Started work on dashboard

Unity/LineRobot/Library/CurrentLayout-default.dwlt

@@ -19,7 +19,7 @@ MonoBehaviour:
     width: 1536
     height: 780.8
   m_ShowMode: 4
-  m_Title: Hierarchy
+  m_Title: Game
   m_RootView: {fileID: 4}
   m_MinSize: {x: 875, y: 300}
   m_MaxSize: {x: 10000, y: 10000}
@@ -175,7 +175,7 @@ MonoBehaviour:
   m_MinSize: {x: 680, y: 342}
   m_MaxSize: {x: 16005, y: 8042}
   vertical: 0
-  controlID: 85
+  controlID: 65
 --- !u!114 &8
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -200,7 +200,7 @@ MonoBehaviour:
   m_MinSize: {x: 304, y: 342}
   m_MaxSize: {x: 8004, y: 8042}
   vertical: 1
-  controlID: 86
+  controlID: 66
 --- !u!114 &9
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -225,7 +225,7 @@ MonoBehaviour:
   m_MinSize: {x: 304, y: 221}
   m_MaxSize: {x: 8004, y: 4021}
   vertical: 0
-  controlID: 87
+  controlID: 67
 --- !u!114 &10
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -338,9 +338,9 @@ MonoBehaviour:
   m_SceneHierarchy:
     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: 4efbffff
-      m_LastClickedID: -1202
-      m_ExpandedIDs: 4efbffff50fbffff
+      m_SelectedIDs: 
+      m_LastClickedID: 0
+      m_ExpandedIDs: 70fbffff
       m_RenameOverlay:
         m_UserAcceptedRename: 0
         m_Name: 
@@ -773,7 +773,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 25.400024}
     m_SelectedIDs: 02520000
     m_LastClickedID: 20994
-    m_ExpandedIDs: 00000000f2510000f4510000f6510000f8510000fa510000fc510000fe510000005200000252000000ca9a3b
+    m_ExpandedIDs: 00000000f2510000f4510000f6510000f8510000fa510000fc510000fe5100000052000002520000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -916,7 +916,7 @@ MonoBehaviour:
     m_ControlHash: -371814159
     m_PrefName: Preview_InspectorPreview
   m_LastInspectedObjectInstanceID: -1
-  m_LastVerticalScrollValue: 402.40002
+  m_LastVerticalScrollValue: 0
   m_GlobalObjectId: 
   m_LockTracker:
     m_IsLocked: 0

Unity/LineRobot/Logs/AssetImportWorker0-prev.log

@@ -1,502 +0,0 @@
-Using pre-set license
-Built from 'master' branch; Version is '2020.3.36f1 (71f96b79b9f0) revision 7469419'; Using compiler version '192528614'; Build Type 'Release'
-OS: 'Windows 10  (10.0.19044) 64bit Professional' Language: 'en' Physical Memory: 16238 MB
-BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
-
-COMMAND LINE ARGUMENTS:
-C:\Program Files\Unity\Hub\Editor\2020.3.36f1\Editor\Unity.exe
--adb2
--batchMode
--noUpm
--name
-AssetImportWorker0
--projectPath
-C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
--logFile
-Logs/AssetImportWorker0.log
--srvPort
-55360
-Successfully changed project path to: C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
-C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
-Using Asset Import Pipeline V2.
-Refreshing native plugins compatible for Editor in 366.95 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Initialize engine version: 2020.3.36f1 (71f96b79b9f0)
-[Subsystems] Discovering subsystems at path C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Resources/UnitySubsystems
-[Subsystems] Discovering subsystems at path C:/Users/randy/Documents/git/linerobot/Unity/LineRobot/Assets
-GfxDevice: creating device client; threaded=0
-Direct3D:
-    Version:  Direct3D 11.0 [level 11.1]
-    Renderer: Intel(R) HD Graphics 620 (ID=0x5916)
-    Vendor:   
-    VRAM:     8119 MB
-    Driver:   30.0.100.9865
-Initialize mono
-Mono path[0] = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Managed'
-Mono path[1] = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
-Mono config path = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/MonoBleedingEdge/etc'
-Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56616
-Begin MonoManager ReloadAssembly
-Registering precompiled unity dll's ...
-Register platform support module: C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
-Registered in 0.002888 seconds.
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 61.00 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  0.712 seconds
-Domain Reload Profiling:
-	ReloadAssembly (712ms)
-		BeginReloadAssembly (78ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (0ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (1ms)
-		EndReloadAssembly (550ms)
-			LoadAssemblies (75ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (169ms)
-			ReleaseScriptCaches (0ms)
-			RebuildScriptCaches (31ms)
-			SetupLoadedEditorAssemblies (193ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (0ms)
-				RefreshPlugins (61ms)
-				BeforeProcessingInitializeOnLoad (9ms)
-				ProcessInitializeOnLoadAttributes (88ms)
-				ProcessInitializeOnLoadMethodAttributes (30ms)
-				AfterProcessingInitializeOnLoad (0ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (0ms)
-Platform modules already initialized, skipping
-Registering precompiled user dll's ...
-Registered in 0.153784 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 9.83 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.235 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1236ms)
-		BeginReloadAssembly (172ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (5ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (21ms)
-		EndReloadAssembly (996ms)
-			LoadAssemblies (119ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (385ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (43ms)
-			SetupLoadedEditorAssemblies (321ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (4ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (10ms)
-				BeforeProcessingInitializeOnLoad (61ms)
-				ProcessInitializeOnLoadAttributes (223ms)
-				ProcessInitializeOnLoadMethodAttributes (14ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-========================================================================
-Worker process is ready to serve import requests
-Launched and connected shader compiler UnityShaderCompiler.exe after 0.09 seconds
-Refreshing native plugins compatible for Editor in 9.15 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2266 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 184.4 MB.
-System memory in use after: 184.5 MB.
-
-Unloading 719 unused Assets to reduce memory usage. Loaded Objects now: 2020.
-Total: 3.334600 ms (FindLiveObjects: 0.282000 ms CreateObjectMapping: 0.144700 ms MarkObjects: 2.676200 ms  DeleteObjects: 0.231000 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Import Request.
-  path: Assets/DepthCamera.cs
-  artifactKey: Guid(3bc5fe5b48713264a88b7cfdd9ff3be4) Importer(815301076,1909f56bfc062723c751e8b465ee728b)
-Start importing Assets/DepthCamera.cs using Guid(3bc5fe5b48713264a88b7cfdd9ff3be4) Importer(815301076,1909f56bfc062723c751e8b465ee728b)  -> (artifact id: 'eccf3bfcd612c2b643a18a1717ab345e') in 0.071877 seconds 
-========================================================================
-Received Prepare
-Refreshing native plugins compatible for Editor in 330.71 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 713 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 152.3 MB.
-System memory in use after: 152.3 MB.
-
-Unloading 712 unused Assets to reduce memory usage. Loaded Objects now: 2020.
-Total: 3.035600 ms (FindLiveObjects: 0.229600 ms CreateObjectMapping: 0.119100 ms MarkObjects: 2.481100 ms  DeleteObjects: 0.204700 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.178169 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 10.10 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.250 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1252ms)
-		BeginReloadAssembly (159ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (7ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (44ms)
-		EndReloadAssembly (1022ms)
-			LoadAssemblies (129ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (415ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (45ms)
-			SetupLoadedEditorAssemblies (314ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (10ms)
-				BeforeProcessingInitializeOnLoad (63ms)
-				ProcessInitializeOnLoadAttributes (213ms)
-				ProcessInitializeOnLoadMethodAttributes (15ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 14.24 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.1 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2023.
-Total: 3.213300 ms (FindLiveObjects: 0.299500 ms CreateObjectMapping: 0.203500 ms MarkObjects: 2.547900 ms  DeleteObjects: 0.161500 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.180852 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 24.08 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.382 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1383ms)
-		BeginReloadAssembly (206ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (5ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (67ms)
-		EndReloadAssembly (1104ms)
-			LoadAssemblies (136ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (419ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (48ms)
-			SetupLoadedEditorAssemblies (389ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (24ms)
-				BeforeProcessingInitializeOnLoad (65ms)
-				ProcessInitializeOnLoadAttributes (271ms)
-				ProcessInitializeOnLoadMethodAttributes (15ms)
-				AfterProcessingInitializeOnLoad (7ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 11.85 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.2 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2026.
-Total: 3.456600 ms (FindLiveObjects: 0.232900 ms CreateObjectMapping: 0.114600 ms MarkObjects: 2.930500 ms  DeleteObjects: 0.177200 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.184902 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 10.24 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.267 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1268ms)
-		BeginReloadAssembly (165ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (4ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (57ms)
-		EndReloadAssembly (1036ms)
-			LoadAssemblies (122ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (381ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (50ms)
-			SetupLoadedEditorAssemblies (350ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (10ms)
-				BeforeProcessingInitializeOnLoad (65ms)
-				ProcessInitializeOnLoadAttributes (245ms)
-				ProcessInitializeOnLoadMethodAttributes (15ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 10.21 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.2 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2029.
-Total: 3.209900 ms (FindLiveObjects: 0.227200 ms CreateObjectMapping: 0.112400 ms MarkObjects: 2.683800 ms  DeleteObjects: 0.185500 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.170577 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 10.72 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.236 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1237ms)
-		BeginReloadAssembly (166ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (5ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (46ms)
-		EndReloadAssembly (994ms)
-			LoadAssemblies (136ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (384ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (46ms)
-			SetupLoadedEditorAssemblies (307ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (11ms)
-				BeforeProcessingInitializeOnLoad (61ms)
-				ProcessInitializeOnLoadAttributes (207ms)
-				ProcessInitializeOnLoadMethodAttributes (14ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 10.21 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.2 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2032.
-Total: 3.325300 ms (FindLiveObjects: 0.238800 ms CreateObjectMapping: 0.110600 ms MarkObjects: 2.818300 ms  DeleteObjects: 0.156700 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.197720 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 12.61 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.486 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1487ms)
-		BeginReloadAssembly (167ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (5ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (39ms)
-		EndReloadAssembly (1157ms)
-			LoadAssemblies (184ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (394ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (45ms)
-			SetupLoadedEditorAssemblies (422ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (5ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (13ms)
-				BeforeProcessingInitializeOnLoad (62ms)
-				ProcessInitializeOnLoadAttributes (314ms)
-				ProcessInitializeOnLoadMethodAttributes (19ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (4ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 11.01 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.2 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2035.
-Total: 2.921800 ms (FindLiveObjects: 0.228600 ms CreateObjectMapping: 0.148700 ms MarkObjects: 2.388700 ms  DeleteObjects: 0.154900 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-========================================================================
-Received Prepare
-Registering precompiled user dll's ...
-Registered in 0.155279 seconds.
-Begin MonoManager ReloadAssembly
-Native extension for WindowsStandalone target not found
-Refreshing native plugins compatible for Editor in 18.76 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Mono: successfully reloaded assembly
-- Completed reload, in  1.543 seconds
-Domain Reload Profiling:
-	ReloadAssembly (1544ms)
-		BeginReloadAssembly (292ms)
-			ExecutionOrderSort (0ms)
-			DisableScriptedObjects (9ms)
-			BackupInstance (0ms)
-			ReleaseScriptingObjects (0ms)
-			CreateAndSetChildDomain (183ms)
-		EndReloadAssembly (1186ms)
-			LoadAssemblies (124ms)
-			RebuildTransferFunctionScriptingTraits (0ms)
-			SetupTypeCache (374ms)
-			ReleaseScriptCaches (1ms)
-			RebuildScriptCaches (148ms)
-			SetupLoadedEditorAssemblies (366ms)
-				LogAssemblyErrors (0ms)
-				InitializePlatformSupportModulesInManaged (10ms)
-				SetLoadedEditorAssemblies (1ms)
-				RefreshPlugins (19ms)
-				BeforeProcessingInitializeOnLoad (95ms)
-				ProcessInitializeOnLoadAttributes (219ms)
-				ProcessInitializeOnLoadMethodAttributes (14ms)
-				AfterProcessingInitializeOnLoad (8ms)
-				EditorAssembliesLoaded (0ms)
-			ExecutionOrderSort2 (0ms)
-			AwakeInstancesAfterBackupRestoration (2ms)
-Platform modules already initialized, skipping
-Refreshing native plugins compatible for Editor in 9.73 ms, found 675 plugins.
-Preloading 0 native plugins for Editor in 0.00 ms.
-Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
-System memory in use before: 183.0 MB.
-System memory in use after: 183.2 MB.
-
-Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2038.
-Total: 3.551500 ms (FindLiveObjects: 0.230200 ms CreateObjectMapping: 0.098500 ms MarkObjects: 3.048600 ms  DeleteObjects: 0.172600 ms)
-
-AssetImportParameters requested are different than current active one (requested -> active):
-  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
-  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
-  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
-  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
-  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
-  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
-  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
-  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
-  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
-AssetImportWorkerClient::OnTransportError - code=2 error=End of file

Unity/LineRobot/Logs/shadercompiler-UnityShaderCompiler.exe0.log

@@ -1,4 +1,3 @@
 Base path: 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/PlaybackEngines'
 Cmd: initializeCompiler
 
-Cmd: shutdown

dashboard/.idea/.gitignore

@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

dashboard/.idea/dashboard.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

dashboard/.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,34 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="3">
+            <item index="0" class="java.lang.String" itemvalue="tqdm" />
+            <item index="1" class="java.lang.String" itemvalue="matplotlib" />
+            <item index="2" class="java.lang.String" itemvalue="bokeh" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="PyPep8Inspection" enabled="false" level="WEAK WARNING" enabled_by_default="false">
+      <option name="ignoredErrors">
+        <list>
+          <option value="E128" />
+          <option value="E701" />
+          <option value="E101" />
+        </list>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <option name="ignoredErrors">
+        <list>
+          <option value="N802" />
+          <option value="N806" />
+          <option value="N803" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

dashboard/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

dashboard/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8" project-jdk-type="Python SDK" />
+</project>

dashboard/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/dashboard.iml" filepath="$PROJECT_DIR$/.idea/dashboard.iml" />
+    </modules>
+  </component>
+</project>

dashboard/.idea/other.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PySciProjectComponent">
+    <option name="PY_SCI_VIEW_SUGGESTED" value="true" />
+  </component>
+</project>

dashboard/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>

dashboard/README.md

@@ -0,0 +1,20 @@
+# Line Following Robot Dashboard
+
+This folder contains all the source files to validly run the
+Python dashboard for visualizing the Line Following Robot (LFR)
+Digital Shadow (DS).
+
+It is important that `ROS2` is enabled in the environment that
+runs the main code. This will also enable the `rclpy` module.
+
+## Properties
+This dashboard does the following things:
+
+1. It reads a depth image from ROS2 and displays it using the 
+   bone colormap.
+2. It analyzes the depth image in order to identify the robot's
+   state (position and heading). This information is transferred
+   to another ROS2 connection.
+3. The sensor data is read and visualized in a history plot.
+4. The robot states (both the system under study and the model)
+   are read from ROS2 and visualized in the plot (if they exist).

dashboard/main.py

@@ -0,0 +1,120 @@
+import cv2, sys
+import numpy as np
+import tkinter as tk
+from PIL import ImageTk, Image
+
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+import rclpy
+from rclpy.node import Node
+import std_msgs.msg
+import sensor_msgs.msg
+import threading
+
+class Dashboard:
+	def __init__(self):
+		self.root = tk.Tk()
+		self.root.geometry("900x600")
+
+		self.viewpanel = tk.Frame(self.root)
+		self.right = tk.Frame(self.root)
+
+		self.DEPTH_SIZE = 300
+		self.PLOT_SIZE = 600
+
+		self.data = {
+			"redsensor": []
+		}
+
+		# Show the depth image
+		self.depth_image = tk.Canvas(self.right, width=self.DEPTH_SIZE, height=self.DEPTH_SIZE)
+		self.depth_image.pack(side="top")
+		self.image = None
+		self.dit = self.depth_image.create_text(self.DEPTH_SIZE // 2, self.DEPTH_SIZE // 2, text="Waiting for Signal...", anchor=tk.CENTER)
+		self.di = self.depth_image.create_image(0, 0, anchor=tk.NW)
+
+		# Show the color sensor value history plot
+		self.colfig = plt.figure(figsize=(3, 1), dpi=100)
+		self.colfig_ax = self.colfig.add_subplot(111)
+		self.colfig_ax.set_xlim((0, 3))
+		self.colfig_ax.set_ylim((0, 1))
+		self.colfig_line, = self.colfig_ax.plot([], [], c="red")
+		self.colfig_canvas = FigureCanvasTkAgg(self.colfig, master=self.right)
+		self.colfig_canvas.draw()
+		self.colfig_canvas.get_tk_widget().pack(side="top")
+
+		# Create the drawing canvas
+		self.canvas = tk.Canvas(self.viewpanel, width=self.PLOT_SIZE, height=self.PLOT_SIZE)
+		# self.canvas = FigureCanvasTkAgg(fig, master=self.root)  # A Tk DrawingArea
+		# self.canvas.draw()
+		# self.canvas.get_tk_widget().grid(column=1, row=1)
+		self.canvas.pack(side="top", fill="both", expand="yes")
+
+		self.viewpanel.pack(side="left", fill="both", expand="yes")
+		self.right.pack(side="right", fill="both", expand="no")
+		self.root.wm_title("AGV Detection")
+		self.root.wm_protocol("WM_DELETE_WINDOW", self.on_close)
+
+		# ROS2
+		self.node = Node("dashboardLFR")
+		self.create_listeners()
+		self.spinner = threading.Thread(target=lambda: rclpy.spin(self.node), daemon=True)
+		self.spinner.start()
+
+
+	def on_close(self):
+		rclpy.shutdown()
+		self.spinner.join(1)
+		self.root.quit()
+
+	def create_listeners(self):
+		self.node.create_subscription(sensor_msgs.msg.Image, "rt/depth_processor", self.update_depthimage, 10)
+		self.node.create_subscription(std_msgs.msg.Float32, "rt/redsensor", self.update_redsensor, 10)
+		self.colfig_ani = animation.FuncAnimation(self.colfig, lambda _: self.update_redsensor_plot(), interval=100)
+
+	def update_redsensor(self, msg):
+		self.data["redsensor"].append(msg.data)
+
+	def update_redsensor_plot(self):
+		LENG = 50
+		while len(self.data["redsensor"]) > LENG:
+			self.data["redsensor"].pop(0)
+		# TODO: "objects cannot be broadcast to a single shape"
+		self.colfig_line.set_data(range(LENG), self.data["redsensor"])
+
+	def update_depthimage(self, msg):
+		if self.dit is not None:
+			self.depth_image.delete(self.dit)
+			self.dit = None
+		dt = np.dtype('float32')
+		dt = dt.newbyteorder('<')
+		current_frame = np.ndarray(shape=(msg.height, msg.width, 1), dtype=dt, buffer=bytearray(msg.data))
+
+		clipmin = 0.3
+		clipmax = 2.0
+		skewmin = np.amin(current_frame)
+		skewmax = np.amax(current_frame)
+
+		new_frame = current_frame.copy()
+
+		np.clip(new_frame, clipmin, clipmax, out=new_frame)
+		new_frame -= skewmin
+		new_frame /= (skewmax - skewmin) / 255.0
+		new_frame = new_frame.astype(dtype=np.uint8, copy=False)
+
+		im_color = cv2.applyColorMap(new_frame, cv2.COLORMAP_BONE)
+		im_color = cv2.resize(im_color, (self.DEPTH_SIZE, self.DEPTH_SIZE))
+
+		self.image = Image.fromarray(im_color)
+		self.image = ImageTk.PhotoImage(self.image)
+
+		self.depth_image.itemconfig(self.di, image=self.image)
+
+
+if __name__ == '__main__':
+	rclpy.init()
+
+	app = Dashboard()
+	app.root.mainloop()