Merge pull request #11 from lge-ros2/develop

Merge 'develop' branch into 'master

Assets/Scenes/MainScene.unity

@@ -705,6 +705,7 @@ GameObject:
   - component: {fileID: 249819587}
   - component: {fileID: 249819588}
   - component: {fileID: 249819590}
+  - component: {fileID: 249819592}
   m_Layer: 0
   m_Name: Core
   m_TagString: Untagged
@@ -795,6 +796,23 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   defaultWebSocketAddress: 127.0.0.1
   defaultWebSocketPort: 8080
+--- !u!114 &249819592
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 249819585}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 9e1faa6078eea04e880e038777287f24, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  surfaceType: 0
+  latitudeReference: 0
+  longitudeReference: 0
+  elevationReference: 0
+  headingOffset: 0
 --- !u!1 &333360875
 GameObject:
   m_ObjectHideFlags: 0

Assets/Scripts/Connection/DeviceTransporter.publisher.cs

@@ -19,6 +19,7 @@ protected bool InitializePublisher(in ushort targetPort)
 
 		if (publisherSocket != null)
 		{
+			publisherSocket.Options.TcpKeepalive = true;
 			publisherSocket.Options.SendHighWatermark = highwatermark;
 			publisherSocket.Options.Linger = new TimeSpan(0);
 			publisherSocket.Bind(GetAddress(targetPort));

Assets/Scripts/Connection/DeviceTransporter.request.cs

@@ -18,6 +18,7 @@ protected bool InitializeRequester(in ushort targetPort)
 
 		if (requestSocket != null)
 		{
+			requestSocket.Options.TcpKeepalive = true;
 			requestSocket.Bind(GetAddress(targetPort));
 			// Debug.Log("Requester socket connecting... " + targetPort);
 			initialized = StoreTagIntoDataToSend(hashValueForSend);

Assets/Scripts/Connection/DeviceTransporter.response.cs

@@ -18,6 +18,7 @@ protected bool InitializeResponsor(in ushort targetPort)
 
 		if (responseSocket != null)
 		{
+			responseSocket.Options.TcpKeepalive = true;
 			responseSocket.Bind(GetAddress(targetPort));
 			// Debug.Log("Responsor socket connecting... " + targetPort);
 			initialized = StoreTagIntoDataToSend(hashValueForReceive);

Assets/Scripts/Connection/DeviceTransporter.subscriber.cs

@@ -18,13 +18,17 @@ protected bool InitializeSubscriber(in ushort targetPort)
 
 		if (subscriberSocket != null)
 		{
-			subscriberSocket.Options.SendHighWatermark = highwatermark;
+			subscriberSocket.Options.TcpKeepalive = true;
+			subscriberSocket.Options.ReceiveHighWatermark = highwatermark;
 			subscriberSocket.Options.Linger = new TimeSpan(0);
-			subscriberSocket.Bind(GetAddress(targetPort));
-			// Debug.Log("Subscriber socket connecting... " + targetPort);
 
 		 	if (hashValueForReceive != null)
+			{
 				subscriberSocket.Subscribe(hashValueForReceive);
+			}
+
+			subscriberSocket.Bind(GetAddress(targetPort));
+			// Debug.Log("Subscriber socket connecting... " + targetPort);
 
 			initialized = true;
 		}

Assets/Scripts/CustomPlugins/CustomPlugin.cs

@@ -18,7 +18,7 @@ public abstract class CustomPlugin : DeviceTransporter
 
 	private XmlNode pluginData;
 
-	private BridgePortManager devicePortManager = null;
+	private BridgePortManager bridgePortManager = null;
 
 	private List<Thread> threadList = null;
 
@@ -29,9 +29,7 @@ protected CustomPlugin()
 
 	protected abstract void OnAwake();
 	protected abstract void OnStart();
-	protected virtual void OnReset() {
-
-	}
+	protected virtual void OnReset() { }
 
 	void OnDestroy()
 	{
@@ -57,6 +55,7 @@ protected bool AddThread(in ThreadStart function)
 
 		return false;
 	}
+
 	private void StartThreads()
 	{
 		if (threadList != null)
@@ -68,6 +67,7 @@ private void StartThreads()
 			}
 		}
 	}
+
 	public void SetPluginData(XmlNode node)
 	{
 		pluginData = node.SelectSingleNode(".");
@@ -173,7 +173,7 @@ protected void PrintPluginData()
 
 	protected bool PrepareDevice(in string hashKey, out ushort port, out ulong hash)
 	{
-		port = devicePortManager.AllocateSensorPort(hashKey);
+		port = bridgePortManager.AllocateSensorPort(hashKey);
 		hash = DeviceHelper.GetStringHashCode(hashKey);
 
 		if (port == 0)
@@ -250,10 +250,10 @@ void Awake()
 		}
 		else
 		{
-			devicePortManager = coreObject.GetComponent<BridgePortManager>();
-			if (devicePortManager == null)
+			bridgePortManager = coreObject.GetComponent<BridgePortManager>();
+			if (bridgePortManager == null)
 			{
-				Debug.LogError("Failed to get 'devicePortManager'!!!!");
+				Debug.LogError("Failed to get 'bridgePortManager'!!!!");
 			}
 
 			if (string.IsNullOrEmpty(modelName))

Assets/Scripts/CustomPlugins/GpsPlugin.cs

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2020 LG Electronics Inc.
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+using UnityEngine;
+using Stopwatch = System.Diagnostics.Stopwatch;
+
+public class GpsPlugin : CustomPlugin
+{
+	public string partName = string.Empty;
+
+	private SensorDevices.GPS gps = null;
+
+	protected override void OnAwake()
+	{
+		partName = DeviceHelper.GetPartName(gameObject);
+
+		string hashKey = MakeHashKey(partName);
+		if (!RegisterTxDevice(hashKey))
+		{
+			Debug.LogError("Failed to register for GpsPlugin - " + hashKey);
+		}
+	}
+
+	protected override void OnStart()
+	{
+		gps = gameObject.GetComponent<SensorDevices.GPS>();
+
+		AddThread(Sender);
+	}
+
+	private void Sender()
+	{
+		Stopwatch sw = new Stopwatch();
+		while (true)
+		{
+			if (gps == null)
+			{
+				continue;
+			}
+
+			var datastreamToSend = gps.PopData();
+			sw.Restart();
+			Publish(datastreamToSend);
+			sw.Stop();
+			gps.SetTransportTime((float)sw.Elapsed.TotalSeconds);
+		}
+	}
+}

Assets/Scripts/Devices/Camera.cs

@@ -29,14 +29,6 @@ public partial class Camera : Device
 
 		public bool runningDeviceWork = true;
 
-		protected Camera()
-		{
-			// Initialize Gazebo Message
-			imageStamped = new gazebo.msgs.ImageStamped();
-			imageStamped.Time = new gazebo.msgs.Time();
-			imageStamped.Image = new gazebo.msgs.Image();
-		}
-
 		void Awake()
 		{
 			cam = gameObject.AddComponent<UnityEngine.Camera>();
@@ -45,8 +37,6 @@ void Awake()
 
 		protected override void OnStart()
 		{
-			InitializeMessages();
-
 			if (cam)
 			{
 				cam.transform.Rotate(Vector3.up, 90.0000000000f);
@@ -56,8 +46,12 @@ protected override void OnStart()
 			}
 		}
 
-		private void InitializeMessages()
+		protected override void InitializeMessages()
 		{
+			imageStamped = new gazebo.msgs.ImageStamped();
+			imageStamped.Time = new gazebo.msgs.Time();
+			imageStamped.Image = new gazebo.msgs.Image();
+
 			var image = imageStamped.Image;
 			image.Width = (uint)parameters.image_width;
 			image.Height = (uint)parameters.image_height;

Assets/Scripts/Devices/Clock.cs

@@ -15,7 +15,13 @@ public class Clock : Device
 	private gazebo.msgs.Time simTime = null;
 	private gazebo.msgs.Time realTime = null;
 
-	Clock()
+	protected override void OnStart()
+	{
+		deviceName = "Unity Clock";
+		SetUpdateRate(updateRate);
+	}
+
+	protected override void InitializeMessages()
 	{
 		simTime = new gazebo.msgs.Time();
 		realTime = new gazebo.msgs.Time();
@@ -40,12 +46,6 @@ public class Clock : Device
 		timeInfo.Childrens.Add(realTimeParam);
 	}
 
-	protected override void OnStart()
-	{
-		deviceName = "Unity Clock";
-		SetUpdateRate(updateRate);
-	}
-
 	protected override IEnumerator MainDeviceWorker()
 	{
 		var waitForSeconds = new WaitForSeconds(UpdatePeriod);

Assets/Scripts/Devices/DepthCamera.cs

@@ -42,8 +42,6 @@ void OnRenderImage(RenderTexture source, RenderTexture destination)
 		protected override void OnStart()
 		{
 			SetupDepthCamera();
-
-			base.OnStart();
 		}
 
 		private void SetupDepthCamera()

Assets/Scripts/Devices/Device.cs

@@ -66,7 +66,10 @@ public bool EnableVisualize
 
 	void Start()
 	{
+		InitializeMessages();
+
 		OnStart();
+
 		StartCoroutine(MainDeviceWorker());
 
 		if (EnableVisualize)
@@ -188,8 +191,15 @@ protected T GetMessageData<T>()
 		}
 	}
 
+	protected virtual void InitializeMessages()
+	{
+		// do nothing
+		Debug.Log("Nothing to initialize message: " + name);
+	}
+
 	protected virtual void GenerateMessage()
 	{
+		// do nothing
 		Debug.Log("Need to implement!!");
 	}