Loading from json file

SoonerRobotics · Nov 26, 2019 · 902322a · 902322a
1 parent 8299aa3
commit 902322a
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Showing 9 changed files with 215 additions and 893 deletions.
diff --git a/.gitignore b/.gitignore
@@ -58,3 +58,5 @@ sysinfo.txt
 # Crashlytics generated file
 crashlytics-build.properties
 
+# Ignore config
+config.json
diff --git a/Assets/IGVCConfigLoader.cs b/Assets/IGVCConfigLoader.cs
@@ -0,0 +1,43 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RosSharp.RosBridgeClient
+{
+    public class IGVCConfigLoader : MonoBehaviour
+    {
+
+        private SimpleCarController simpleCarController;
+        private RosConnector rosConnector;
+        private ImagePublisher imagePublisher;
+        private LaserScanPublisher laserScanPublisher;
+        private IMUPublisher iMUPublisher;
+        private VelocityPublisher velocityPublisher;
+        private GPSPublisher gPSPublisher;
+        private MotorsSubscriber motorsSubscriber;
+
+        void Start()
+        {
+            if (MenuValues._instance != null)
+            {
+                simpleCarController = this.GetComponent<SimpleCarController>();
+                rosConnector = this.GetComponent<RosConnector>();
+                imagePublisher = this.GetComponent<ImagePublisher>();
+                laserScanPublisher = this.GetComponent<LaserScanPublisher>();
+                iMUPublisher = this.GetComponent<IMUPublisher>();
+                velocityPublisher = this.GetComponent<VelocityPublisher>();
+                gPSPublisher = this.GetComponent<GPSPublisher>();
+                motorsSubscriber = this.GetComponent<MotorsSubscriber>();
+
+                simpleCarController.useController = !MenuValues._instance.autonomous.Equals("True");
+                rosConnector.RosBridgeServerUrl = "ws://" + MenuValues._instance.ros_bridge_url;
+                imagePublisher.Topic = MenuValues._instance.camera_topic;
+                laserScanPublisher.Topic = MenuValues._instance.laser_scan_topic;
+                iMUPublisher.Topic = MenuValues._instance.imu_topic;
+                velocityPublisher.Topic = MenuValues._instance.velocity_topic;
+                gPSPublisher.Topic = MenuValues._instance.gps_topic;
+                motorsSubscriber.Topic = MenuValues._instance.motors_topic;
+            }
+        }
+    }
+}
diff --git a/Assets/IGVCConfigLoader.cs.meta b/Assets/IGVCConfigLoader.cs.meta
diff --git a/Assets/MenuScripts/MenuController.cs b/Assets/MenuScripts/MenuController.cs
@@ -4,37 +4,76 @@
 using UnityEngine.SceneManagement;
 using UnityEngine.UI;
 using TMPro;
+using System.IO;
 
 public class MenuController : MonoBehaviour
 {
+
+    public string jsonPath = "config.json";
+
     public GameObject CameraTopic;
-    public GameObject HeadingTopic;
+    public GameObject IMUTopic;
     public GameObject VelocityTopic;
-    public GameObject AccelerationTopic;
     public GameObject GpsTopic;
     public GameObject LaserScanTopic;
     public GameObject MotorsTopic;
     public GameObject RosBridgeTopic;
     public GameObject Autonomous;
 
-    public void UpdateFields()
+    public void Start()
+    {
+
+        if (File.Exists(jsonPath))
+        {
+            StreamReader reader = new StreamReader(jsonPath);
+            string json_raw = reader.ReadToEnd();
+            MenuValues._instance = JsonUtility.FromJson<MenuValues>(json_raw);
+            reader.Close();
+        } 
+        else
+        {
+            MenuValues._instance = new MenuValues
+            {
+                autonomous = "True",
+                camera_topic = "/igvc/camera/compressed",
+                imu_topic = "/igvc/imu",
+                velocity_topic = "/igvc/velocity",
+                gps_topic = "/igvc/gps",
+                laser_scan_topic = "/igvc/lidar",
+                motors_topic = "/igvc/motors_raw",
+                ros_bridge_url = "localhost:9090"
+
+            };
+            StreamWriter writer = new StreamWriter(jsonPath, true);
+            writer.WriteLine(JsonUtility.ToJson(MenuValues._instance, true));
+            writer.Close();
+        }
+
+        CameraTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.camera_topic;
+        IMUTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.imu_topic;
+        VelocityTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.velocity_topic;
+        GpsTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.gps_topic;
+        LaserScanTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.laser_scan_topic;
+        MotorsTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.motors_topic;
+        RosBridgeTopic.GetComponent<TMP_InputField>().text = MenuValues._instance.ros_bridge_url;
+        Autonomous.GetComponent<Toggle>().isOn = MenuValues._instance.autonomous.Equals("True");
+    }
+
+    public void UpdateDemFieldsYo()
     {
-        MenuValues.camera_topic = CameraTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.heading_topic = HeadingTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.velocity_topic = VelocityTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.acceleration_topic = AccelerationTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.gps_topic = GpsTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.laser_scan_topic = LaserScanTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.motors_topic = MotorsTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.ros_bridge_url = RosBridgeTopic.GetComponent<TMP_InputField>().text;
-        MenuValues.autonomous = Autonomous.GetComponent<Toggle>().isOn;
-
-        Debug.Log(MenuValues.camera_topic + MenuValues.heading_topic + MenuValues.velocity_topic + MenuValues.acceleration_topic +
-             MenuValues.gps_topic + MenuValues.laser_scan_topic + MenuValues.motors_topic + MenuValues.ros_bridge_url + MenuValues.autonomous);
+        MenuValues._instance.camera_topic = CameraTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.imu_topic = IMUTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.velocity_topic = VelocityTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.gps_topic = GpsTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.laser_scan_topic = LaserScanTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.motors_topic = MotorsTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.ros_bridge_url = RosBridgeTopic.GetComponent<TMP_InputField>().text;
+        MenuValues._instance.autonomous = Autonomous.GetComponent<Toggle>().isOn.ToString();
     }
 
     public void PlaySim()
     {
+        UpdateDemFieldsYo();
         SceneManager.LoadScene(1);
     }
 }
diff --git a/Assets/MenuScripts/MenuValues.cs b/Assets/MenuScripts/MenuValues.cs
@@ -1,16 +1,21 @@
-using System.Collections;
+using System;
+using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
-static class MenuValues
+[Serializable]
+public class MenuValues
 {
-    public static bool autonomous;
-    public static string camera_topic;
-    public static string heading_topic;
-    public static string velocity_topic;
-    public static string acceleration_topic;
-    public static string gps_topic;
-    public static string laser_scan_topic;
-    public static string motors_topic;
-    public static string ros_bridge_url;
+
+    [NonSerialized]
+    public static MenuValues _instance; 
+
+    public string autonomous;
+    public string camera_topic;
+    public string imu_topic;
+    public string velocity_topic;
+    public string gps_topic;
+    public string laser_scan_topic;
+    public string motors_topic;
+    public string ros_bridge_url;
 }