/// <summary>
/// Play animation track related to the current calibration stage
/// </summary>
/// <param name="calibrationStage"></param>
public override void PlayAnimation(CalibrationStage calibrationStage)
{
switch (calibrationStage)
{
case CalibrationStage.Mapping:
// removed cycle so animation is not going to wait for the user
//_animator.SetTrigger("Cycle");
break;
case CalibrationStage.Remapping:
_animator.Play("ThreeDots");
break;
case CalibrationStage.HoldStill:
_animator.SetTrigger("HoldStill");
break;
case CalibrationStage.WaitingForSensors:
// TODO animation for waiting for sensors stage
break;
case CalibrationStage.Completed:
_animator.SetTrigger("GreenCheck");
break;
case CalibrationStage.Fail:
// TODO animation for fail stage
break;
default:
throw new Exception("Calibration stage not implemented: " + calibrationStage);
}
}
private IEnumerator FailState()
{
StopCoroutine(_mainCoroutine);
_currentCalibrationStage = CalibrationStage.Fail;
_localizer.onSlamInitializationFailed.Invoke();
yield return(StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage)));
metaContext.Get <MetaLocalization>().ResetLocalization();
}
private IEnumerator TrackCalibrationSteps(SlamInitializationType initializationType)
{
// waiting for the sensors
while (!_sensorsReady)
{
yield return(null);
}
// shows a message in case the user doesn't move in the beggining
_currentCalibrationStage = CalibrationStage.WaitingForTracking;
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
if (initializationType == SlamInitializationType.NewMap)
{
_currentCalibrationStage = CalibrationStage.Mapping;
// start timeout countdown
StartCoroutine(TimeOutCalibrationFail(SlamFailTimeOut));
}
else
{
_headOrientation.gameObject.SetActive(false);
_currentCalibrationStage = CalibrationStage.Remapping;
}
// show start message
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
int currentStep = 0;
while (true)
{
float coverage = _coverageAngle;
if (_calibrationSteps[currentStep] == CalibrationStep.RotateFurtherLeft ||
_calibrationSteps[currentStep] == CalibrationStep.RotateFurtherRight)
{
coverage *= _furtherAngleIncrease;
}
float angle;
// TODO change logic to consider _initialYOrientation after compositor implements different origin
if (_centerEye.rotation.eulerAngles.y > 180)
{
angle = Mathf.Clamp(_centerEye.rotation.eulerAngles.y - 360, -coverage, coverage);
}
else
{
angle = Mathf.Clamp(_centerEye.rotation.eulerAngles.y, -coverage, coverage);
}
_headOrientation.Rotation = (coverage - angle) / (coverage * 2);
// if calibration happens at any point
if (DetectCalibratedStage())
{
_currentCalibrationStage = CalibrationStage.Completed;
yield return(StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage)));
}
// if hold still stage is detected at any point
else if (DetectHoldStillStage() && _currentCalibrationStage != CalibrationStage.HoldStill)
{
_currentCalibrationStage = CalibrationStage.HoldStill;
_headOrientation.gameObject.SetActive(false);
StartCoroutine(TimeOutCalibrationFail(SlamHoldStillMaxTime));
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
}
// if goal for the current step is achieved
else if (ApproximatelyWithThreshold(_calibrationStepAngle[_calibrationSteps[currentStep]],
ConvertToPositiveAngle(_centerEye.rotation.eulerAngles.y)))
{
if (currentStep + 1 < _calibrationSteps.Length)
{
currentStep++;
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
}
// steps finished
else
{
// if not initialized then fail
StartCoroutine(FailState());
}
}
yield return(null);
}
}
/// <summary> /// Play animation track related to the current calibration stage /// </summary> /// <param name="calibrationStage"></param> public abstract void PlayAnimation(CalibrationStage calibrationStage);
/// <summary>
/// Change the current UI stage based on the calibration process
/// </summary>
/// <param name="calibrationStage"></param>
/// <returns></returns>
public override IEnumerator ChangeUIStage(CalibrationStage calibrationStage)
{
MetaCompositor compositor = null;
switch (calibrationStage)
{
case CalibrationStage.WaitingForSensors:
compositor = FindObjectOfType <MetaCompositor>();
if (compositor && compositor.OcclusionEnabledAtStart)
{
compositor.EnableHandOcclusion = false;
}
_slamUIMessages.CurrentMessage = SLAMUIMessageType.WaitingForSensors;
_slamAnimation.PlayAnimation(calibrationStage);
break;
case CalibrationStage.Mapping:
// if is already running the animation
if (_slamUIMessages.CurrentMessage == SLAMUIMessageType.TurnAround)
{
_slamAnimation.PlayAnimation(calibrationStage);
}
// if it is the first time
else
{
_slamUIMessages.CurrentMessage = SLAMUIMessageType.TurnAround;
_slamAnimation.StartAnimation();
}
break;
case CalibrationStage.Completed:
_slamUIMessages.CurrentMessage = SLAMUIMessageType.MappingSuccess;
_slamAnimation.PlayAnimation(CalibrationStage.Completed);
yield return(new WaitForSeconds(_delayBetweenMessages));
// fades out
_slamUIMessages.CurrentMessage = SLAMUIMessageType.None;
_slamAnimation.StopAnimation();
compositor = FindObjectOfType <MetaCompositor>();
if (compositor && compositor.OcclusionEnabledAtStart)
{
compositor.EnableHandOcclusion = true;
}
yield return(new WaitForSeconds(_delayBetweenMessages));
Destroy(gameObject);
break;
case CalibrationStage.HoldStill:
_slamUIMessages.CurrentMessage = SLAMUIMessageType.HoldStill;
_slamAnimation.PlayAnimation(calibrationStage);
break;
case CalibrationStage.Fail:
_slamUIMessages.CurrentMessage = SLAMUIMessageType.MappingFail;
yield return(new WaitForSeconds(_delayBetweenMessages));
break;
case CalibrationStage.WaitingForTracking:
_slamUIMessages.CurrentMessage = SLAMUIMessageType.WaitingForTracking;
break;
case CalibrationStage.Remapping:
_slamUIMessages.CurrentMessage = SLAMUIMessageType.Relocalization;
_slamAnimation.PlayAnimation(calibrationStage);
break;
default:
throw new Exception("Calibration stage not implemented: " + calibrationStage);
}
}
/// <summary> /// Change the current UI stage based on the calibration process /// </summary> /// <param name="calibrationStage"></param> /// <returns></returns> public abstract IEnumerator ChangeUIStage(CalibrationStage calibrationStage);