vehicles/smallcar.png b/docs/Components/ControllableNPC/Vehicles/smallcar.png new file mode 100644 index 000000000..c942ca8b3 Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/smallcar.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/taxi.png b/docs/Components/ControllableNPC/Vehicles/taxi.png new file mode 100644 index 000000000..fef08515d Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/taxi.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/truck_2t.png b/docs/Components/ControllableNPC/Vehicles/truck_2t.png new file mode 100644 index 000000000..a213687fe Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/truck_2t.png differ diff --git a/docs/Components/ControllableNPC/Vehicles/van.png b/docs/Components/ControllableNPC/Vehicles/van.png new file mode 100644 index 000000000..adfe67c12 Binary files /dev/null and b/docs/Components/ControllableNPC/Vehicles/van.png differ diff --git a/mkdocs.yml b/mkdocs.yml index 5587aa156..512762f54 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -106,6 +106,9 @@ nav: - NPCs: - Pedestrian: Components/Traffic/NPCs/Pedestrian/index.md - Vehicle: Components/Traffic/NPCs/Vehicle/index.md + - ControllableNPC: + - ControllableNPC Components: Components/ControllableNPC/ControllableNPCComponents/index.md + - Vehicles: Components/ControllableNPC/Vehicles/index.md - ROS2: - ROS2 topic & service list: Components/ROS2/ROS2TopicAndServiceList/index.md - Add custom ROS2 msg: Components/ROS2/AddACustomROS2Message/index.md