From 5e8bdd586b56561b140b05f7f3a3a76dc5f79754 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Thu, 13 Jun 2024 21:17:50 +0900 Subject: [PATCH 01/10] add input actions and VehicleG29Input.cs --- Assets/AWSIM/AWSIM.asmdef | 3 +- Assets/AWSIM/AWSIM.inputactions | 1023 +++++++++++++++++ Assets/AWSIM/AWSIM.inputactions.meta | 14 + Assets/AWSIM/G29InputSample.unity | 604 ++++++++++ Assets/AWSIM/G29InputSample.unity.meta | 7 + .../Scenes/Main/AutowareSimulation.unity | 270 ++++- Assets/AWSIM/VehicleG29Input.cs | 85 ++ Assets/AWSIM/VehicleG29Input.cs.meta | 11 + 8 files changed, 2015 insertions(+), 2 deletions(-) create mode 100644 Assets/AWSIM/AWSIM.inputactions create mode 100644 Assets/AWSIM/AWSIM.inputactions.meta create mode 100644 Assets/AWSIM/G29InputSample.unity create mode 100644 Assets/AWSIM/G29InputSample.unity.meta create mode 100644 Assets/AWSIM/VehicleG29Input.cs create mode 100644 Assets/AWSIM/VehicleG29Input.cs.meta diff --git a/Assets/AWSIM/AWSIM.asmdef b/Assets/AWSIM/AWSIM.asmdef index e958e934c..3bedd1e1f 100644 --- a/Assets/AWSIM/AWSIM.asmdef +++ b/Assets/AWSIM/AWSIM.asmdef @@ -3,7 +3,8 @@ "rootNamespace": "", "references": [ "GUID:df380645f10b7bc4b97d4f5eb6303d95", - "GUID:457756d89b35d2941b3e7b37b4ece6f1" + "GUID:457756d89b35d2941b3e7b37b4ece6f1", + "GUID:75469ad4d38634e559750d17036d5f7c" ], "includePlatforms": [], "excludePlatforms": [], diff --git a/Assets/AWSIM/AWSIM.inputactions b/Assets/AWSIM/AWSIM.inputactions new file mode 100644 index 000000000..f95a0b461 --- /dev/null +++ b/Assets/AWSIM/AWSIM.inputactions @@ -0,0 +1,1023 @@ +{ + "name": "AWSIM", + "maps": [ + { + "name": "Player", + "id": "2c80edec-c225-4027-af2a-d9b35b3c7d41", + "actions": [ + { + "name": "Move", + "type": "Value", + "id": "09620ef8-82fe-4e91-ac83-60876280b671", + "expectedControlType": "Vector2", + "processors": "", + "interactions": "" + }, + { + "name": "Look", + "type": "Value", + "id": "80c72d6d-9500-4314-b853-305b1ac1ca45", + 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+using System.Collections.Generic; +using tier4_vehicle_msgs.msg; +using UnityEngine; +using UnityEngine.InputSystem; + +namespace AWSIM +{ + public class VehicleG29Input : VehicleInputBase + { + public float MaxAcceleration = 1.5f; + + public override void OnUpdate(VehicleControlMode currentControlMode) + { + Overridden = true; + NewControlMode = VehicleControlMode.MANUAL; + } + + public void OnThrottle(InputAction.CallbackContext context) + { + var throttle = context.ReadValue(); + AccelerationInput = MaxAcceleration * throttle; + + Debug.Log("Throttle"); + } + + public void OnBrake(InputAction.CallbackContext context) + { + var brake = context.ReadValue(); + AccelerationInput = MaxAcceleration * -brake; + + Debug.Log("Brake"); + } + + public void OnDriveGear(InputAction.CallbackContext context) + { + if (ShiftInput != Vehicle.Shift.DRIVE) + ShiftInput = Vehicle.Shift.DRIVE; + + Debug.Log("Drive gear"); + } + + public void OnReverseGear(InputAction.CallbackContext context) + { + if (ShiftInput != Vehicle.Shift.REVERSE) + ShiftInput = Vehicle.Shift.REVERSE; + } + + public void OnNeutralGear(InputAction.CallbackContext context) + { + if (ShiftInput != Vehicle.Shift.NEUTRAL) + ShiftInput = Vehicle.Shift.NEUTRAL; + } + + public void OnParkingGear(InputAction.CallbackContext context) + { + if (ShiftInput != Vehicle.Shift.PARKING) + ShiftInput = Vehicle.Shift.PARKING; + } + + public void OnTurnSignalNone(InputAction.CallbackContext context) + { + if (TurnSignalInput != Vehicle.TurnSignal.NONE) + TurnSignalInput = Vehicle.TurnSignal.NONE; + } + + public void OnTurnSignalLeft(InputAction.CallbackContext context) + { + if (TurnSignalInput != Vehicle.TurnSignal.LEFT) + TurnSignalInput = Vehicle.TurnSignal.LEFT; + } + + public void OnTurnSignalRight(InputAction.CallbackContext context) + { + if (TurnSignalInput != Vehicle.TurnSignal.RIGHT) + TurnSignalInput = Vehicle.TurnSignal.RIGHT; + } + + public void OnTurnSignalHazard(InputAction.CallbackContext context) + { + if (TurnSignalInput != Vehicle.TurnSignal.HAZARD) + TurnSignalInput = Vehicle.TurnSignal.HAZARD; + } + } +} \ No newline at end of file diff --git a/Assets/AWSIM/VehicleG29Input.cs.meta b/Assets/AWSIM/VehicleG29Input.cs.meta new file mode 100644 index 000000000..cbfa2ff0f --- /dev/null +++ b/Assets/AWSIM/VehicleG29Input.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: dd9d85ec43de625428590ccecf59d803 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From f5ce1c0024e6fa2382569c782bb182c6ce7b8bf9 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Fri, 14 Jun 2024 20:44:50 +0900 Subject: [PATCH 02/10] support linux input --- Assets/AWSIM/AWSIM.inputactions | 110 +++++++++++++++ .../Scenes/Main/AutowareSimulation.unity | 128 +++++++++--------- Assets/AWSIM/VehicleG29Input.cs | 6 - ProjectSettings/ProjectSettings.asset | 2 +- 4 files changed, 175 insertions(+), 71 deletions(-) diff --git a/Assets/AWSIM/AWSIM.inputactions b/Assets/AWSIM/AWSIM.inputactions index f95a0b461..52b55ac66 100644 --- a/Assets/AWSIM/AWSIM.inputactions +++ b/Assets/AWSIM/AWSIM.inputactions @@ -856,6 +856,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "2aa7dd5e-11b7-4aa9-9a46-4eda2161b5a4", + "path": "/Z", + "interactions": "", + "processors": "", + "groups": "", + "action": "Throttle", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "72c07a0a-edd5-4197-8996-9b9275ca8fb0", @@ -867,6 +878,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "b341a19b-d5a3-43f6-9d93-c7b083eb277b", + "path": "/RotateZ", + "interactions": "", + "processors": "", + "groups": "", + "action": "Brake", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "38059325-5c5e-4f7e-9844-fcdb6e9fe1fe", @@ -878,6 +900,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "826f48ef-f226-41a3-a2a4-295732a9273d", + "path": "/Top", + "interactions": "", + "processors": "", + "groups": "", + "action": "DriveGear", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "2864ec79-a6b6-48cb-9418-a3d7e19f80d3", @@ -889,6 +922,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "9c7437bd-b07e-4b1e-8e18-84694fddeba6", + "path": "/Trigger", + "interactions": "", + "processors": "", + "groups": "", + "action": "ReverseGear", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "de483b5f-9a5e-477b-8b99-59d1148f2770", @@ -900,6 +944,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "e8c57ea5-9dd8-440d-b3ca-6f31703a538b", + "path": "/Thumb", + "interactions": "", + "processors": "", + "groups": "", + "action": "ParkingGear", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "186dc826-c446-400a-b07b-79cd013a3ee7", @@ -911,6 +966,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "120201c2-6f47-46ce-92aa-862c1e38d495", + "path": "/Thumb2", + "interactions": "", + "processors": "", + "groups": "", + "action": "NeutralGear", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "086db55a-776a-4570-a041-b58ccaccffc8", @@ -922,6 +988,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "6c5716f8-61bb-4e68-87f8-5f6965ddaf15", + "path": "/Hat/up", + "interactions": "", + "processors": "", + "groups": "", + "action": "HazardSignal", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "6ccc57eb-764e-4ac8-8c83-d98c11aad298", @@ -933,6 +1010,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "f5983e9f-00b0-48ae-930b-6e76c8e0e28e", + "path": "/Hat/left", + "interactions": "", + "processors": "", + "groups": "", + "action": "LeftTurnSignal", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "48d65c48-a6b5-4dc1-834b-893231137259", @@ -944,6 +1032,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "00400820-1256-4d7f-82b5-7dbe610bce76", + "path": "/Hat/right", + "interactions": "", + "processors": "", + "groups": "", + "action": "RightTurnSignal", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "5094edd3-841c-4585-a701-aeae2c472a6e", @@ -954,6 +1053,17 @@ "action": "NoneTurnSignal", "isComposite": false, "isPartOfComposite": false + }, + { + "name": "", + "id": "053114d0-8cea-4449-b26d-382b63f39fc1", + "path": "/Hat/down", + "interactions": "", + "processors": "", + "groups": "", + "action": "NoneTurnSignal", + "isComposite": false, + "isPartOfComposite": false } ] } diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index a6b139ff1..3cae46dbb 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 1536.2207, g: 1903.2129, b: 2518.254, a: 1} + m_IndirectSpecularColor: {r: 1520.0924, g: 1884.674, b: 2491.8425, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -744,10 +744,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 0} - m_AnchorMax: {x: 0, y: 0} - m_AnchoredPosition: {x: 0, y: 0} - m_SizeDelta: {x: 0, y: 128} + m_AnchorMin: {x: 0, y: 1} + m_AnchorMax: {x: 0, y: 1} + m_AnchoredPosition: {x: 165, y: -74} + m_SizeDelta: {x: 330, y: 128} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &105553751 MonoBehaviour: @@ -5887,10 +5887,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 3 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 0} - m_AnchorMax: {x: 0, y: 0} - m_AnchoredPosition: {x: 0, y: 0} - m_SizeDelta: {x: 0, y: 246.81} + m_AnchorMin: {x: 0, y: 1} + m_AnchorMax: {x: 0, y: 1} + m_AnchoredPosition: {x: 165, y: -660.905} + m_SizeDelta: {x: 330, y: 246.81} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1445957254 MonoBehaviour: @@ -6586,10 +6586,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 0} - m_AnchorMax: {x: 0, y: 0} - m_AnchoredPosition: {x: 0, y: 0} - m_SizeDelta: {x: 0, y: 128} + m_AnchorMin: {x: 0, y: 1} + m_AnchorMax: {x: 0, y: 1} + m_AnchoredPosition: {x: 165, y: -212} + m_SizeDelta: {x: 330, y: 128} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1622693342 MonoBehaviour: @@ -7296,10 +7296,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 2 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 0} - m_AnchorMax: {x: 0, y: 0} - m_AnchoredPosition: {x: 0, y: 0} - m_SizeDelta: {x: 0, y: 241.5} + m_AnchorMin: {x: 0, y: 1} + m_AnchorMax: {x: 0, y: 1} + m_AnchoredPosition: {x: 165, y: -406.75} + m_SizeDelta: {x: 330, y: 241.5} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1812496617 MonoBehaviour: @@ -8380,6 +8380,53 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 23c1ce4fb46143f46bc5cb5224c934f6, type: 3} m_Name: m_EditorClassIdentifier: + m_Version: 7 + m_ObsoleteRenderingPath: 0 + m_ObsoleteFrameSettings: + overrides: 0 + enableShadow: 0 + enableContactShadows: 0 + enableShadowMask: 0 + enableSSR: 0 + enableSSAO: 0 + enableSubsurfaceScattering: 0 + enableTransmission: 0 + enableAtmosphericScattering: 0 + enableVolumetrics: 0 + enableReprojectionForVolumetrics: 0 + enableLightLayers: 0 + enableExposureControl: 1 + diffuseGlobalDimmer: 0 + specularGlobalDimmer: 0 + shaderLitMode: 0 + enableDepthPrepassWithDeferredRendering: 0 + enableTransparentPrepass: 0 + enableMotionVectors: 0 + enableObjectMotionVectors: 0 + enableDecals: 0 + enableRoughRefraction: 0 + enableTransparentPostpass: 0 + enableDistortion: 0 + enablePostprocess: 0 + enableOpaqueObjects: 0 + enableTransparentObjects: 0 + enableRealtimePlanarReflection: 0 + enableMSAA: 0 + enableAsyncCompute: 0 + runLightListAsync: 0 + runSSRAsync: 0 + runSSAOAsync: 0 + runContactShadowsAsync: 0 + runVolumeVoxelizationAsync: 0 + lightLoopSettings: + overrides: 0 + enableDeferredTileAndCluster: 0 + enableComputeLightEvaluation: 0 + enableComputeLightVariants: 0 + enableComputeMaterialVariants: 0 + enableFptlForForwardOpaque: 0 + enableBigTilePrepass: 0 + isFptlEnabled: 0 clearColorMode: 0 backgroundColorHDR: {r: 0.025, g: 0.07, b: 0.19, a: 0} clearDepth: 1 @@ -8435,53 +8482,6 @@ MonoBehaviour: data1: 0 data2: 0 defaultFrameSettings: 0 - m_Version: 7 - m_ObsoleteRenderingPath: 0 - m_ObsoleteFrameSettings: - overrides: 0 - enableShadow: 0 - enableContactShadows: 0 - enableShadowMask: 0 - enableSSR: 0 - enableSSAO: 0 - enableSubsurfaceScattering: 0 - enableTransmission: 0 - enableAtmosphericScattering: 0 - enableVolumetrics: 0 - enableReprojectionForVolumetrics: 0 - enableLightLayers: 0 - enableExposureControl: 1 - diffuseGlobalDimmer: 0 - specularGlobalDimmer: 0 - shaderLitMode: 0 - enableDepthPrepassWithDeferredRendering: 0 - enableTransparentPrepass: 0 - enableMotionVectors: 0 - enableObjectMotionVectors: 0 - enableDecals: 0 - enableRoughRefraction: 0 - enableTransparentPostpass: 0 - enableDistortion: 0 - enablePostprocess: 0 - enableOpaqueObjects: 0 - enableTransparentObjects: 0 - enableRealtimePlanarReflection: 0 - enableMSAA: 0 - enableAsyncCompute: 0 - runLightListAsync: 0 - runSSRAsync: 0 - runSSAOAsync: 0 - runContactShadowsAsync: 0 - runVolumeVoxelizationAsync: 0 - lightLoopSettings: - overrides: 0 - enableDeferredTileAndCluster: 0 - enableComputeLightEvaluation: 0 - enableComputeLightVariants: 0 - enableComputeMaterialVariants: 0 - enableFptlForForwardOpaque: 0 - enableBigTilePrepass: 0 - isFptlEnabled: 0 --- !u!81 &2122627085 AudioListener: m_ObjectHideFlags: 0 diff --git a/Assets/AWSIM/VehicleG29Input.cs b/Assets/AWSIM/VehicleG29Input.cs index 388d429b6..d4fbaadf5 100644 --- a/Assets/AWSIM/VehicleG29Input.cs +++ b/Assets/AWSIM/VehicleG29Input.cs @@ -20,24 +20,18 @@ public void OnThrottle(InputAction.CallbackContext context) { var throttle = context.ReadValue(); AccelerationInput = MaxAcceleration * throttle; - - Debug.Log("Throttle"); } public void OnBrake(InputAction.CallbackContext context) { var brake = context.ReadValue(); AccelerationInput = MaxAcceleration * -brake; - - Debug.Log("Brake"); } public void OnDriveGear(InputAction.CallbackContext context) { if (ShiftInput != Vehicle.Shift.DRIVE) ShiftInput = Vehicle.Shift.DRIVE; - - Debug.Log("Drive gear"); } public void OnReverseGear(InputAction.CallbackContext context) diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index 16debb973..a16e56c08 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -597,7 +597,7 @@ PlayerSettings: webGLThreadsSupport: 0 webGLDecompressionFallback: 0 scriptingDefineSymbols: - 1: UNITY_CCU;ALLOW_AUTHORING;ROS2;ENABLE_RAYTRACING + 1: UNITY_CCU;ALLOW_AUTHORING;ROS2 additionalCompilerArguments: {} platformArchitecture: {} scriptingBackend: From 7c79243ca1116dd043712fc8265640a0761206a1 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Fri, 14 Jun 2024 21:41:21 +0900 Subject: [PATCH 03/10] normalize g29 input actions for linux --- Assets/AWSIM/AWSIM.inputactions | 6 +++--- ProjectSettings/EditorBuildSettings.asset | 9 --------- 2 files changed, 3 insertions(+), 12 deletions(-) diff --git a/Assets/AWSIM/AWSIM.inputactions b/Assets/AWSIM/AWSIM.inputactions index 52b55ac66..91afab9f9 100644 --- a/Assets/AWSIM/AWSIM.inputactions +++ b/Assets/AWSIM/AWSIM.inputactions @@ -768,7 +768,7 @@ "type": "Button", "id": "4ac7e49c-6b37-4592-9b33-f10f8f450b9c", "expectedControlType": "Button", - "processors": "", + "processors": "Normalize(min=-1,max=1,zero=-1)", "interactions": "" }, { @@ -861,7 +861,7 @@ "id": "2aa7dd5e-11b7-4aa9-9a46-4eda2161b5a4", "path": "/Z", "interactions": "", - "processors": "", + "processors": "Invert", "groups": "", "action": "Throttle", "isComposite": false, @@ -883,7 +883,7 @@ "id": "b341a19b-d5a3-43f6-9d93-c7b083eb277b", "path": "/RotateZ", "interactions": "", - "processors": "", + "processors": "Invert,Normalize(min=-1,max=1,zero=-1)", "groups": "", "action": "Brake", "isComposite": false, diff --git a/ProjectSettings/EditorBuildSettings.asset b/ProjectSettings/EditorBuildSettings.asset index 4071ca24d..8776f0922 100644 --- a/ProjectSettings/EditorBuildSettings.asset +++ b/ProjectSettings/EditorBuildSettings.asset @@ -8,13 +8,4 @@ EditorBuildSettings: - enabled: 1 path: Assets/AWSIM/Scenes/Main/AutowareSimulation.unity guid: 9a19a6429a390f1428320cff9d4e1f10 - - enabled: 1 - path: Assets/Tests/PlayMode/Ego/EgoTest.unity - guid: ec37755e1a4a899678c5645cb8963c2f - - enabled: 1 - path: Assets/Tests/PlayMode/Traffic/TrafficTest.unity - guid: 23ce25cc2147abbc1986f3efb4951d5c - - enabled: 1 - path: Assets/Tests/PlayMode/Sensors/SensorsTest.unity - guid: fdfe2b57b59c262db8bf3372757df0ea m_configObjects: {} From da977ee7a2fcb4d255bf0ad9f04f4fbd8d3841d7 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Mon, 8 Jul 2024 14:15:30 +0900 Subject: [PATCH 04/10] suppurt g29 steering on linux --- .../Scenes/Main/AutowareSimulation.unity | 56 ++-- .../AWSIM/Scripts/Vehicles/G29_develop.meta | 8 + .../Vehicles/G29_develop}/AWSIM.inputactions | 19 ++ .../G29_develop}/AWSIM.inputactions.meta | 0 .../Vehicles/G29_develop/CallCppFromUnity.cs | 42 +++ .../G29_develop/CallCppFromUnity.cs.meta | 11 + .../G29_develop/ForceFeedbackExample.cs | 72 +++++ .../G29_develop/ForceFeedbackExample.cs.meta | 11 + .../G29_develop}/G29InputSample.unity | 304 +++++++++--------- .../G29_develop}/G29InputSample.unity.meta | 0 .../Scripts/Vehicles/G29_develop/Plugins.meta | 8 + .../Vehicles/G29_develop/Plugins/libG29FFB.so | Bin 0 -> 28832 bytes .../G29_develop/Plugins/libG29FFB.so.meta | 27 ++ .../G29_develop/Plugins/libMyCppLibrary.so | Bin 0 -> 15176 bytes .../Plugins/libMyCppLibrary.so.meta | 27 ++ .../Vehicles/G29_develop/Plugins/libSDL2.so | Bin 0 -> 1676536 bytes .../G29_develop/Plugins/libSDL2.so.meta | 27 ++ .../Vehicles/G29_develop}/VehicleG29Input.cs | 9 + .../G29_develop}/VehicleG29Input.cs.meta | 0 19 files changed, 445 insertions(+), 176 deletions(-) create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop.meta rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/AWSIM.inputactions (98%) rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/AWSIM.inputactions.meta (100%) create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs.meta rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/G29InputSample.unity (69%) rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/G29InputSample.unity.meta (100%) create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins.meta create mode 100755 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libG29FFB.so create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libG29FFB.so.meta create mode 100755 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libMyCppLibrary.so create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libMyCppLibrary.so.meta create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libSDL2.so create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libSDL2.so.meta rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/VehicleG29Input.cs (90%) rename Assets/AWSIM/{ => Scripts/Vehicles/G29_develop}/VehicleG29Input.cs.meta (100%) diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index deea39dfc..00c38f25e 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity @@ -744,10 +744,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 1} - m_AnchorMax: {x: 0, y: 1} - m_AnchoredPosition: {x: 165, y: -74} - m_SizeDelta: {x: 330, y: 128} + m_AnchorMin: {x: 0, y: 0} + m_AnchorMax: {x: 0, y: 0} + m_AnchoredPosition: {x: 0, y: 0} + m_SizeDelta: {x: 0, y: 128} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &105553751 MonoBehaviour: @@ -5911,10 +5911,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 3 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 1} - m_AnchorMax: {x: 0, y: 1} - m_AnchoredPosition: {x: 165, y: -660.905} - m_SizeDelta: {x: 330, y: 246.81} + m_AnchorMin: {x: 0, y: 0} + m_AnchorMax: {x: 0, y: 0} + m_AnchoredPosition: {x: 0, y: 0} + m_SizeDelta: {x: 0, y: 246.81} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1445957254 MonoBehaviour: @@ -6610,10 +6610,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 1} - m_AnchorMax: {x: 0, y: 1} - m_AnchoredPosition: {x: 165, y: -212} - m_SizeDelta: {x: 330, y: 128} + m_AnchorMin: {x: 0, y: 0} + m_AnchorMax: {x: 0, y: 0} + m_AnchoredPosition: {x: 0, y: 0} + m_SizeDelta: {x: 0, y: 128} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1622693342 MonoBehaviour: @@ -7320,10 +7320,10 @@ RectTransform: m_Father: {fileID: 51962877} m_RootOrder: 2 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} - m_AnchorMin: {x: 0, y: 1} - m_AnchorMax: {x: 0, y: 1} - m_AnchoredPosition: {x: 165, y: -406.75} - m_SizeDelta: {x: 330, y: 241.5} + m_AnchorMin: {x: 0, y: 0} + m_AnchorMax: {x: 0, y: 0} + m_AnchoredPosition: {x: 0, y: 0} + m_SizeDelta: {x: 0, y: 241.5} m_Pivot: {x: 0.5, y: 0.5} --- !u!114 &1812496617 MonoBehaviour: @@ -8626,10 +8626,6 @@ PrefabInstance: propertyPath: m_LocalEulerAnglesHint.z value: 0 objectReference: {fileID: 0} - - target: {fileID: 8237482850245883491, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} - propertyPath: ManuallyInput - value: - objectReference: {fileID: 2465439770829660653} - target: {fileID: 5653496621862650962, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: m_LocalRotation.w value: 1 @@ -8650,6 +8646,10 @@ PrefabInstance: propertyPath: m_LocalEulerAnglesHint.y value: 0 objectReference: {fileID: 0} + - target: {fileID: 8237482850245883491, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} + propertyPath: ManuallyInput + value: + objectReference: {fileID: 2465439770829660653} m_RemovedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} --- !u!1 &2465439770829660651 stripped @@ -8898,6 +8898,22 @@ MonoBehaviour: m_CallState: 2 m_ActionId: bc7b8ee8-91fe-4138-b83c-9080d2904847 m_ActionName: Vehicle/NoneTurnSignal[/Logitech G29 Driving Force Racing Wheel/hat/down] + - m_PersistentCalls: + m_Calls: + - m_Target: {fileID: 2465439770829660653} + m_TargetAssemblyTypeName: AWSIM.VehicleG29Input, AWSIM + m_MethodName: OnSteering + m_Mode: 0 + m_Arguments: + m_ObjectArgument: {fileID: 0} + m_ObjectArgumentAssemblyTypeName: UnityEngine.Object, UnityEngine + m_IntArgument: 0 + m_FloatArgument: 0 + m_StringArgument: + m_BoolArgument: 0 + m_CallState: 2 + m_ActionId: 06307756-3793-499c-bcdc-de9d123537ed + m_ActionName: Vehicle/Steering[/G29DrivingForceRacingWheelPS3/Stick/x] m_NeverAutoSwitchControlSchemes: 0 m_DefaultControlScheme: m_DefaultActionMap: Vehicle diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta new file mode 100644 index 000000000..693c0172e --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c5dcfe529b0efa05ba3ade62c0342806 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/AWSIM.inputactions b/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions similarity index 98% rename from Assets/AWSIM/AWSIM.inputactions rename to Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions index 91afab9f9..d47d18e8a 100644 --- a/Assets/AWSIM/AWSIM.inputactions +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions @@ -842,6 +842,14 @@ "expectedControlType": "Button", "processors": "", "interactions": "" + }, + { + "name": "Steering", + "type": "Value", + "id": "06307756-3793-499c-bcdc-de9d123537ed", + "expectedControlType": "", + "processors": "", + "interactions": "" } ], "bindings": [ @@ -1064,6 +1072,17 @@ "action": "NoneTurnSignal", "isComposite": false, "isPartOfComposite": false + }, + { + "name": "", + "id": "205c3630-4e4d-469c-ad58-2c428889c28b", + "path": "/Stick/x", + "interactions": "", + "processors": "", + "groups": "", + "action": "Steering", + "isComposite": false, + "isPartOfComposite": false } ] } diff --git a/Assets/AWSIM/AWSIM.inputactions.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions.meta similarity index 100% rename from Assets/AWSIM/AWSIM.inputactions.meta rename to Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions.meta diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs new file mode 100644 index 000000000..67ea070dc --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs @@ -0,0 +1,42 @@ +using System; +using System.Runtime.InteropServices; +using UnityEngine; + +public class CallCppFromUnity : MonoBehaviour +{ + // C++の共有ライブラリにある関数をインポート + [DllImport("MyCppLibrary")] + private static extern int Add(int a, int b); + + [DllImport("MyCppLibrary")] + private static extern float Multiple(float a, float b); + + [DllImport("G29FFB")] + private static extern bool InitDevice(); + + [DllImport("G29FFB")] + private static extern void UploadEffect(double torque, double attack_length); + + [Range(-0.3f, 0.3f)] + public float torque = 0; + + [Range(0, 0.5f)] + public float attackLength = 0; + + void Start() + { + // C++の関数を呼び出す + int result = Add(3, 4); + Debug.Log("Result from C++ Add: " + result); + + float multipleResult = Multiple(3, 4); + Debug.Log("Result from C++ Multiple: " + multipleResult); + + Debug.Log(InitDevice()); + } + + void Update() + { + UploadEffect((double)torque, (double)attackLength); + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta new file mode 100644 index 000000000..21fe80016 --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5b6e90667681cd22d9e38fc8dbca160d +MonoImporter: + 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[DllImport("libSDL2.so", EntryPoint = "SDL_JoystickOpen", CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr SDL_JoystickOpen(int device_index); + + [DllImport("libSDL2.so", EntryPoint = "SDL_JoystickClose", CallingConvention = CallingConvention.Cdecl)] + public static extern void SDL_JoystickClose(IntPtr joystick); + + [DllImport("libSDL2.so", EntryPoint = "SDL_HapticOpenFromJoystick", CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr SDL_HapticOpenFromJoystick(IntPtr joystick); + + [DllImport("libSDL2.so", EntryPoint = "SDL_HapticRumbleInit", CallingConvention = CallingConvention.Cdecl)] + public static extern int SDL_HapticRumbleInit(IntPtr haptic); + + [DllImport("libSDL2.so", EntryPoint = "SDL_HapticRumblePlay", CallingConvention = CallingConvention.Cdecl)] + public static extern int SDL_HapticRumblePlay(IntPtr haptic, float strength, uint length); + + [DllImport("libSDL2.so", EntryPoint = "SDL_HapticClose", CallingConvention = CallingConvention.Cdecl)] + public static extern void SDL_HapticClose(IntPtr haptic); + + void Start() + { + if (SDL_Init(SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC) < 0) + { + Debug.LogError("Failed to initialize SDL: " + Marshal.PtrToStringAnsi(SDL_GetError())); + return; + } + + int joystickIndex = 0; + IntPtr joystick = SDL_JoystickOpen(joystickIndex); + if (joystick == IntPtr.Zero) + { + Debug.LogError("Failed to open joystick: " + Marshal.PtrToStringAnsi(SDL_GetError())); + return; + } + + IntPtr haptic = SDL_HapticOpenFromJoystick(joystick); + if (haptic == IntPtr.Zero) + { + Debug.LogError("Failed to open haptic: " + Marshal.PtrToStringAnsi(SDL_GetError())); + return; + } + + if (SDL_HapticRumbleInit(haptic) < 0) + { + Debug.LogError("Failed to initialize haptic rumble: " + Marshal.PtrToStringAnsi(SDL_GetError())); + return; + } + + SDL_HapticRumblePlay(haptic, 0.75f, 2000); // Play rumble at 75% strength for 2000ms + + SDL_HapticClose(haptic); + SDL_JoystickClose(joystick); + SDL_Quit(); + } + + [DllImport("libSDL2.so", EntryPoint = "SDL_GetError", CallingConvention = CallingConvention.Cdecl)] + private static extern IntPtr SDL_GetError(); +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs.meta new file mode 100644 index 000000000..bb7d09262 --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 54515c24e29b8473f8ca0687a164635a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/G29InputSample.unity b/Assets/AWSIM/Scripts/Vehicles/G29_develop/G29InputSample.unity similarity index 69% rename from Assets/AWSIM/G29InputSample.unity rename to 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a/Assets/AWSIM/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs similarity index 90% rename from Assets/AWSIM/VehicleG29Input.cs rename to Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs index d4fbaadf5..210ca0913 100644 --- a/Assets/AWSIM/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs @@ -75,5 +75,14 @@ public void OnTurnSignalHazard(InputAction.CallbackContext context) if (TurnSignalInput != Vehicle.TurnSignal.HAZARD) TurnSignalInput = Vehicle.TurnSignal.HAZARD; } + + public void OnSteering(InputAction.CallbackContext context) + { + var steer = context.ReadValue(); + SteeringInput = steer * 35; + + Debug.Log(Time.time); + //Debug.Log(SteeringInput); + } } } \ No newline at end of file diff --git a/Assets/AWSIM/VehicleG29Input.cs.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs.meta similarity index 100% rename from Assets/AWSIM/VehicleG29Input.cs.meta rename to Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs.meta From 03b265af354ccebb9214cd3d0df5720681044096 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Mon, 8 Jul 2024 15:20:35 +0900 Subject: [PATCH 05/10] support g29 input on windows --- .../Vehicles/G29_develop/AWSIM.inputactions | 23 ++++++++++++++----- .../Vehicles/G29_develop/VehicleG29Input.cs | 14 +++++++---- 2 files changed, 27 insertions(+), 10 deletions(-) diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions b/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions index d47d18e8a..88fca8983 100644 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions @@ -768,7 +768,7 @@ "type": "Button", "id": "4ac7e49c-6b37-4592-9b33-f10f8f450b9c", "expectedControlType": "Button", - "processors": "Normalize(min=-1,max=1,zero=-1)", + "processors": "", "interactions": "" }, { @@ -856,9 +856,9 @@ { "name": "", "id": "741665dd-d5b6-4e84-a6bf-926f20eb9a70", - "path": "/stick/up", + "path": "/z", "interactions": "", - "processors": "", + "processors": "Invert,Normalize(min=-1,max=1,zero=-1)", "groups": "Joystick", "action": "Throttle", "isComposite": false, @@ -869,7 +869,7 @@ "id": "2aa7dd5e-11b7-4aa9-9a46-4eda2161b5a4", "path": "/Z", "interactions": "", - "processors": "Invert", + "processors": "Invert,Normalize(min=-1,max=1,zero=-1)", "groups": "", "action": "Throttle", "isComposite": false, @@ -878,9 +878,9 @@ { "name": "", "id": "72c07a0a-edd5-4197-8996-9b9275ca8fb0", - "path": "/stick/down", + "path": "/rz", "interactions": "", - "processors": "", + "processors": "Invert,Normalize(min=-1,max=1,zero=-1)", "groups": "Joystick", "action": "Brake", "isComposite": false, @@ -1073,6 +1073,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "f9dc2897-c963-4e6d-a89d-94946e890397", + "path": "/stick/x", + "interactions": "", + "processors": "", + "groups": "", + "action": "Steering", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "205c3630-4e4d-469c-ad58-2c428889c28b", diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs index 210ca0913..7d95a9e5a 100644 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs @@ -9,6 +9,13 @@ namespace AWSIM public class VehicleG29Input : VehicleInputBase { public float MaxAcceleration = 1.5f; + float MaxSteerAngle = 0; + [SerializeField] Vehicle vehicle; + + void OnEnable() + { + MaxSteerAngle = vehicle.MaxSteerAngleInput; + } public override void OnUpdate(VehicleControlMode currentControlMode) { @@ -20,6 +27,8 @@ public void OnThrottle(InputAction.CallbackContext context) { var throttle = context.ReadValue(); AccelerationInput = MaxAcceleration * throttle; + + Debug.Log(throttle); } public void OnBrake(InputAction.CallbackContext context) @@ -79,10 +88,7 @@ public void OnTurnSignalHazard(InputAction.CallbackContext context) public void OnSteering(InputAction.CallbackContext context) { var steer = context.ReadValue(); - SteeringInput = steer * 35; - - Debug.Log(Time.time); - //Debug.Log(SteeringInput); + SteeringInput = MaxSteerAngle * steer; } } } \ No newline at end of file From a437b8a85a6017a96df356f03e7ef892b0032d82 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Tue, 9 Jul 2024 03:09:24 +0900 Subject: [PATCH 06/10] add vehicle device settings ui --- .../Lexus RX450h 2015 Sample Sensor.prefab | 286 ++- .../Scenes/Main/AutowareSimulation.unity | 2137 +++++++++++++---- .../Vehicles/G29_develop/VehicleG29Input.cs | 2 - .../G29_develop/VehicleInputSettingsUI.cs | 81 + .../VehicleInputSettingsUI.cs.meta | 11 + .../Scripts/Vehicles/VehicleKeyboardInput.cs | 26 +- 6 files changed, 2056 insertions(+), 487 deletions(-) create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs create mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab index bf2c23c9a..24443fdf4 100644 --- a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab +++ b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab @@ -3065,6 +3065,8 @@ GameObject: - component: {fileID: 491222376262776323} - component: {fileID: 8335535232308220185} - component: {fileID: 528068037} + - component: {fileID: 2465439770829660652} + - component: {fileID: 2465439770829660653} m_Layer: 6 m_Name: Input m_TagString: Untagged @@ -3135,7 +3137,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 1caf401807b82804d82ea6a18e4be978, type: 3} m_Name: m_EditorClassIdentifier: - MaxAcceleraion: 1.5 + MaxAcceleration: 1.5 vehicle: {fileID: 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m_GameObject: {fileID: 0} m_Enabled: 1 m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: dd9d85ec43de625428590ccecf59d803, type: 3} + m_Script: {fileID: 11500000, guid: 1caf401807b82804d82ea6a18e4be978, type: 3} m_Name: m_EditorClassIdentifier: - MaxAcceleration: 1.5 --- !u!4 &7808269042169720464 stripped Transform: m_CorrespondingSourceObject: {fileID: 5650763240072318842, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs index 7d95a9e5a..fcc6bb5a9 100644 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs @@ -27,8 +27,6 @@ public void OnThrottle(InputAction.CallbackContext context) { var throttle = context.ReadValue(); AccelerationInput = MaxAcceleration * throttle; - - Debug.Log(throttle); } public void OnBrake(InputAction.CallbackContext context) diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs new file mode 100644 index 000000000..21bdcf32e --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs @@ -0,0 +1,81 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.UI; + +namespace AWSIM +{ + ///

    + /// Setting the vehicle input via device. + /// Supported devices include the following + /// - Keyboard + /// - Logitech g29 + /// + public class VehicleInputSettingsUI : MonoBehaviour + { + public enum VehicleDeviceInput + { + Keyboard = 0, + Logitech_g29 = 1, + } + + [Header("Vehicle Inputs")] + [SerializeField] VehicleOverrideInputManager overrideInputManager; + [SerializeField] VehicleKeyboardInput keyboardInput; + [SerializeField] VehicleG29Input g29Input; + + [Header("UI")] + [SerializeField] Dropdown dropdown; + [SerializeField] GameObject explainKeyboard; + [SerializeField] GameObject explainG29; + + private void OnEnable() + { + // Initialize setup dropdown + var initialInput = overrideInputManager.ManuallyInput; + + if (initialInput.GetType() == typeof(VehicleKeyboardInput)) + { + dropdown.value = (int)VehicleDeviceInput.Keyboard; + } + else if (initialInput.GetType() == typeof(VehicleG29Input)) + { + dropdown.value = (int)VehicleDeviceInput.Logitech_g29; + } + } + + static private VehicleDeviceInput IntToVehicleDeviceIpnut(int value) + { + return (VehicleDeviceInput)value; + } + + public void OnDropdownValueChanged(int dropdownIndex) + { + var deviceInput = IntToVehicleDeviceIpnut(dropdownIndex); + + if (deviceInput == VehicleDeviceInput.Keyboard) + { + // change input + overrideInputManager.ManuallyInput = keyboardInput; + keyboardInput.enabled = true; + g29Input.enabled = false; + + // change UI + explainKeyboard.SetActive(true); + explainG29.SetActive(false); + } + + else if (deviceInput == VehicleDeviceInput.Logitech_g29) + { + // change input + overrideInputManager.ManuallyInput = g29Input; + g29Input.enabled = true; + keyboardInput.enabled = false; + + // change UI + explainKeyboard.SetActive(false); + explainG29.SetActive(true); + } + } + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta new file mode 100644 index 000000000..ba4f0f968 --- /dev/null +++ b/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: bc76bd9edf2e11940ae3e9be0fa964b3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs index 5516e3894..284b0d418 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs @@ -35,10 +35,26 @@ public override void OnUpdate(VehicleControlMode currentControlMode) Overridden = false; // Get steering and acceleration input. - var horizontal = Input.GetAxis("Horizontal"); - var vertical = Input.GetAxis("Vertical"); - AccelerationInput = MaxAcceleration * vertical; - SteeringInput = MaxSteerAngle * horizontal; + //var horizontal = Input.GetAxis("Horizontal"); + //var vertical = Input.GetAxis("Vertical"); + //AccelerationInput = MaxAcceleration * vertical; + //SteeringInput = MaxSteerAngle * horizontal; + + // Get throttle input. + if (Input.GetKey(KeyCode.UpArrow)) + AccelerationInput = MaxAcceleration; + else if (Input.GetKey(KeyCode.DownArrow)) + AccelerationInput = -MaxAcceleration; + else + AccelerationInput = 0; + + // Get steering input. + if (Input.GetKey(KeyCode.LeftArrow)) + SteeringInput = MaxSteerAngle * -1; + else if (Input.GetKey(KeyCode.RightArrow)) + SteeringInput = MaxSteerAngle; + else + SteeringInput = 0; // Get gear input. if (Input.GetKey(KeyCode.D)) @@ -68,7 +84,7 @@ public override void OnUpdate(VehicleControlMode currentControlMode) if (currentControlMode == VehicleControlMode.AUTONOMOUS) { // Override the vehicle's control mode when a steering input or acceleration input is given. - if (Mathf.Abs(horizontal) > 0 || Mathf.Abs(vertical) > 0) + if (Mathf.Abs(AccelerationInput) > 0 || Mathf.Abs(SteeringInput) > 0) { Overridden = true; NewControlMode = VehicleControlMode.MANUAL; From e59fa9395749d98b36f39e1cfb65290181ad7d80 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Tue, 9 Jul 2024 03:39:55 +0900 Subject: [PATCH 07/10] remove wip file and add comment to VehicleG29Input --- .../G29_develop => Data}/AWSIM.inputactions | 11 + .../AWSIM.inputactions.meta | 0 .../VehicleInputSettingsUI.cs | 0 .../VehicleInputSettingsUI.cs.meta | 0 .../AWSIM/Scripts/Vehicles/G29_develop.meta | 8 - .../Vehicles/G29_develop/CallCppFromUnity.cs | 42 -- .../G29_develop/CallCppFromUnity.cs.meta | 11 - .../G29_develop/ForceFeedbackExample.cs | 72 --- .../G29_develop/ForceFeedbackExample.cs.meta | 11 - .../Vehicles/G29_develop/G29InputSample.unity | 596 ------------------ .../G29_develop/G29InputSample.unity.meta | 7 - .../Scripts/Vehicles/G29_develop/Plugins.meta | 8 - .../Vehicles/G29_develop/Plugins/libG29FFB.so | Bin 28832 -> 0 bytes .../G29_develop/Plugins/libG29FFB.so.meta | 27 - .../G29_develop/Plugins/libMyCppLibrary.so | Bin 15176 -> 0 bytes .../Plugins/libMyCppLibrary.so.meta | 27 - .../Vehicles/G29_develop/Plugins/libSDL2.so | Bin 1676536 -> 0 bytes .../G29_develop/Plugins/libSDL2.so.meta | 27 - .../{G29_develop => }/VehicleG29Input.cs | 15 + .../{G29_develop => }/VehicleG29Input.cs.meta | 0 20 files changed, 26 insertions(+), 836 deletions(-) rename Assets/AWSIM/{Scripts/Vehicles/G29_develop => Data}/AWSIM.inputactions (99%) rename Assets/AWSIM/{Scripts/Vehicles/G29_develop => Data}/AWSIM.inputactions.meta (100%) rename Assets/AWSIM/Scripts/{Vehicles/G29_develop => UI}/VehicleInputSettingsUI.cs (100%) rename Assets/AWSIM/Scripts/{Vehicles/G29_develop => UI}/VehicleInputSettingsUI.cs.meta (100%) delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop.meta delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs.meta delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/G29InputSample.unity delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/G29InputSample.unity.meta delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins.meta delete mode 100755 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libG29FFB.so delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libG29FFB.so.meta delete mode 100755 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libMyCppLibrary.so delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libMyCppLibrary.so.meta delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libSDL2.so delete mode 100644 Assets/AWSIM/Scripts/Vehicles/G29_develop/Plugins/libSDL2.so.meta rename Assets/AWSIM/Scripts/Vehicles/{G29_develop => }/VehicleG29Input.cs (84%) rename Assets/AWSIM/Scripts/Vehicles/{G29_develop => }/VehicleG29Input.cs.meta (100%) diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions b/Assets/AWSIM/Data/AWSIM.inputactions similarity index 99% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions rename to Assets/AWSIM/Data/AWSIM.inputactions index 88fca8983..9b0ce445a 100644 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions +++ b/Assets/AWSIM/Data/AWSIM.inputactions @@ -875,6 +875,17 @@ "isComposite": false, "isPartOfComposite": false }, + { + "name": "", + "id": "1860f252-6869-401a-a631-6e07c1bac3a6", + "path": "/upArrow", + "interactions": "", + "processors": "", + "groups": "", + "action": "Throttle", + "isComposite": false, + "isPartOfComposite": false + }, { "name": "", "id": "72c07a0a-edd5-4197-8996-9b9275ca8fb0", diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions.meta b/Assets/AWSIM/Data/AWSIM.inputactions.meta similarity index 100% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/AWSIM.inputactions.meta rename to Assets/AWSIM/Data/AWSIM.inputactions.meta diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs b/Assets/AWSIM/Scripts/UI/VehicleInputSettingsUI.cs similarity index 100% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs rename to Assets/AWSIM/Scripts/UI/VehicleInputSettingsUI.cs diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta b/Assets/AWSIM/Scripts/UI/VehicleInputSettingsUI.cs.meta similarity index 100% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleInputSettingsUI.cs.meta rename to Assets/AWSIM/Scripts/UI/VehicleInputSettingsUI.cs.meta diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta deleted file mode 100644 index 693c0172e..000000000 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: c5dcfe529b0efa05ba3ade62c0342806 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs deleted file mode 100644 index 67ea070dc..000000000 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs +++ /dev/null @@ -1,42 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using UnityEngine; - -public class CallCppFromUnity : MonoBehaviour -{ - // C++の共有ライブラリにある関数をインポート - [DllImport("MyCppLibrary")] - private static extern int Add(int a, int b); - - [DllImport("MyCppLibrary")] - private static extern float Multiple(float a, float b); - - [DllImport("G29FFB")] - private static extern bool InitDevice(); - - [DllImport("G29FFB")] - private static extern void UploadEffect(double torque, double attack_length); - - [Range(-0.3f, 0.3f)] - public float torque = 0; - - [Range(0, 0.5f)] - public float attackLength = 0; - - void Start() - { - // C++の関数を呼び出す - int result = Add(3, 4); - Debug.Log("Result from C++ Add: " + result); - - float multipleResult = Multiple(3, 4); - Debug.Log("Result from C++ Multiple: " + multipleResult); - - Debug.Log(InitDevice()); - } - - void Update() - { - UploadEffect((double)torque, (double)attackLength); - } -} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta b/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta deleted file mode 100644 index 21fe80016..000000000 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/CallCppFromUnity.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5b6e90667681cd22d9e38fc8dbca160d -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs b/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs deleted file mode 100644 index 3ba39583a..000000000 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/ForceFeedbackExample.cs +++ /dev/null @@ -1,72 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using UnityEngine; - -public class ForceFeedbackExample : MonoBehaviour -{ - private const uint SDL_INIT_JOYSTICK = 0x00000200; - private const uint SDL_INIT_HAPTIC = 0x00001000; - - [DllImport("libSDL2.so", EntryPoint = "SDL_Init", CallingConvention = CallingConvention.Cdecl)] - public static extern int SDL_Init(uint flags); - - [DllImport("libSDL2.so", EntryPoint = "SDL_Quit", CallingConvention = CallingConvention.Cdecl)] - public static extern void SDL_Quit(); - - [DllImport("libSDL2.so", EntryPoint = "SDL_JoystickOpen", CallingConvention 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haptic); - - void Start() - { - if (SDL_Init(SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC) < 0) - { - Debug.LogError("Failed to initialize SDL: " + Marshal.PtrToStringAnsi(SDL_GetError())); - return; - } - - int joystickIndex = 0; - IntPtr joystick = SDL_JoystickOpen(joystickIndex); - if (joystick == IntPtr.Zero) - { - Debug.LogError("Failed to open joystick: " + Marshal.PtrToStringAnsi(SDL_GetError())); - return; - } - - IntPtr haptic = SDL_HapticOpenFromJoystick(joystick); - if (haptic == IntPtr.Zero) - { - Debug.LogError("Failed to open haptic: " + Marshal.PtrToStringAnsi(SDL_GetError())); - return; - } - - if (SDL_HapticRumbleInit(haptic) < 0) - { - Debug.LogError("Failed to initialize haptic rumble: " + Marshal.PtrToStringAnsi(SDL_GetError())); - return; - } - - SDL_HapticRumblePlay(haptic, 0.75f, 2000); // Play rumble at 75% strength for 2000ms - - SDL_HapticClose(haptic); - SDL_JoystickClose(joystick); - SDL_Quit(); - } - - [DllImport("libSDL2.so", EntryPoint = "SDL_GetError", 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a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs similarity index 84% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs rename to Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs index fcc6bb5a9..8c50a603c 100644 --- a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs @@ -6,6 +6,21 @@ namespace AWSIM { + ///

    + /// Input Class for Logitech G29 Racing Wheel. + /// + /// ----- key binds ----- + /// Throttle : Throttle pedal + /// Brake : Brake pedal + /// Steering : Steering wheel + /// D gear : Triangle button + /// P gear : Cross button + /// R gear : Square button + /// N gear : Circle button + /// Left signal : Left D-pad + /// Right signal : Right D-pad + /// Hazard signal : Up D-pad + /// None signal : Down D-pad public class VehicleG29Input : VehicleInputBase { public float MaxAcceleration = 1.5f; diff --git a/Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs.meta similarity index 100% rename from Assets/AWSIM/Scripts/Vehicles/G29_develop/VehicleG29Input.cs.meta rename to Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs.meta From b82be3d9505fde2a0757c24b4fdf89a00d1cb7d7 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Tue, 9 Jul 2024 19:47:05 +0900 Subject: [PATCH 08/10] Inherit SHIFT and SIGNAL when overriding --- Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs | 10 ++++++++-- Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs | 2 ++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs index 8c50a603c..31b4377b3 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs @@ -34,8 +34,14 @@ void OnEnable() public override void OnUpdate(VehicleControlMode currentControlMode) { - Overridden = true; - NewControlMode = VehicleControlMode.MANUAL; + // Override the vehicle's control mode when a steering input or acceleration input is given. + if (Mathf.Abs(AccelerationInput) > 0 || Mathf.Abs(SteeringInput) > 0) + { + Overridden = true; + NewControlMode = VehicleControlMode.MANUAL; + ShiftInput = vehicle.AutomaticShift; + TurnSignalInput = vehicle.Signal; + } } public void OnThrottle(InputAction.CallbackContext context) diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs index 284b0d418..9eb6df965 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleKeyboardInput.cs @@ -88,6 +88,8 @@ public override void OnUpdate(VehicleControlMode currentControlMode) { Overridden = true; NewControlMode = VehicleControlMode.MANUAL; + ShiftInput = vehicle.AutomaticShift; + TurnSignalInput = vehicle.Signal; } // TODO: Implement switches to other overrides. From 4bd94f5b735ad4ca852ae6fc8aa2c8aa777320bf Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Tue, 9 Jul 2024 22:46:46 +0900 Subject: [PATCH 09/10] fix checking g29 override steer value --- .../Scenes/Main/AutowareSimulation.unity | 118 +++++++++--------- .../AWSIM/Scripts/Vehicles/VehicleG29Input.cs | 2 +- 2 files changed, 60 insertions(+), 60 deletions(-) diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index aac8ba4cc..9039d90dd 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 1536.2207, g: 1903.2129, b: 2518.254, a: 1} + m_IndirectSpecularColor: {r: 1520.0924, g: 1884.674, b: 2491.8425, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -5319,10 +5319,10 @@ MonoBehaviour: m_HorizontalOverflow: 0 m_VerticalOverflow: 0 m_LineSpacing: 1 - m_Text: "Throttle\t\t : Throttle pedal\nBrake\t\t : Brake pedal\nSteering - \t\t\t : Steering wheel\nDrive gear\t : Triangle\nParking gear\t : Cross\nReverse - gear \t : Square\nNeutral gear\t : Circle\nLeft signal\t \t : Left D-pad\nRight - signal\t\t : Right D-pad\nHazard signal\t : Up D-pad\nNone signal \t : Down D-pad" + m_Text: "Throttle\t\t\t: Throttle pedal\nBrake\t\t\t\t: Brake pedal\nSteering\t\t\t: + Steering wheel\nDrive gear\t\t: Triangle\nParking gear\t: Cross\nReverse gear\t: + Square\nNeutral gear\t: Circle\nLeft signal\t\t: Left D-pad\nRight signal\t\t: + Right D-pad\nHazard signal\t: Up D-pad\nNone signal \t\t: Down D-pad" --- !u!222 &1062759164 CanvasRenderer: m_ObjectHideFlags: 0 @@ -6992,7 +6992,7 @@ MonoBehaviour: m_TargetGraphic: {fileID: 1440300546} m_HandleRect: {fileID: 1440300545} m_Direction: 0 - m_Value: 0 + m_Value: 1 m_Size: 1 m_NumberOfSteps: 0 m_OnValueChanged: @@ -7786,10 +7786,10 @@ MonoBehaviour: m_HorizontalOverflow: 0 m_VerticalOverflow: 0 m_LineSpacing: 1 - m_Text: "Throttle\t\t : Up arrow\nBrake\t\t : Down arrow\nSteering - \t\t\t : Left / Right arrow\nDrive gear\t : D\nParking gear\t : P\nReverse - gear \t : R\nNeutral gear\t : N\nLeft signal\t \t : 1 \nRight signal\t\t : 2\nHazard - signal\t : 3\nNone signal \t : 4" + m_Text: "Throttle\t\t\t: Up arrow\nBrake\t\t\t\t: Down arrow\nSteering\t\t\t: Left + / Right arrow\nDrive gear\t\t: D\nParking gear\t: P\nReverse gear \t: R\nNeutral + gear\t: N\nLeft signal\t\t: 1 \nRight signal\t\t: 2\nHazard signal\t: 3\nNone + signal \t\t: 4" --- !u!222 &1713026578 CanvasRenderer: m_ObjectHideFlags: 0 @@ -8458,8 +8458,8 @@ MonoBehaviour: m_TargetGraphic: {fileID: 1925267639} m_HandleRect: {fileID: 1925267638} m_Direction: 2 - m_Value: 1 - m_Size: 0.89005363 + m_Value: 0 + m_Size: 1 m_NumberOfSteps: 0 m_OnValueChanged: m_PersistentCalls: @@ -9871,6 +9871,53 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 23c1ce4fb46143f46bc5cb5224c934f6, type: 3} m_Name: m_EditorClassIdentifier: + m_Version: 7 + m_ObsoleteRenderingPath: 0 + m_ObsoleteFrameSettings: + overrides: 0 + enableShadow: 0 + enableContactShadows: 0 + enableShadowMask: 0 + enableSSR: 0 + enableSSAO: 0 + enableSubsurfaceScattering: 0 + enableTransmission: 0 + enableAtmosphericScattering: 0 + enableVolumetrics: 0 + enableReprojectionForVolumetrics: 0 + enableLightLayers: 0 + enableExposureControl: 1 + diffuseGlobalDimmer: 0 + specularGlobalDimmer: 0 + shaderLitMode: 0 + enableDepthPrepassWithDeferredRendering: 0 + enableTransparentPrepass: 0 + enableMotionVectors: 0 + enableObjectMotionVectors: 0 + enableDecals: 0 + enableRoughRefraction: 0 + enableTransparentPostpass: 0 + enableDistortion: 0 + enablePostprocess: 0 + enableOpaqueObjects: 0 + enableTransparentObjects: 0 + enableRealtimePlanarReflection: 0 + enableMSAA: 0 + enableAsyncCompute: 0 + runLightListAsync: 0 + runSSRAsync: 0 + runSSAOAsync: 0 + runContactShadowsAsync: 0 + runVolumeVoxelizationAsync: 0 + lightLoopSettings: + overrides: 0 + enableDeferredTileAndCluster: 0 + enableComputeLightEvaluation: 0 + enableComputeLightVariants: 0 + enableComputeMaterialVariants: 0 + enableFptlForForwardOpaque: 0 + enableBigTilePrepass: 0 + isFptlEnabled: 0 clearColorMode: 0 backgroundColorHDR: {r: 0.025, g: 0.07, b: 0.19, a: 0} clearDepth: 1 @@ -9926,53 +9973,6 @@ MonoBehaviour: data1: 0 data2: 0 defaultFrameSettings: 0 - m_Version: 7 - m_ObsoleteRenderingPath: 0 - m_ObsoleteFrameSettings: - overrides: 0 - enableShadow: 0 - enableContactShadows: 0 - enableShadowMask: 0 - enableSSR: 0 - enableSSAO: 0 - enableSubsurfaceScattering: 0 - enableTransmission: 0 - enableAtmosphericScattering: 0 - enableVolumetrics: 0 - enableReprojectionForVolumetrics: 0 - enableLightLayers: 0 - enableExposureControl: 1 - diffuseGlobalDimmer: 0 - specularGlobalDimmer: 0 - shaderLitMode: 0 - enableDepthPrepassWithDeferredRendering: 0 - enableTransparentPrepass: 0 - enableMotionVectors: 0 - enableObjectMotionVectors: 0 - enableDecals: 0 - enableRoughRefraction: 0 - enableTransparentPostpass: 0 - enableDistortion: 0 - enablePostprocess: 0 - enableOpaqueObjects: 0 - enableTransparentObjects: 0 - enableRealtimePlanarReflection: 0 - enableMSAA: 0 - enableAsyncCompute: 0 - runLightListAsync: 0 - runSSRAsync: 0 - runSSAOAsync: 0 - runContactShadowsAsync: 0 - runVolumeVoxelizationAsync: 0 - lightLoopSettings: - overrides: 0 - enableDeferredTileAndCluster: 0 - enableComputeLightEvaluation: 0 - enableComputeLightVariants: 0 - enableComputeMaterialVariants: 0 - enableFptlForForwardOpaque: 0 - enableBigTilePrepass: 0 - isFptlEnabled: 0 --- !u!81 &2122627085 AudioListener: m_ObjectHideFlags: 0 diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs index 31b4377b3..d1a19571d 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleG29Input.cs @@ -35,7 +35,7 @@ void OnEnable() public override void OnUpdate(VehicleControlMode currentControlMode) { // Override the vehicle's control mode when a steering input or acceleration input is given. - if (Mathf.Abs(AccelerationInput) > 0 || Mathf.Abs(SteeringInput) > 0) + if (Mathf.Abs(AccelerationInput) > 0 || Mathf.Abs(SteeringInput) > 0.2f) { Overridden = true; NewControlMode = VehicleControlMode.MANUAL; From 0008c35d317b8653696253ca4a7f5eed3f57ffd9 Mon Sep 17 00:00:00 2001 From: mackierx111 Date: Tue, 9 Jul 2024 23:16:37 +0900 Subject: [PATCH 10/10] fix vehicle setting ui --- .../Scenes/Main/AutowareSimulation.unity | 110 +++++++++--------- 1 file changed, 55 insertions(+), 55 deletions(-) diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index 9039d90dd..157565ec8 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 1520.0924, g: 1884.674, b: 2491.8425, a: 1} + m_IndirectSpecularColor: {r: 1536.2207, g: 1903.2129, b: 2518.254, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -5266,7 +5266,7 @@ GameObject: m_Icon: {fileID: 0} m_NavMeshLayer: 0 m_StaticEditorFlags: 0 - m_IsActive: 0 + m_IsActive: 1 --- !u!224 &1062759162 RectTransform: m_ObjectHideFlags: 0 @@ -5322,7 +5322,7 @@ MonoBehaviour: m_Text: "Throttle\t\t\t: Throttle pedal\nBrake\t\t\t\t: Brake pedal\nSteering\t\t\t: Steering wheel\nDrive gear\t\t: Triangle\nParking gear\t: Cross\nReverse gear\t: Square\nNeutral gear\t: Circle\nLeft signal\t\t: Left D-pad\nRight signal\t\t: - Right D-pad\nHazard signal\t: Up D-pad\nNone signal \t\t: Down D-pad" + Right D-pad\nHazard signal\t: Up D-pad\nNone signal\t\t: Down D-pad" --- !u!222 &1062759164 CanvasRenderer: m_ObjectHideFlags: 0 @@ -6992,7 +6992,7 @@ MonoBehaviour: m_TargetGraphic: {fileID: 1440300546} m_HandleRect: {fileID: 1440300545} m_Direction: 0 - m_Value: 1 + m_Value: 0 m_Size: 1 m_NumberOfSteps: 0 m_OnValueChanged: @@ -7733,7 +7733,7 @@ GameObject: m_Icon: {fileID: 0} m_NavMeshLayer: 0 m_StaticEditorFlags: 0 - m_IsActive: 1 + m_IsActive: 0 --- !u!224 &1713026576 RectTransform: m_ObjectHideFlags: 0 @@ -7789,7 +7789,7 @@ MonoBehaviour: m_Text: "Throttle\t\t\t: Up arrow\nBrake\t\t\t\t: Down arrow\nSteering\t\t\t: Left / Right arrow\nDrive gear\t\t: D\nParking gear\t: P\nReverse gear \t: R\nNeutral gear\t: N\nLeft signal\t\t: 1 \nRight signal\t\t: 2\nHazard signal\t: 3\nNone - signal \t\t: 4" + signal\t\t: 4" --- !u!222 &1713026578 CanvasRenderer: m_ObjectHideFlags: 0 @@ -8458,8 +8458,8 @@ MonoBehaviour: m_TargetGraphic: {fileID: 1925267639} m_HandleRect: {fileID: 1925267638} m_Direction: 2 - m_Value: 0 - m_Size: 1 + m_Value: 1 + m_Size: 0.89005363 m_NumberOfSteps: 0 m_OnValueChanged: m_PersistentCalls: @@ -9871,53 +9871,6 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 23c1ce4fb46143f46bc5cb5224c934f6, type: 3} m_Name: m_EditorClassIdentifier: - m_Version: 7 - m_ObsoleteRenderingPath: 0 - m_ObsoleteFrameSettings: - overrides: 0 - enableShadow: 0 - enableContactShadows: 0 - enableShadowMask: 0 - enableSSR: 0 - enableSSAO: 0 - enableSubsurfaceScattering: 0 - enableTransmission: 0 - enableAtmosphericScattering: 0 - enableVolumetrics: 0 - enableReprojectionForVolumetrics: 0 - enableLightLayers: 0 - enableExposureControl: 1 - diffuseGlobalDimmer: 0 - specularGlobalDimmer: 0 - shaderLitMode: 0 - enableDepthPrepassWithDeferredRendering: 0 - enableTransparentPrepass: 0 - enableMotionVectors: 0 - enableObjectMotionVectors: 0 - enableDecals: 0 - enableRoughRefraction: 0 - enableTransparentPostpass: 0 - enableDistortion: 0 - enablePostprocess: 0 - enableOpaqueObjects: 0 - enableTransparentObjects: 0 - enableRealtimePlanarReflection: 0 - enableMSAA: 0 - enableAsyncCompute: 0 - runLightListAsync: 0 - runSSRAsync: 0 - runSSAOAsync: 0 - runContactShadowsAsync: 0 - runVolumeVoxelizationAsync: 0 - lightLoopSettings: - overrides: 0 - enableDeferredTileAndCluster: 0 - 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