Initial Commit

GpsInsSensor.cs

@@ -0,0 +1,106 @@
+/**
+ * Copyright (c) 2018 LG Electronics, Inc.
+ *
+ * This software contains code licensed as described in LICENSE.
+ *
+ */
+
+using Simulator.Bridge;
+using Simulator.Bridge.Data;
+using Simulator.Utilities;
+using UnityEngine;
+using Simulator.Sensors.UI;
+using System.Collections.Generic;
+using System.Collections;
+using Simulator.Analysis;
+
+namespace Simulator.Sensors
+{
+    [SensorType("GPS-INS Status", new[] { typeof(GpsInsData) })]
+    public class GpsInsSensor : SensorBase
+    {
+        [SensorParameter]
+        [Range(1.0f, 100f)]
+        public float Frequency = 12.5f;
+
+        double NextSend;
+        uint SendSequence;
+
+        BridgeInstance Bridge;
+        Publisher<GpsInsData> Publish;
+
+        public override SensorDistributionType DistributionType => SensorDistributionType.LowLoad;
+
+        public override void OnBridgeSetup(BridgeInstance bridge)
+        {
+            Bridge = bridge;
+            Publish = Bridge.AddPublisher<GpsInsData>(Topic);
+        }
+
+        public void Start()
+        {
+            NextSend = SimulatorManager.Instance.CurrentTime + 1.0f / Frequency;
+        }
+
+        void Update()
+        {
+            if (Bridge == null || Bridge.Status != Status.Connected)
+            {
+                return;
+            }
+
+            if (SimulatorManager.Instance.CurrentTime < NextSend)
+            {
+                return;
+            }
+            NextSend = SimulatorManager.Instance.CurrentTime + 1.0f / Frequency;
+
+            Publish(new GpsInsData()
+            {
+                Name = Name,
+                Frame = Frame,
+                Time = SimulatorManager.Instance.CurrentTime,
+                Sequence = SendSequence++,
+
+                Status = 3,
+                PositionType = 56,
+            });
+        }
+
+        public override void OnVisualize(Visualizer visualizer)
+        {
+            Debug.Assert(visualizer != null);
+
+            var graphData = new Dictionary<string, object>()
+            {
+                {"Status", 3},
+                {"Position Type", 56}
+            };
+            visualizer.UpdateGraphValues(graphData);
+        }
+
+        public override void SetAnalysisData()
+        {
+            SensorAnalysisData = new List<AnalysisReportItem>
+            {
+                new AnalysisReportItem
+                {
+                    name = "Status",
+                    type = MeasurementType.Misc,
+                    value = 3
+                },
+                new AnalysisReportItem
+                {
+                    name = "Position Type",
+                    type = MeasurementType.Misc,
+                    value = 56
+                },
+            };
+        }
+
+        public override void OnVisualizeToggle(bool state)
+        {
+            //
+        }
+    }
+}

GpsInsSensor.prefab

@@ -0,0 +1,49 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &6467730501547923967
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 7277557481913521809}
+  - component: {fileID: 7715284868972390602}
+  m_Layer: 0
+  m_Name: GpsInsSensor
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &7277557481913521809
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 6467730501547923967}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &7715284868972390602
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 6467730501547923967}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 4679da8ef90252f4e93b3f4cbd860ecb, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  Name: 
+  Topic: 
+  Frame: 
+  Frequency: 12.5