CLOiSim-2.3.1

[Major Changes]

* Upgrade Unity editor version
  -> 2020.3.7f1 (LTS)

* Sensor Device related
  * parsing output type for laser scan in LaserPlugin
  * Memory handling for native array in Camera Sensor device
  * Modify Lidar Sensor Device code
    - using callback function for AsyncGPUReadackRequest
    - native array memory handling for LaserCamData and DepthCamBuffer structure
  * handling Memory leackage for nativearray in Lidar Sensor devcie
  
* SDF related  
  * Change wheel properties in MicomPlugin
  : wheel/base -> wheel/tread


[Minor Changes]

* Versions
  * Update app version info in Project settings
    : 2.3.0 -> 2.3.1

* Sensor Device
  * Add protection code in depth camera
    - null check for compute shader	
  * Change class name
    - DevicePlugin -> CLOiSimPlugin
    - DevicesPlugin -> CLOiSimMultiPlugin
  * Handling CLOiSimPlugin when destory the objects before close the application -> Stop thread
  * Change to reusable command buffer in Camera Sensor device
  * Trying to save memory in Motor Module and it does not call SetTargetVelocityAndForce() method when direction is switched
  * missing call base method from OnDestroy() method in inherited class
  * Change global spherical coordniates for GPS sensor device in DeviceHelper

* General
  * Disable BakeMesh option in ProjectSeetings

* Services
  * remove websocket when destory the object

* GUI
  * add yield for coroutine in MarkerVisualizer
  * Moved Drawing contact line on Editor mode into OnDrawGizmos() method for SDF.Helper.Link() class


[Bug fix]

* Sensor device
  * Bug Fix: missed calling ProcessDevice() method in DeviceThread()

Assets/Scripts/CLOiSimPlugins/CLOiSimMultiPlugin.cs

@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2020 LG Electronics Inc.
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+using System.Collections.Generic;
+using System.Xml;
+using UnityEngine;
+
+public abstract class CLOiSimMultiPlugin : CLOiSimPlugin
+{
+	private Dictionary<string, CLOiSimPlugin> CLOiSimPlugins = new Dictionary<string, CLOiSimPlugin>();
+
+	public void AddCLOiSimPlugin(in string deviceName, in CLOiSimPlugin CLOiSimPlugin)
+	{
+		CLOiSimPlugins.Add(deviceName, CLOiSimPlugin);
+	}
+}

Assets/Scripts/DevicePlugins/DevicePlugin.InfoService.cs → Assets/Scripts/CLOiSimPlugins/CLOiSimPlugin.InfoService.cs

@@ -11,7 +11,7 @@
 using messages = cloisim.msgs;
 using Any = cloisim.msgs.Any;
 
-public abstract partial class DevicePlugin : DeviceTransporter, IDevicePlugin
+public abstract partial class CLOiSimPlugin : DeviceTransporter, ICLOiSimPlugin
 {
 	protected static messages.Param ParsingInfoRequest(in byte[] srcReceivedBuffer, ref MemoryStream dstCameraInfoMemStream)
 	{

Assets/Scripts/DevicePlugins/DevicePlugin.cs → Assets/Scripts/CLOiSimPlugins/CLOiSimPlugin.cs

@@ -10,25 +10,25 @@
 using UnityEngine;
 using System.Xml;
 
-public interface IDevicePlugin
+public interface ICLOiSimPlugin
 {
 	void SetPluginName(in string name);
 	void SetPluginParameters(in XmlNode node);
 	void Reset();
 }
 
-public abstract partial class DevicePlugin : DeviceTransporter, IDevicePlugin
+public abstract partial class CLOiSimPlugin : DeviceTransporter, ICLOiSimPlugin
 {
 	public enum Type {WORLD, ELEVATOR, MICOM, GPS, LASER, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE};
 
 	public Type type { get; protected set; }
 
-	private BridgeManager bridgeManager = null;
+	private static BridgeManager bridgeManager = null;
 
 	public string modelName { get; protected set; } = string.Empty;
 	public string partName { get; protected set; } = string.Empty;
 
-	private Pose devicePluginPose = Pose.identity;
+	private Pose pluginPose = Pose.identity;
 
 	public string pluginName { get; protected set; } = string.Empty;
 	protected SDF.Helper.PluginParameters parameters = new SDF.Helper.PluginParameters();
@@ -41,10 +41,19 @@ public enum Type {WORLD, ELEVATOR, MICOM, GPS, LASER, CAMERA, DEPTHCAMERA, MULTI
 
 	protected bool IsRunningThread => runningThread;
 
+	public void Stop() { runningThread = false; }
+
+	private Device device = null;
+
 	protected abstract void OnAwake();
 	protected abstract void OnStart();
 	protected virtual void OnReset() {}
 
+	public void SetDevice(in Device device)
+	{
+		this.device = device;
+	}
+
 	protected bool AddThread(in ThreadStart function)
 	{
 		if (function != null)
@@ -68,7 +77,7 @@ private void StartThreads()
 		}
 	}
 
-	public void ChangePluginType(in DevicePlugin.Type targetType)
+	public void ChangePluginType(in CLOiSimPlugin.Type targetType)
 	{
 		type = targetType;
 	}
@@ -92,7 +101,7 @@ public void SetPluginParameters(in XmlNode node)
 
 	public Pose GetPose()
 	{
-		return devicePluginPose;
+		return pluginPose;
 	}
 
 	private bool PrepareDevice(in string subPartName, out ushort port, out ulong hash)
@@ -182,10 +191,13 @@ void Awake()
 		}
 		else
 		{
-			bridgeManager = coreObject.GetComponent<BridgeManager>();
 			if (bridgeManager == null)
 			{
-				Debug.LogError("Failed to get 'bridgeManager'!!!!");
+				bridgeManager = coreObject.GetComponent<BridgeManager>();
+				if (bridgeManager == null)
+				{
+					Debug.LogError("Failed to get 'bridgeManager'!!!!");
+				}
 			}
 		}
 
@@ -221,7 +233,6 @@ public void Reset()
 
 	void OnDestroy()
 	{
-		// Debug.Log("DevicePlugin destroied");
 		runningThread = false;
 		foreach (var thread in threadList)
 		{
@@ -230,6 +241,7 @@ void OnDestroy()
 				if (thread.IsAlive)
 				{
 					thread.Join();
+					thread.Abort();
 				}
 			}
 		}
@@ -240,6 +252,8 @@ void OnDestroy()
 		{
 			DeregisterDevice(hashKey);
 		}
+
+		// Debug.Log(name + ", CLOiSimPlugin destroyed !!!!!!!!!!!");
 	}
 
 	protected void ThreadWait()
@@ -250,8 +264,8 @@ protected void ThreadWait()
 	private void StorePose()
 	{
 		// Debug.Log(deviceName + ":" + transform.name);
-		devicePluginPose.position = transform.localPosition;
-		devicePluginPose.rotation = transform.localRotation;
+		pluginPose.position = transform.localPosition;
+		pluginPose.rotation = transform.localRotation;
 	}
 
 	protected static void ClearMemoryStream(ref MemoryStream ms)

Assets/Scripts/DevicePlugins/CameraPlugin.cs → Assets/Scripts/CLOiSimPlugins/CameraPlugin.cs

@@ -6,7 +6,7 @@
 
 using Stopwatch = System.Diagnostics.Stopwatch;
 
-public class CameraPlugin : DevicePlugin
+public class CameraPlugin : CLOiSimPlugin
 {
 	private SensorDevices.Camera cam = null;
 

Assets/Scripts/DevicePlugins/ElevatorSystem.Elevator.cs → Assets/Scripts/CLOiSimPlugins/ElevatorSystem.Elevator.cs

@@ -6,7 +6,7 @@
 
 using UnityEngine;
 
-public partial class ElevatorSystem : DevicePlugin
+public partial class ElevatorSystem : CLOiSimPlugin
 {
 	private enum ElevatorState {STOP = 0, UPWARD, DOWNWARD};
 	private struct ElevatorEntity

Assets/Scripts/DevicePlugins/ElevatorSystem.cs → Assets/Scripts/CLOiSimPlugins/ElevatorSystem.cs

@@ -16,7 +16,7 @@
 using Param = cloisim.msgs.Param;
 using Any = cloisim.msgs.Any;
 
-public partial class ElevatorSystem : DevicePlugin
+public partial class ElevatorSystem : CLOiSimPlugin
 {
 	private enum ElevatorTaskState {DOOR_OPEN, DOOR_CLOSE, STANDBY, PROCESSING, DONE}
 

Assets/Scripts/DevicePlugins/GpsPlugin.cs → Assets/Scripts/CLOiSimPlugins/GpsPlugin.cs

@@ -6,7 +6,7 @@
 
 using Stopwatch = System.Diagnostics.Stopwatch;
 
-public class GpsPlugin : DevicePlugin
+public class GpsPlugin : CLOiSimPlugin
 {
 	private SensorDevices.GPS gps = null;
 

Assets/Scripts/DevicePlugins/LaserPlugin.cs → Assets/Scripts/CLOiSimPlugins/LaserPlugin.cs

@@ -4,9 +4,13 @@
  * SPDX-License-Identifier: MIT
  */
 
+using System.IO;
+using ProtoBuf;
 using Stopwatch = System.Diagnostics.Stopwatch;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
-public class LaserPlugin : DevicePlugin
+public class LaserPlugin : CLOiSimPlugin
 {
 	private SensorDevices.Lidar lidar = null;
 
@@ -67,6 +71,10 @@ private void Response()
 						SetROS2CommonInfoResponse(ref msForInfoResponse, topic_name, frame_id);
 						break;
 
+					case "request_output_type":
+						SetOutputTypeResponse(ref msForInfoResponse);
+						break;
+
 					case "request_transform":
 						var devicePose = device.GetPose();
 
@@ -83,4 +91,15 @@ private void Response()
 			ThreadWait();
 		}
 	}
+
+	private void SetOutputTypeResponse(ref MemoryStream msInfo)
+	{
+		var output_type = parameters.GetValue<string>("output_type", "LaserScan");
+		var outputTypeInfo = new messages.Param();
+		outputTypeInfo.Name = "output_type";
+		outputTypeInfo.Value = new Any { Type = Any.ValueType.String, StringValue = output_type };
+
+		ClearMemoryStream(ref msInfo);
+		Serializer.Serialize<messages.Param>(msInfo, outputTypeInfo);
+	}
 }

Assets/Scripts/DevicePlugins/MicomPlugin.cs → Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs

@@ -10,7 +10,7 @@
 using messages = cloisim.msgs;
 using Any = cloisim.msgs.Any;
 
-public class MicomPlugin : DevicePlugin
+public class MicomPlugin : CLOiSimPlugin
 {
 	private MicomInput micomInput = null;
 	private MicomSensor micomSensor = null;
@@ -173,7 +173,7 @@ private void SetWheelInfoResponse(ref MemoryStream msWheelInfo)
 		wheelInfo.Value = new Any { Type = Any.ValueType.None };
 
 		var baseInfo = new messages.Param();
-		baseInfo.Name = "base";
+		baseInfo.Name = "tread";
 		baseInfo.Value = new Any { Type = Any.ValueType.Double, DoubleValue = micomSensor.WheelBase };
 		wheelInfo.Childrens.Add(baseInfo);
 

Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs → Assets/Scripts/CLOiSimPlugins/MultiCameraPlugin.cs

@@ -11,7 +11,7 @@
 using messages = cloisim.msgs;
 using Any = cloisim.msgs.Any;
 
-public class MultiCameraPlugin : DevicePlugin
+public class MultiCameraPlugin : CLOiSimPlugin
 {
 	private SensorDevices.MultiCamera multicam = null;
 

Assets/Scripts/DevicePlugins/README.md → Assets/Scripts/CLOiSimPlugins/README.md

@@ -1,4 +1,4 @@
-# DevicePlugins
+# CLOiSimPlugin
 
 These plugin scripts are for sensor connection.
 
@@ -17,7 +17,7 @@ For example, if it describes a name with 'RobotControl' in `<plugin>` attributes
       <kd>0.0</kd>
     </PID>
     <wheel>
-      <base>449</base>
+      <tread>449</tread>
       <radius>95.5</radius>
       <location type="left">LeftWheel</location>
       <location type="right">RightWheel</location>

Assets/Scripts/DevicePlugins/RealSensePlugin.cs → Assets/Scripts/CLOiSimPlugins/RealSensePlugin.cs

@@ -11,7 +11,7 @@
 using messages = cloisim.msgs;
 using Any = cloisim.msgs.Any;
 
-public class RealSensePlugin : DevicesPlugin
+public class RealSensePlugin : CLOiSimMultiPlugin
 {
 	private Camera[] cameras = null;
 	private List<string> activatedModules = new List<string>();
@@ -71,10 +71,10 @@ private CameraPlugin FindAndAddCameraPlugin(in string name)
 			if (camera.gameObject.name.Equals(name))
 			{
 				var plugin = camera.gameObject.AddComponent<CameraPlugin>();
-				plugin.ChangePluginType(DevicePlugin.Type.REALSENSE);
+				plugin.ChangePluginType(CLOiSimPlugin.Type.REALSENSE);
 				plugin.subPartName = name;
 
-				AddDevicePlugin(name, plugin);
+				AddCLOiSimPlugin(name, plugin);
 				activatedModules.Add(name);
 				return plugin;
 			}

Assets/Scripts/Core/BridgeManager.cs

@@ -19,12 +19,12 @@ public class BridgeManager : MonoBehaviour
 	private Dictionary<string, ushort> haskKeyPortMapTable = new Dictionary<string, ushort>();
 
 	/*
-	 * ModelName, DevicePluginType, Devicename, topic : portnumber
+	 * ModelName, CLOiSimPluginType, Devicename, topic : portnumber
 	 *
 	 * {
 	 * 	"ModelName":
 	 *	{
-	 * 		"DevicePluginType":
+	 * 		"CLOiSimPluginType":
 	 * 		{
 	 * 			"PartsName":
 	 * 			{

Assets/Scripts/Core/SimulationService.cs

@@ -81,6 +81,8 @@ void OnDestroy()
 		if (wsServer != null)
 		{
 			Debug.Log("Stop WebSocket Server");
+			wsServer.RemoveWebSocketService("/control");
+			wsServer.RemoveWebSocketService("/markers");
 			wsServer.Stop();
 		}
 	}

Assets/Scripts/Core/SimulationWorld.cs

@@ -6,7 +6,7 @@
 
 using UnityEngine;
 
-public class SimulationWorld : DevicePlugin
+public class SimulationWorld : CLOiSimPlugin
 {
 	private Clock clock = null;
 
@@ -16,6 +16,7 @@ protected override void OnAwake()
 	{
 		type = Type.WORLD;
 		clock = gameObject.AddComponent<Clock>();
+		SetDevice(clock);
 
 		modelName = "World";
 		partName = "cloisim_world";
@@ -39,4 +40,4 @@ private void Sender()
 			}
 		}
 	}
-}
+}