// Use this for initialization
void Start()
{
this.step = ModeratorStep.Initialize;
this.avatarStateStep = AvatarStateStep.Initialize;
this.isAllTaskFinished = false;
this.interruptedReason = string.Empty;
if (this.executionMode == ExecutionMode.Competition)
{
this.mainPanelController.SetTaskMessageText(this.tool.GetTaskDetail());
}
List <GameObject> graspables = this.tool.GetGraspables();
for (int i = 0; i < graspables.Count; i++)
{
Rigidbody rigidbody = graspables[i].GetComponent <Rigidbody>();
rigidbody.constraints
= RigidbodyConstraints.FreezeRotation |
RigidbodyConstraints.FreezePositionX |
RigidbodyConstraints.FreezePositionZ;
rigidbody.maxDepenetrationVelocity = 0.5f;
StartCoroutine(this.tool.LoosenRigidbodyConstraints(rigidbody));
}
this.bgmAudioSource.volume = Mathf.Clamp01(CleanupConfig.Instance.configFileInfo.bgmVolume);
}
public void PointObject(Laser laser, AvatarStateStep avatarStateStep)
{
switch (this.executionMode)
{
// For the competition. Read generated data.
case ExecutionMode.Competition:
{
switch (avatarStateStep)
{
case AvatarStateStep.WaitForPickItUp:
{
this.hasPointedTarget = true;
break;
}
case AvatarStateStep.WaitForCleanUp:
{
this.hasPointedDestination = true;
break;
}
default:
{
SIGVerseLogger.Warn("This pointing by the avatar is an invalid timing. step=" + avatarStateStep);
break;
}
}
break;
}
// For data generation.
case ExecutionMode.DataGeneration:
{
switch (avatarStateStep)
{
case AvatarStateStep.WaitForPickItUp:
{
this.hasPointedTarget = true;
this.graspingTarget = laser.nearestGraspingObject;
break;
}
case AvatarStateStep.WaitForCleanUp:
{
this.hasPointedDestination = true;
this.destination = laser.nearestDestination;
// Add Placement checker to triggers
if (this.destination.GetComponentInChildren <PlacementChecker>() == null)
{
this.AddPlacementChecker(this.destination);
}
break;
}
default:
{
SIGVerseLogger.Warn("This pointing by the avatar is an invalid timing. step=" + avatarStateStep);
break;
}
}
break;
}
default:
{
throw new Exception("Illegal Execution mode. mode=" + CleanupConfig.Instance.configFileInfo.executionMode);
}
}
}
private IEnumerator StartAvatarStateController()
{
bool isAvatarControlling = true;
int numberOfPointing = 1;
while (isAvatarControlling)
{
if (this.step == ModeratorStep.WaitForNextTask)
{
isAvatarControlling = false;
}
switch (this.avatarStateStep)
{
case AvatarStateStep.Initialize:
{
this.tool.StartAvatarMotionPlaybackPlayer();
this.tool.StartAvatarMotionPlaybackRecorder();
this.avatarStateStep++;
break;
}
case AvatarStateStep.WaitForPickItUp:
{
if (this.tool.HasPointedTarget())
{
this.SendRosMessage(MsgPickItUp, string.Empty);
this.tool.AddSpeechQueModerator("Please pick it up");
SIGVerseLogger.Info("Sent '" + MsgPickItUp + "'");
this.avatarStateStep++;
}
break;
}
case AvatarStateStep.WaitForCleanUp:
{
if (this.tool.HasPointedDestination())
{
this.SendRosMessage(MsgCleanUp, string.Empty);
this.tool.AddSpeechQueModerator("Please clean up");
SIGVerseLogger.Info("Sent '" + MsgCleanUp + "'");
if (this.executionMode == ExecutionMode.DataGeneration && numberOfPointing == 1)
{
this.mainPanelController.SetTaskMessageText(this.tool.GetTaskDetail());
StartCoroutine(this.tool.SaveEnvironmentInfo());
}
this.avatarStateStep++;
}
break;
}
case AvatarStateStep.WaitForReturnToInitialPosition:
{
if ((this.executionMode == ExecutionMode.DataGeneration && this.tool.HasPressedButtonToStopRecordingAvatarMotion()) ||
(this.executionMode == ExecutionMode.Competition && this.tool.IsAvatarMotionPlaybackPlayerFinished()))
{
this.tool.StopAvatarMotionPlaybackRecorder();
this.avatarStateStep++;
}
break;
}
case AvatarStateStep.ReturnToInitialPosition:
{
if (this.executionMode == ExecutionMode.Competition)
{
IEnumerator makeAvatarInitialPosture = this.tool.MakeAvatarInitialPosture();
yield return(StartCoroutine(makeAvatarInitialPosture));
}
this.avatarStateStep++;
break;
}
case AvatarStateStep.WaitForNextPointing:
{
if (this.executionMode == ExecutionMode.Competition && this.receivedMessageMap[MsgPointItAgain])
{
this.receivedMessageMap[MsgPointItAgain] = false;
this.scoreManager.AddScore(Score.Type.PointItAgain);
this.tool.ResetPointingStatus();
numberOfPointing++;
this.avatarStateStep = AvatarStateStep.Initialize;
}
break;
}
}
yield return(null);
}
}
