【MA基礎開発】 ドローン同士の通信をクラスオブジェクトで扱えるように変更。避難所位置伝送時のエラー修正 #1 #7 #15

MAEasySimulator/Assets/DroneController.cs

@@ -25,7 +25,7 @@ public class DroneController : MonoBehaviour {
     public Rigidbody Rbody;
 
     /**Events*/
-    public delegate void OnReceiveMessage(string message);
+    public delegate void OnReceiveMessage(Types.MessageData Data);
     public OnReceiveMessage onReceiveMsg;
     public delegate void OnCrash(Vector3 crashPos);
     public OnCrash onCrash;
@@ -142,18 +142,16 @@ public void FlyingCtrl(ActionBuffers actions) {
     public bool Communicate(Types.MessageData messageData, GameObject target) {
         var result = false;
         //一旦距離制限は考えない
-        target.GetComponent<DroneController>().ReceiveMessage(messageData.ToJson());
+        target.GetComponent<DroneController>().ReceiveMessage(messageData);
         result = true;
         return result;
     }
 
     /// <summary>
     /// 他のドローンからメッセージを受信する（させる）。
     /// </summary>
-    public void ReceiveMessage(string json) {
-        var messageData = Types.MessageData.FromJson(json);
-        Debug.Log($"Message received: Type={messageData.type}, Content={messageData.content}");
-        onReceiveMsg?.Invoke(json);
+    public void ReceiveMessage(Types.MessageData Data) {
+        onReceiveMsg?.Invoke(Data);
     }
 
 

MAEasySimulator/Assets/SpyAgent.cs

@@ -64,9 +64,9 @@ public override void OnEpisodeBegin() {
     /// <param name="sensor"></param>
     public override void CollectObservations(VectorSensor sensor) {
         sensor.AddObservation(_controller.Rbody.velocity);
-        var findShelterCount = ShelterScan();
+        var findShelterCount = ShelterScan(); //レイキャストによる避難所検出
+        //TODO:複数の避難所を検出する場合の対応
         sensor.AddObservation(targetPos);
-        sensor.AddObservation(isFindTarget);
         sensor.AddObservation(findShelterCount);
     }
 

MAEasySimulator/Assets/SurpplieAgent.cs

@@ -89,16 +89,14 @@ public override void Heuristic(in ActionBuffers actionsOut) {
     /// ShelterのXYZ座標
     /// 例：(10.0, 0.0, 10.0)
     /// </param>
-    private void OnReceiveMessage(string message) {
+    private void OnReceiveMessage(Types.MessageData data) {
         //Vector3に変換
-        var shelterPos = message.Trim('(', ')').Split(',');
-        var x = float.Parse(shelterPos[0]);
-        var y = float.Parse(shelterPos[1]);
-        var z = float.Parse(shelterPos[2]);
-
-        //観察に追加
-        shelterPosition = new Vector3(x, y, z);
-        isGetShelterPos = true;
+        var detectType = data.type;
+        if(detectType == "Shelter") {
+            Vector3 pos = Utils.ConvertStringToVector3(data.content);
+            shelterPosition = new Vector3(pos.x, pos.y, pos.z);
+            isGetShelterPos = true;
+        }
     }
 
     /// <summary>

MAEasySimulator/Assets/Types.cs

@@ -8,13 +8,5 @@ public class Types : MonoBehaviour {
     public class MessageData {
         public string type;
         public string content;
-
-        public string ToJson() {
-            return JsonUtility.ToJson(this);
-        }
-
-        public static MessageData FromJson(string json) {
-            return JsonUtility.FromJson<MessageData>(json);
-        }
     }
 }

MAEasySimulator/Assets/Utils.cs

@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// オブジェクトの操作には関係ないが、汎用的な処理をまとめたクラス
+/// </summary>
+public class Utils : MonoBehaviour {
+
+    /// <summary>
+    /// 文字列データをVector3に変換します
+    /// </summary>
+    /// <param name="vectorString">(x, y, z)のVector3文字列</param>
+    /// <returns>Vector3 データ</returns>
+    public static Vector3 ConvertStringToVector3(string vectorString) {
+        vectorString = vectorString.TrimStart('(').TrimEnd(')');
+        string[] sArray = vectorString.Split(',');
+
+        Vector3 result = new Vector3(
+            float.Parse(sArray[0]),
+            float.Parse(sArray[1]),
+            float.Parse(sArray[2])
+        );
+
+        return result;
+    }
+}