diff --git a/Assets/RosMessages/Auv/msg/ThrusterForcesMsg.cs b/Assets/RosMessages/Auv/msg/ThrusterForcesMsg.cs index 59dde62b..ab78b17b 100644 --- a/Assets/RosMessages/Auv/msg/ThrusterForcesMsg.cs +++ b/Assets/RosMessages/Auv/msg/ThrusterForcesMsg.cs @@ -35,7 +35,7 @@ public ThrusterForcesMsg() this.HEAVE_BACK_RIGHT = 0.0; } - public ThrusterForcesMsg(double FRONT_LEFT, double FRONT_RIGHT, double BACK_LEFT, double BACK_RIGHT, double HEAVE_FRONT_LEFT, double HEAVE_FRONT_RIGHT, double HEAVE_BACK_LEFT, double HEAVE_BACK_RIGHT) + public ThrusterForcesMsg(double BACK_RIGHT, double HEAVE_BACK_RIGHT, double HEAVE_FRONT_RIGHT, double FRONT_RIGHT, double FRONT_LEFT, double HEAVE_FRONT_LEFT, double HEAVE_BACK_LEFT, double BACK_LEFT) { this.FRONT_LEFT = FRONT_LEFT; this.FRONT_RIGHT = FRONT_RIGHT; @@ -51,26 +51,26 @@ public ThrusterForcesMsg(double FRONT_LEFT, double FRONT_RIGHT, double BACK_LEFT private ThrusterForcesMsg(MessageDeserializer deserializer) { - deserializer.Read(out this.FRONT_LEFT); - deserializer.Read(out this.FRONT_RIGHT); - deserializer.Read(out this.BACK_LEFT); deserializer.Read(out this.BACK_RIGHT); - deserializer.Read(out this.HEAVE_FRONT_LEFT); + deserializer.Read(out this.HEAVE_BACK_RIGHT); deserializer.Read(out this.HEAVE_FRONT_RIGHT); + deserializer.Read(out this.FRONT_RIGHT); + deserializer.Read(out this.FRONT_LEFT); + deserializer.Read(out this.HEAVE_FRONT_LEFT); deserializer.Read(out this.HEAVE_BACK_LEFT); - deserializer.Read(out this.HEAVE_BACK_RIGHT); + deserializer.Read(out this.BACK_LEFT); } public override void SerializeTo(MessageSerializer serializer) { - serializer.Write(this.FRONT_LEFT); - serializer.Write(this.FRONT_RIGHT); - serializer.Write(this.BACK_LEFT); serializer.Write(this.BACK_RIGHT); - serializer.Write(this.HEAVE_FRONT_LEFT); + serializer.Write(this.HEAVE_BACK_RIGHT); serializer.Write(this.HEAVE_FRONT_RIGHT); + serializer.Write(this.FRONT_RIGHT); + serializer.Write(this.FRONT_LEFT); + serializer.Write(this.HEAVE_FRONT_LEFT); serializer.Write(this.HEAVE_BACK_LEFT); - serializer.Write(this.HEAVE_BACK_RIGHT); + serializer.Write(this.BACK_LEFT); } public override string ToString() diff --git a/Assets/RosMessages/Auv/msg/ThrusterMicrosecondsMsg.cs b/Assets/RosMessages/Auv/msg/ThrusterMicrosecondsMsg.cs index 72cbedcc..416ad9f0 100644 --- a/Assets/RosMessages/Auv/msg/ThrusterMicrosecondsMsg.cs +++ b/Assets/RosMessages/Auv/msg/ThrusterMicrosecondsMsg.cs @@ -14,14 +14,14 @@ public class ThrusterMicrosecondsMsg : Message public override string RosMessageName => k_RosMessageName; // Thruster definitions - public const byte FRONT_LEFT = 0; - public const byte FRONT_RIGHT = 1; - public const byte BACK_LEFT = 2; - public const byte BACK_RIGHT = 3; - public const byte HEAVE_FRONT_LEFT = 4; - public const byte HEAVE_FRONT_RIGHT = 5; + public const byte BACK_RIGHT = 0; + public const byte HEAVE_BACK_RIGHT = 1; + public const byte HEAVE_FRONT_RIGHT = 2; + public const byte FRONT_RIGHT = 3; + public const byte FRONT_LEFT = 4; + public const byte HEAVE_FRONT_LEFT = 5; public const byte HEAVE_BACK_LEFT = 6; - public const byte HEAVE_BACK_RIGHT = 7; + public const byte BACK_LEFT = 7; public ushort[] microseconds; public ThrusterMicrosecondsMsg() diff --git a/Assets/RosMessages/Auv/msg/UnityStateMsg.cs b/Assets/RosMessages/Auv/msg/UnityStateMsg.cs index 74379b20..48a06f29 100644 --- a/Assets/RosMessages/Auv/msg/UnityStateMsg.cs +++ b/Assets/RosMessages/Auv/msg/UnityStateMsg.cs @@ -19,14 +19,14 @@ public class UnityStateMsg : Message public Geometry.Vector3Msg angular_velocity; public Geometry.Vector3Msg linear_acceleration; public int[] frequencies; - public uint[] times_pinger_1; - public uint[] times_pinger_2; - public uint[] times_pinger_3; - public uint[] times_pinger_4; - public int isDVLActive; - public int isDepthSensorActive; - public int isIMUActive; - public int isHydrophonesActive; + public uint[] hydrophone_one_freqs; + public uint[] hydrophone_two_freqs; + public uint[] hydrophone_three_freqs; + public uint[] hydrophone_four_freqs; + public int is_dvl_active; + public int is_depth_sensor_active; + public int is_imu_active; + public int is_hydrophones_active; public UnityStateMsg() { @@ -36,17 +36,17 @@ public UnityStateMsg() this.angular_velocity = new Geometry.Vector3Msg(); this.linear_acceleration = new Geometry.Vector3Msg(); this.frequencies = new int[0]; - this.times_pinger_1 = new uint[0]; - this.times_pinger_2 = new uint[0]; - this.times_pinger_3 = new uint[0]; - this.times_pinger_4 = new uint[0]; - this.isDVLActive = 0; - this.isDepthSensorActive = 0; - this.isIMUActive = 0; - this.isHydrophonesActive = 0; + this.hydrophone_one_freqs = new uint[0]; + this.hydrophone_two_freqs = new uint[0]; + this.hydrophone_three_freqs = new uint[0]; + this.hydrophone_four_freqs = new uint[0]; + this.is_dvl_active = 0; + this.is_depth_sensor_active = 0; + this.is_imu_active = 0; + this.is_hydrophones_active = 0; } - public UnityStateMsg(Geometry.Vector3Msg position, Geometry.QuaternionMsg orientation, Geometry.Vector3Msg velocity, Geometry.Vector3Msg angular_velocity, Geometry.Vector3Msg linear_acceleration, int[] frequencies, uint[] times_pinger_1, uint[] times_pinger_2, uint[] times_pinger_3, uint[] times_pinger_4, int isDVLActive, int isDepthSensorActive, int isIMUActive, int isHydrophonesActive) + public UnityStateMsg(Geometry.Vector3Msg position, Geometry.QuaternionMsg orientation, Geometry.Vector3Msg velocity, Geometry.Vector3Msg angular_velocity, Geometry.Vector3Msg linear_acceleration, int[] frequencies, uint[] hydrophone_one_freqs, uint[] hydrophone_two_freqs, uint[] hydrophone_three_freqs, uint[] hydrophone_four_freqs, int is_dvl_active, int is_depth_sensor_active, int is_imu_active, int is_hydrophones_active) { this.position = position; this.orientation = orientation; @@ -54,14 +54,14 @@ public UnityStateMsg(Geometry.Vector3Msg position, Geometry.QuaternionMsg orient this.angular_velocity = angular_velocity; this.linear_acceleration = linear_acceleration; this.frequencies = frequencies; - this.times_pinger_1 = times_pinger_1; - this.times_pinger_2 = times_pinger_2; - this.times_pinger_3 = times_pinger_3; - this.times_pinger_4 = times_pinger_4; - this.isDVLActive = isDVLActive; - this.isDepthSensorActive = isDepthSensorActive; - this.isIMUActive = isIMUActive; - this.isHydrophonesActive = isHydrophonesActive; + this.hydrophone_one_freqs = hydrophone_one_freqs; + this.hydrophone_two_freqs = hydrophone_two_freqs; + this.hydrophone_three_freqs = hydrophone_three_freqs; + this.hydrophone_four_freqs = hydrophone_four_freqs; + this.is_dvl_active = is_dvl_active; + this.is_depth_sensor_active = is_depth_sensor_active; + this.is_imu_active = is_imu_active; + this.is_hydrophones_active = is_hydrophones_active; } public static UnityStateMsg Deserialize(MessageDeserializer deserializer) => new UnityStateMsg(deserializer); @@ -74,14 +74,14 @@ private UnityStateMsg(MessageDeserializer deserializer) this.angular_velocity = Geometry.Vector3Msg.Deserialize(deserializer); this.linear_acceleration = Geometry.Vector3Msg.Deserialize(deserializer); deserializer.Read(out this.frequencies, sizeof(int), deserializer.ReadLength()); - deserializer.Read(out this.times_pinger_1, sizeof(uint), deserializer.ReadLength()); - deserializer.Read(out this.times_pinger_2, sizeof(uint), deserializer.ReadLength()); - deserializer.Read(out this.times_pinger_3, sizeof(uint), deserializer.ReadLength()); - deserializer.Read(out this.times_pinger_4, sizeof(uint), deserializer.ReadLength()); - deserializer.Read(out this.isDVLActive); - deserializer.Read(out this.isDepthSensorActive); - deserializer.Read(out this.isIMUActive); - deserializer.Read(out this.isHydrophonesActive); + deserializer.Read(out this.hydrophone_one_freqs, sizeof(uint), deserializer.ReadLength()); + deserializer.Read(out this.hydrophone_two_freqs, sizeof(uint), deserializer.ReadLength()); + deserializer.Read(out this.hydrophone_three_freqs, sizeof(uint), deserializer.ReadLength()); + deserializer.Read(out this.hydrophone_four_freqs, sizeof(uint), deserializer.ReadLength()); + deserializer.Read(out this.is_dvl_active); + deserializer.Read(out this.is_depth_sensor_active); + deserializer.Read(out this.is_imu_active); + deserializer.Read(out this.is_hydrophones_active); } public override void SerializeTo(MessageSerializer serializer) @@ -93,18 +93,18 @@ public override void SerializeTo(MessageSerializer serializer) serializer.Write(this.linear_acceleration); serializer.WriteLength(this.frequencies); serializer.Write(this.frequencies); - serializer.WriteLength(this.times_pinger_1); - serializer.Write(this.times_pinger_1); - serializer.WriteLength(this.times_pinger_2); - serializer.Write(this.times_pinger_2); - serializer.WriteLength(this.times_pinger_3); - serializer.Write(this.times_pinger_3); - serializer.WriteLength(this.times_pinger_4); - serializer.Write(this.times_pinger_4); - serializer.Write(this.isDVLActive); - serializer.Write(this.isDepthSensorActive); - serializer.Write(this.isIMUActive); - serializer.Write(this.isHydrophonesActive); + serializer.WriteLength(this.hydrophone_one_freqs); + serializer.Write(this.hydrophone_one_freqs); + serializer.WriteLength(this.hydrophone_two_freqs); + serializer.Write(this.hydrophone_two_freqs); + serializer.WriteLength(this.hydrophone_three_freqs); + serializer.Write(this.hydrophone_three_freqs); + serializer.WriteLength(this.hydrophone_four_freqs); + serializer.Write(this.hydrophone_four_freqs); + serializer.Write(this.is_dvl_active); + serializer.Write(this.is_depth_sensor_active); + serializer.Write(this.is_imu_active); + serializer.Write(this.is_hydrophones_active); } public override string ToString() @@ -116,14 +116,14 @@ public override string ToString() "\nangular_velocity: " + angular_velocity.ToString() + "\nlinear_acceleration: " + linear_acceleration.ToString() + "\nfrequencies: " + System.String.Join(", ", frequencies.ToList()) + - "\ntimes_pinger_1: " + System.String.Join(", ", times_pinger_1.ToList()) + - "\ntimes_pinger_2: " + System.String.Join(", ", times_pinger_2.ToList()) + - "\ntimes_pinger_3: " + System.String.Join(", ", times_pinger_3.ToList()) + - "\ntimes_pinger_4: " + System.String.Join(", ", times_pinger_4.ToList()) + - "\nisDVLActive: " + isDVLActive.ToString() + - "\nisDepthSensorActive: " + isDepthSensorActive.ToString() + - "\nisIMUActive: " + isIMUActive.ToString() + - "\nisHydrophonesActive: " + isHydrophonesActive.ToString(); + "\nhydrophone_one_freqs: " + System.String.Join(", ", hydrophone_one_freqs.ToList()) + + "\nhydrophone_two_freqs: " + System.String.Join(", ", hydrophone_two_freqs.ToList()) + + "\nhydrophone_three_freqs: " + System.String.Join(", ", hydrophone_three_freqs.ToList()) + + "\nhydrophone_four_freqs: " + System.String.Join(", ", hydrophone_four_freqs.ToList()) + + "\nis_dvl_active: " + is_dvl_active.ToString() + + "\nis_depth_sensor_active: " + is_depth_sensor_active.ToString() + + "\nis_imu_active: " + is_imu_active.ToString() + + "\nis_hydrophones_active: " + is_hydrophones_active.ToString(); } #if UNITY_EDITOR diff --git a/Assets/Scripts/StatePublisher.cs b/Assets/Scripts/StatePublisher.cs index 727f84e7..e7d7f26b 100644 --- a/Assets/Scripts/StatePublisher.cs +++ b/Assets/Scripts/StatePublisher.cs @@ -23,10 +23,10 @@ public class StatePublisher : MonoBehaviour private RosMessageTypes.Auv.UnityStateMsg stateMsg = new RosMessageTypes.Auv.UnityStateMsg(); private float timeSinceLastPublish; - private bool isDVLActive; - private bool isDepthSensorActive; - private bool isIMUActive; - private bool isHydrophonesActive; + private bool is_dvl_active; + private bool is_depth_sensor_active; + private bool is_imu_active; + private bool is_hydrophones_active; private bool publishToRos; private float timeBetweenPublishes = 0.1f; @@ -62,10 +62,10 @@ private void Initialize() classLogicManager = FindObjectOfType(); if (classLogicManager != null) { - SubscribeToggle(classLogicManager.PublishDVLToggle, SetisDVLActive); - SubscribeToggle(classLogicManager.PublishDepthToggle, SetisDepthSensorActive); - SubscribeToggle(classLogicManager.PublishIMUToggle, SetisIMUActive); - SubscribeToggle(classLogicManager.PublishHydrophonesToggle, SetisHydrophonesActive); + SubscribeToggle(classLogicManager.PublishDVLToggle, Setis_dvl_active); + SubscribeToggle(classLogicManager.PublishDepthToggle, Setis_depth_sensor_active); + SubscribeToggle(classLogicManager.PublishIMUToggle, Setis_imu_active); + SubscribeToggle(classLogicManager.PublishHydrophonesToggle, Setis_hydrophones_active); SubscribeToggle(classLogicManager.PublishROSToggle, SetPublishToRos); } else @@ -93,11 +93,11 @@ private void FixedUpdate() private void OnDestroy() { // Unsubscribe from the events to prevent memory leaks. - UnsubscribeToggle(classLogicManager.PublishDVLToggle, SetisDVLActive); + UnsubscribeToggle(classLogicManager.PublishDVLToggle, Setis_dvl_active); UnsubscribeToggle(classLogicManager.PublishROSToggle, SetPublishToRos); - UnsubscribeToggle(classLogicManager.PublishDepthToggle, SetisDepthSensorActive); - UnsubscribeToggle(classLogicManager.PublishIMUToggle, SetisIMUActive); - UnsubscribeToggle(classLogicManager.PublishHydrophonesToggle, SetisHydrophonesActive); + UnsubscribeToggle(classLogicManager.PublishDepthToggle, Setis_depth_sensor_active); + UnsubscribeToggle(classLogicManager.PublishIMUToggle, Setis_imu_active); + UnsubscribeToggle(classLogicManager.PublishHydrophonesToggle, Setis_hydrophones_active); } private void SendState() @@ -122,16 +122,16 @@ private void SendState() stateMsg.angular_velocity = auvRb.angularVelocity.To(); stateMsg.velocity = currentVelocity.To(); stateMsg.frequencies = frequencies; - stateMsg.times_pinger_1 = times[0]; - stateMsg.times_pinger_2 = times[1]; - stateMsg.times_pinger_3 = times[2]; - stateMsg.times_pinger_4 = times[3]; + stateMsg.hydrophone_one_freqs = times[0]; + stateMsg.hydrophone_two_freqs = times[1]; + stateMsg.hydrophone_three_freqs = times[2]; + stateMsg.hydrophone_four_freqs = times[3]; stateMsg.linear_acceleration = acceleration.To(); - stateMsg.isDVLActive = Convert.ToInt32(isDVLActive); - stateMsg.isDepthSensorActive = Convert.ToInt32(isDepthSensorActive); - stateMsg.isIMUActive = Convert.ToInt32(isIMUActive); - stateMsg.isHydrophonesActive = Convert.ToInt32(isHydrophonesActive); + stateMsg.is_dvl_active = Convert.ToInt32(is_dvl_active); + stateMsg.is_depth_sensor_active = Convert.ToInt32(is_depth_sensor_active); + stateMsg.is_imu_active = Convert.ToInt32(is_imu_active); + stateMsg.is_hydrophones_active = Convert.ToInt32(is_hydrophones_active); roscon.Publish(stateTopicName, stateMsg); @@ -163,24 +163,24 @@ private void UnsubscribeToggle(Toggle toggle, Action updateAction) } } - private void SetisDVLActive(bool active) + private void Setis_dvl_active(bool active) { - isDVLActive = active; + is_hydrophones_active = active; } - private void SetisDepthSensorActive(bool active) + private void Setis_depth_sensor_active(bool active) { - isDepthSensorActive = active; + is_depth_sensor_active = active; } - private void SetisIMUActive(bool active) + private void Setis_imu_active(bool active) { - isIMUActive = active; + is_imu_active = active; } - private void SetisHydrophonesActive(bool active) + private void Setis_hydrophones_active(bool active) { - isHydrophonesActive = active; + is_hydrophones_active = active; } private void SetPublishToRos(bool active) diff --git a/Assets/Scripts/Thrusters.cs b/Assets/Scripts/Thrusters.cs index 7c2f01b3..5f7d6cc8 100644 --- a/Assets/Scripts/Thrusters.cs +++ b/Assets/Scripts/Thrusters.cs @@ -184,13 +184,13 @@ private void HandleMovementInput() private void SetThrusterForces(RosMessageTypes.Auv.ThrusterForcesMsg msg) { - rosThrusterForces[0] = msg.FRONT_LEFT; - rosThrusterForces[1] = msg.FRONT_RIGHT; - rosThrusterForces[2] = msg.BACK_LEFT; - rosThrusterForces[3] = msg.BACK_RIGHT; - rosThrusterForces[4] = msg.HEAVE_FRONT_LEFT; - rosThrusterForces[5] = msg.HEAVE_FRONT_RIGHT; + rosThrusterForces[0] = msg.BACK_RIGHT; + rosThrusterForces[1] = msg.HEAVE_BACK_RIGHT; + rosThrusterForces[2] = msg.HEAVE_FRONT_RIGHT; + rosThrusterForces[3] = msg.FRONT_RIGHT; + rosThrusterForces[4] = msg.FRONT_LEFT; + rosThrusterForces[5] = msg.HEAVE_FRONT_LEFT; rosThrusterForces[6] = msg.HEAVE_BACK_LEFT; - rosThrusterForces[7] = msg.HEAVE_BACK_RIGHT; + rosThrusterForces[7] = msg.BACK_LEFT; } }