private void PostProcess()
{
SIGVerseLogger.Info("Task end");
if (HandymanConfig.Instance.numberOfTrials == HandymanConfig.Instance.configFileInfo.maxNumberOfTrials)
{
this.SendRosMessage(MsgMissionComplete, string.Empty);
StartCoroutine(this.tool.CloseRosConnections());
StartCoroutine(this.DisplayEndMessage());
this.isAllTaskFinished = true;
}
else
{
this.tool.AddSpeechQueModerator("Let's go to the next session");
StartCoroutine(this.tool.ClearRosConnections());
this.step = ModeratorStep.WaitForNextTask;
}
}
//-----------------------------
private void InitializeMainPanel()
{
this.panelMainController.SetTeamNameText("Team: " + HumanNaviConfig.Instance.configInfo.teamName);
if (this.isPracticeMode)
{
HumanNaviConfig.Instance.numberOfTrials = 1;
}
else
{
HumanNaviConfig.Instance.InclementNumberOfTrials(HumanNaviConfig.Instance.configInfo.playbackType);
}
this.numberOfSession = HumanNaviConfig.Instance.numberOfTrials;
//this.panelMainController.SetTrialNumberText(HumanNaviConfig.Instance.numberOfTrials);
this.panelMainController.SetTrialNumberText(this.numberOfSession);
SIGVerseLogger.Info("##### " + this.panelMainController.GetTrialNumberText() + " #####");
this.panelMainController.SetTaskMessageText("");
this.scoreManager.ResetTimeLeftText();
}
public static System.Net.Sockets.TcpClient GetConnection(string rosBridgeIP, int sigverseBridgePort)
{
if (!canConnect)
{
throw new Exception("Cannot connect HSR. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
}
System.Net.Sockets.TcpClient tcpClient = new System.Net.Sockets.TcpClient();
IAsyncResult connectResult = tcpClient.BeginConnect(rosBridgeIP, sigverseBridgePort, null, null);
bool isConnected = connectResult.AsyncWaitHandle.WaitOne(TimeSpan.FromMilliseconds(SigverseRosbridgeConnectionTimeOut));
if (!isConnected)
{
canConnect = false;
SIGVerseLogger.Error("Failed to connect. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
throw new Exception("Failed to connect. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
}
return(tcpClient);
}
private void Awake()
{
try
{
// For practice mode
if (HumanNaviConfig.Instance.configInfo.executionMode == (int)ExecutionMode.Practice)
{
this.GetComponent <HumanNaviPubTaskInfo>().enabled = false;
this.GetComponent <HumanNaviPubMessage>().enabled = false;
this.GetComponent <HumanNaviSubMessage>().enabled = false;
this.GetComponent <HumanNaviPubAvatarStatus>().enabled = false;
this.GetComponent <HumanNaviPubObjectStatus>().enabled = false;
robot.transform.Find("RosBridgeScripts").gameObject.SetActive(false);
robot.GetComponentInChildren <HumanNaviSubGuidanceMessage>().enabled = false;
foreach (Camera camera in robot.transform.GetComponentsInChildren <Camera>())
{
camera.gameObject.SetActive(false);
}
}
this.robot.SetActive(false);
this.robotBaseFootprint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, "base_footprint");
this.InitializeEnvironments();
this.tts = this.robot.transform.Find("CompetitionScripts").GetComponent <SAPIVoiceSynthesisExternal>();
this.InitializeTaskInfo();
}
catch (Exception e)
{
SIGVerseLogger.Error(e.Message);
this.ApplicationQuitAfter1sec();
}
}
void FixedUpdate()
{
try
{
// Receive the time gap between Unity and ROS
if (this.networkStream.DataAvailable)
{
byte[] byteArray = new byte[256];
int numberOfBytesRead = 0;
if (networkStream.CanRead)
{
numberOfBytesRead = networkStream.Read(byteArray, 0, byteArray.Length);
}
string message = System.Text.Encoding.UTF8.GetString(byteArray, 0, numberOfBytesRead);
string[] messageArray = message.Split(',');
if (messageArray.Length == 3)
{
SIGVerseLogger.Info("Time gap sec=" + messageArray[1] + ", msec=" + messageArray[2]);
SIGVerse.RosBridge.std_msgs.Header.SetTimeGap(Int32.Parse(messageArray[1]), Int32.Parse(messageArray[2]));
}
else
{
SIGVerseLogger.Error("Illegal message. Time gap message=" + message);
}
}
}
catch (ObjectDisposedException exception)
{
SIGVerseLogger.Warn(exception.Message);
}
}
// Use this for initialization
void Awake()
{
this.process = new System.Diagnostics.Process();
this.process.StartInfo.FileName = Application.dataPath + this.path;
//this.process.EnableRaisingEvents = true;
//this.process.Exited += new System.EventHandler(ProcessExit);
//this.process.StartInfo.RedirectStandardOutput = true;
//this.process.OutputDataReceived += new System.Diagnostics.DataReceivedEventHandler(OutputHandler);
//this.process.StartInfo.RedirectStandardError = true;
//this.process.ErrorDataReceived += new System.Diagnostics.DataReceivedEventHandler(ErrorOutputHanlder);
this.process.StartInfo.CreateNoWindow = true;
this.process.StartInfo.WindowStyle = System.Diagnostics.ProcessWindowStyle.Hidden;
SIGVerseLogger.Info("Text-To-Speech: " + this.process.StartInfo.FileName);
this.ResetNotificationDestinations();
this.isSpeaking = false;
}
void Awake()
{
try
{
if (HandymanConfig.Instance.configFileInfo.playbackType == WorldPlaybackCommon.PlaybackTypePlay)
{
return;
}
this.tool = new HandymanModeratorTool(this);
this.stepTimer = new StepTimer();
this.mainMenu = GameObject.FindGameObjectWithTag("MainMenu");
this.mainPanelController = mainMenu.GetComponent <PanelMainController>();
}
catch (Exception exception)
{
Debug.LogError(exception);
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
public void OnReceiveRosMessage(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
{
if (this.receivedMessageMap.ContainsKey(humanNaviMsg.message))
{
this.receivedMessageMap[humanNaviMsg.message] = true;
if (humanNaviMsg.message == MsgGiveUp)
{
this.OnGiveUp();
}
else if (humanNaviMsg.message == MsgGetAvatarPose)
{
RosBridge.human_navigation.HumanNaviAvatarPose avatarPose = new RosBridge.human_navigation.HumanNaviAvatarPose();
avatarPose.head.position = ConvertCoorinateSystemUnityToROS_Position(this.head.transform.position);
avatarPose.head.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.head.transform.rotation);
avatarPose.left_hand.position = ConvertCoorinateSystemUnityToROS_Position(this.LeftHand.transform.position);
avatarPose.left_hand.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.LeftHand.transform.rotation);
avatarPose.right_hand.position = ConvertCoorinateSystemUnityToROS_Position(this.rightHand.transform.position);
avatarPose.right_hand.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.rightHand.transform.rotation);
this.SendRosAvatarPoseMessage(avatarPose);
}
else if (humanNaviMsg.message == MsgConfirmSpeechState)
{
if (this.isDuringTrial)
{
this.SendRosHumanNaviMessage(MsgSpeechState, this.sessionManager.GetSeechRunStateMsgString());
}
}
}
else
{
SIGVerseLogger.Warn("Received Illegal message : " + humanNaviMsg.message);
}
}
private void SetDestinationToHumanNaviTaskInfo()
{
List <GameObject> destinations = GameObject.FindGameObjectsWithTag("Destination").ToList <GameObject>();
if (destinations.Count == 0)
{
throw new Exception("Destination candidate is not found.");
}
foreach (GameObject destination in destinations)
{
if (destination.name == this.currentTaskInfo.destination)
{
Vector3 conterOfCollider = destination.GetComponent <BoxCollider>().center;
taskInfoForRobot.destination = this.ConvertCoorinateSystemUnityToROS_Position(destination.transform.position + conterOfCollider);
}
}
SIGVerseLogger.Info("Destination : " + taskInfoForRobot.destination);
//if (taskInfoForRobot.destination == null)
//{
// throw new Exception("Destination is not found.");
//}
}
//-----------------------------
/// <summary>
/// Human Avatar -> Robot
/// </summary>
public override void OnReceiveChatMessage(string senderName, string message)
{
#if SIGVERSE_PUN
if (this.photonView.Owner != PhotonNetwork.LocalPlayer)
{
return;
}
string senderNickName = senderName.Split('#')[0];
string speaker = (senderNickName == PhotonNetwork.NickName) ? "You" : senderNickName;
// Display the message
PanelNoticeStatus noticeStatus = new PanelNoticeStatus(speaker, message, PanelNoticeStatus.Green);
ExecuteEvents.Execute <IPanelNoticeHandler>
(
target: this.mainMenu,
eventData: null,
functor: (reciever, eventData) => reciever.OnPanelNoticeChange(noticeStatus)
);
// Forward the message to ROS
if (senderNickName != PhotonNetwork.NickName)
{
ExecuteEvents.Execute <SIGVerse.RosBridge.IRosSendingStringMsgHandler>
(
target: this.rosBridgeScripts,
eventData: null,
functor: (reciever, eventData) => reciever.OnSendRosStringMsg(message)
);
}
SIGVerseLogger.Info("Robot: Received a message. sender=" + senderName + ", message=" + message);
#endif
}
protected void Awake()
{
this.collisionEffect = (GameObject)Resources.Load(CompetitionUtils.CollisionEffectPath);
this.exclusionColliderList = new List <Collider>();
foreach (string exclusionColliderTag in exclusionColliderTags)
{
List <GameObject> exclusionColliderObjects = GameObject.FindGameObjectsWithTag(exclusionColliderTag).ToList <GameObject>();
foreach (GameObject exclusionColliderObject in exclusionColliderObjects)
{
List <Collider> colliders = exclusionColliderObject.GetComponentsInChildren <Collider>().ToList <Collider>();
this.exclusionColliderList.AddRange(colliders);
}
}
this.colliders = this.GetComponentsInChildren <Collider>();
this.colliderVelocities = new float[this.colliders.Length];
this.prePoss = new Vector3[this.colliders.Length];
SIGVerseLogger.Info("HSR collider count=" + this.colliders.Length);
}
private void StartRecording()
{
SIGVerseLogger.Info("Recorder : Initialise");
this.DisableSettings();
DateTime dateTime = DateTime.Now;
this.targetTransformInstances = new List <Transform>();
List <string> linkPathList = new List <string>(); // It is for only duplication check
// Make header line
this.savedHeaderStrings = string.Empty;
this.savedHeaderStrings += "0.0," + PlaybackerCommon.TypeDef; // Elapsed time is dummy.
// Create targets transform list
foreach (GameObject targetObj in targetObjects)
{
Transform[] transforms = targetObj.transform.GetComponentsInChildren <Transform>();
foreach (Transform transform in transforms)
{
// Save Transform instance list
this.targetTransformInstances.Add(transform);
string linkPath = SIGVerseUtils.GetHierarchyPath(transform);
// Make a header line
this.savedHeaderStrings += "\t" + linkPath;
// Duplication check
if (linkPathList.Contains(linkPath))
{
SIGVerseLogger.Error("Objects in the same path exist. path=" + linkPath);
throw new Exception("Objects in the same path exist.");
}
linkPathList.Add(linkPath);
}
}
if (this.modeType == ModeType.TextRecorder)
{
this.InitializeText();
}
else
{
#if SIGVERSE_MYSQL
this.InitializeDatabase();
#endif
}
this.savedMotionStrings = new List <string>();
// Change Buttons
this.recordButtonText.text = PlaybackerCommon.ButtonTextStop;
// Reset elapsed time
this.elapsedTime = 0.0f;
this.previousRecordedTime = 0.0f;
SIGVerseLogger.Info("Recorder : Recording start.");
this.statusText.text = StatusTextRecording;
this.isRecording = true;
}
void Awake()
{
// Read Config file
this.configFilePath = Application.dataPath + HandymanConfig.FolderPath + HandymanConfig.ConfigFileName;
this.configFileInfo = new HandymanConfigFileInfo();
if (File.Exists(configFilePath))
{
// File open
StreamReader streamReader = new StreamReader(configFilePath, Encoding.UTF8);
this.configFileInfo = JsonUtility.FromJson <HandymanConfigFileInfo>(streamReader.ReadToEnd());
streamReader.Close();
}
else
{
#if UNITY_EDITOR
SIGVerseLogger.Warn("Handyman config file does not exists.");
this.configFileInfo.teamName = "XXXX";
this.configFileInfo.sessionTimeLimit = 600;
this.configFileInfo.maxNumberOfTrials = 15;
this.configFileInfo.isScoreFileRead = false;
this.configFileInfo.isGraspableObjectsPositionRandom = true;
this.configFileInfo.isAlwaysGoNext = false;
this.configFileInfo.playbackType = HandymanPlaybackCommon.PlaybackTypeRecord;
this.configFileInfo.bgmVolume = 0.01f;
this.configFileInfo.reduceLoadInDataGen = false;
this.SaveConfig();
#else
SIGVerseLogger.Error("Handyman config file does not exists.");
Application.Quit();
#endif
}
// Initialize common parameter
this.scoreFilePath = Application.dataPath + HandymanConfig.FolderPath + HandymanConfig.ScoreFileName;
this.scores = new List <int>();
if (this.configFileInfo.isScoreFileRead)
{
if (!System.IO.File.Exists(this.scoreFilePath))
{
SIGVerseLogger.Error("Score file does not exists.");
Application.Quit();
}
// File open
StreamReader streamReader = new StreamReader(scoreFilePath, Encoding.UTF8);
string line;
while ((line = streamReader.ReadLine()) != null)
{
string scoreStr = line.Trim();
if (scoreStr == string.Empty)
{
continue;
}
this.scores.Add(Int32.Parse(scoreStr));
}
streamReader.Close();
this.numberOfTrials = this.scores.Count;
if (this.numberOfTrials >= this.configFileInfo.maxNumberOfTrials)
{
SIGVerseLogger.Error("this.numberOfTrials >= this.configFileInfo.maxNumberOfTrials");
Application.Quit();
}
}
else
{
this.numberOfTrials = 0;
}
}
public override bool ReadEvents(string[] headerArray, string dataStr)
{
// Transform data
if (headerArray[1] == WorldPlaybackCommon.DataType1Transform)
{
string[] dataArray = dataStr.Split('\t');
// Definition
if (headerArray[2] == WorldPlaybackCommon.DataType2TransformDef)
{
this.transformOrder.Clear();
SIGVerseLogger.Info("Playback player : transform data num=" + dataArray.Length);
foreach (string transformPath in dataArray)
{
if (!this.targetTransformPathMap.ContainsKey(transformPath))
{
SIGVerseLogger.Error("Couldn't find the object that path is " + transformPath);
}
this.transformOrder.Add(this.targetTransformPathMap[transformPath]);
}
}
// Value
else if (headerArray[2] == WorldPlaybackCommon.DataType2TransformVal)
{
if (this.transformOrder.Count == 0)
{
return(false);
}
PlaybackTransformEventList playbackTransformEventList = new PlaybackTransformEventList();
playbackTransformEventList.ElapsedTime = float.Parse(headerArray[0]);
for (int i = 0; i < dataArray.Length; i++)
{
string[] transformValues = dataArray[i].Split(',');
PlaybackTransformEvent transformEvent = new PlaybackTransformEvent();
transformEvent.TargetTransform = this.transformOrder[i];
transformEvent.Position = new Vector3(float.Parse(transformValues[0]), float.Parse(transformValues[1]), float.Parse(transformValues[2]));
transformEvent.Rotation = new Vector3(float.Parse(transformValues[3]), float.Parse(transformValues[4]), float.Parse(transformValues[5]));
if (transformValues.Length == 6)
{
transformEvent.Scale = Vector3.one;
}
else if (transformValues.Length == 9)
{
transformEvent.Scale = new Vector3(float.Parse(transformValues[6]), float.Parse(transformValues[7]), float.Parse(transformValues[8]));
}
playbackTransformEventList.EventList.Add(transformEvent);
}
this.eventLists.Add(playbackTransformEventList);
}
return(true);
}
return(false);
}
private IEnumerator StartPlaying()
{
SIGVerseLogger.Info("Player : Initialise");
if (!File.Exists(inputFilePathInputField.text))
{
throw new Exception("Input File NOT found. File path=" + inputFilePathInputField.text);
}
this.DisableSettings();
this.statusText.text = StatusTextReading;
this.isReading = true;
this.playingTransformList = new List <UpdatingTransformList>();
if (this.modeType == ModeType.TextPlayer)
{
Thread threadWriteMotions = new Thread(new ThreadStart(this.ReadMotionsFromFile));
threadWriteMotions.Start();
}
else
{
#if SIGVERSE_MYSQL
Thread threadWriteMotions = new Thread(new ThreadStart(this.SelectMotionsFromMySQL));
threadWriteMotions.Start();
#endif
}
while (this.isReading)
{
yield return(new WaitForSeconds(0.1f));
}
// Change Buttons
this.playButtonText.text = PlaybackerCommon.ButtonTextStop;
this.animatorEnableMap.Clear();
this.rigidbodyIsKinematicMap.Clear();
// Disable Animators and Rigidbodies
foreach (GameObject targetObj in targetObjects)
{
// Disable animators
Animator[] animators = targetObj.transform.GetComponentsInChildren <Animator>(true);
foreach (Animator animator in animators)
{
this.animatorEnableMap.Add(animator, animator.enabled);
animator.enabled = false;
}
// Disable rigidbodies
Rigidbody[] rigidbodies = targetObj.transform.GetComponentsInChildren <Rigidbody>(true);
foreach (Rigidbody rigidbody in rigidbodies)
{
this.rigidbodyIsKinematicMap.Add(rigidbody, rigidbody.isKinematic);
rigidbody.isKinematic = true;
rigidbody.velocity = Vector3.zero;
rigidbody.angularVelocity = Vector3.zero;
}
}
SIGVerseLogger.Info("Player : Playing start.");
// Reset elapsed time
this.elapsedTime = 0.0f;
this.playingTransformIndex = 0;
this.statusText.text = StatusTextPlaying;
this.isPlaying = true;
}
private bool SpeakMessage(string message, string displayType, string sourceLanguage, string targetLanguage)
{
if (this.isSpeaking)
{
SIGVerseLogger.Info("Text-To-Speech: isSpeaking");
try
{
if (/*isTaskFinished &&*/ !this.speechProcess.HasExited)
{
this.speechProcess.Kill();
}
}
catch (Exception)
{
SIGVerseLogger.Warn("Couldn't terminate the speech process, but do nothing.");
// Do nothing even if an error occurs
}
}
// Translation
if ((sourceLanguage == string.Empty && targetLanguage != string.Empty) || (sourceLanguage != string.Empty && targetLanguage == string.Empty))
{
SIGVerseLogger.Error("Invalid language type. Source Language=" + sourceLanguage + ", Target Language=" + targetLanguage);
return(false);
}
if (sourceLanguage != string.Empty && targetLanguage != string.Empty)
{
if (message.Length > maxCharactersForSourceLang)
{
message.Substring(0, maxCharactersForSourceLang);
SIGVerseLogger.Info("Length of guidance message(source lang) is over " + this.maxCharactersForSourceLang.ToString() + " charcters.");
}
if (this.translationClient != null)
{
message = this.translationClient.TranslateText(message, targetLanguage, sourceLanguage).TranslatedText;
}
else
{
SIGVerseLogger.Warn("There is no environment for translation.");
}
}
string truncatedMessage;
if (message.Length > maxCharactersForTargetLang)
{
truncatedMessage = message.Substring(0, maxCharactersForTargetLang);
SIGVerseLogger.Info("Length of guidance message(target lang) is over " + this.maxCharactersForTargetLang.ToString() + " charcters.");
}
else
{
truncatedMessage = message;
}
// speak
string settings = "Language=" + HumanNaviConfig.Instance.ttsLanguageId + "; Gender=" + this.gender;
this.speechProcess.StartInfo.Arguments = "\"" + truncatedMessage + "\" \"" + settings + "\"";
SIGVerseLogger.Info("Speech Message=" + this.speechProcess.StartInfo.Arguments);
foreach (GameObject destination in this.notificationDestinations)
{
// For recording
ExecuteEvents.Execute <ISpeakGuidanceMessageHandler>
(
target: destination,
eventData: null,
functor: (reciever, eventData) => reciever.OnSpeakGuidanceMessage(new GuidanceMessageStatus(message, displayType, sourceLanguage, targetLanguage))
);
// For send speech result (ROS message)
ExecuteEvents.Execute <ISendSpeechResultHandler>
(
target: destination,
eventData: null,
functor: (reciever, eventData) => reciever.OnSendSpeechResult(SpeechResultStarted)
);
}
this.speechProcess.Start();
this.isSpeaking = true;
return(true);
}
//---------------------------- GUI related codes are below ---------------------------------------------
void OnGUI()
{
// Update a text of status
if (this.errorMsg != string.Empty)
{
this.statusText.text = this.errorMsg;
this.SetTextColorAlpha(this.statusText, 1.0f);
return;
}
switch (this.step)
{
case Step.Waiting:
{
if (this.isStepChanged)
{
Debug.Log("Waiting");
if (this.isInitialized)
{
this.trialNoInputField.interactable = true;
this.readFileButton.interactable = true;
this.timeSlider.interactable = true;
this.playButton.interactable = true;
this.speedDropdown.interactable = true;
this.repeatToggle.interactable = true;
this.startTimeInputField.interactable = true;
this.endTimeInputField.interactable = true;
}
if (this.isFileRead)
{
this.SetTextColorAlpha(this.statusText, 0.0f);
this.totalTimeText.text = this.elapsedTime.ToString(ElapsedTimeFormat);
this.totalTimeText.text = Math.Ceiling(this.GetTotalTime()).ToString(TotalTimeFormat);
this.totalTimeInt = int.Parse(this.totalTimeText.text);
this.ResetTimeSlider();
this.SetStartTime(0);
this.SetEndTime(this.totalTimeInt);
this.UpdateDataByLatest(0);
this.isFileRead = false;
}
this.SetTextColorAlpha(this.statusText, 0.0f);
this.playButton.image.sprite = this.playSprite;
this.isStepChanged = false;
}
this.UpdateTimeDisplay();
break;
}
case Step.Initializing:
{
if (this.isStepChanged)
{
SIGVerseLogger.Info("Initializing");
this.statusText.text = "Reading...";
this.isStepChanged = false;
}
this.SetTextColorAlpha(this.statusText, Mathf.Sin(5.0f * Time.time) * 0.5f + 0.5f);
break;
}
case Step.Playing:
{
if (this.isStepChanged)
{
SIGVerseLogger.Info("Playing");
this.statusText.text = "Playing...";
this.playButton.image.sprite = this.pauseSprite;
this.trialNoInputField.interactable = false;
this.readFileButton.interactable = false;
this.timeSlider.interactable = false;
this.speedDropdown.interactable = false;
this.repeatToggle.interactable = false;
this.startTimeInputField.interactable = false;
this.endTimeInputField.interactable = false;
this.isStepChanged = false;
}
this.SetTextColorAlpha(this.statusText, Mathf.Sin(5.0f * Time.time) * 0.5f + 0.5f);
this.UpdateTimeDisplay();
this.timeSlider.value = Mathf.Clamp((this.elapsedTime - this.startTime) / (this.endTime - this.startTime), 0.0f, 1.0f);
break;
}
}
}
private void Initialize(EnvironmentInfo environmentInfo, HandymanScoreManager scoreManager, AudioSource objectCollisionAudioSource)
{
List <GameObject> objectCollisionDestinations = new List <GameObject>();
objectCollisionDestinations.Add(scoreManager.gameObject);
objectCollisionDestinations.Add(this.playbackRecorder.gameObject);
foreach (GameObject graspable in this.graspables)
{
CollisionTransferer collisionTransferer = graspable.AddComponent <CollisionTransferer>();
collisionTransferer.Initialize(objectCollisionDestinations, Score.GetObjectCollisionVeloticyThreshold(), 0.1f, objectCollisionAudioSource);
}
Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap = null; //key:GraspablePositionInfo, value:Graspables
Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = null; //key:DestinationPositionInfo, value:DestinationCandidate
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.graspingTarget = this.DecideGraspingTarget();
this.destination = this.DecideDestination();
graspablesPositionMap = this.CreateGraspablesPositionMap();
destinationsPositionsMap = this.CreateDestinationsPositionsMap();
}
else
{
this.DeactivateGraspingCandidatesPositions();
this.graspingTarget = (from graspable in this.graspables where graspable.name == environmentInfo.graspingTargetName select graspable).First();
if (this.graspingTarget == null)
{
throw new Exception("Grasping target not found. name=" + environmentInfo.graspingTargetName);
}
graspablesPositionMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo graspablePositionInfo in environmentInfo.graspablesPositions)
{
GameObject graspableObj = (from graspable in this.graspables where graspable.name == graspablePositionInfo.name select graspable).First();
if (graspableObj == null)
{
throw new Exception("Graspable object not found. name=" + graspablePositionInfo.name);
}
graspablesPositionMap.Add(graspablePositionInfo, graspableObj);
}
// Destination object
this.destination = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == environmentInfo.destinationName select destinationCandidate).First();
if (this.destination == null)
{
throw new Exception("Destination not found. name=" + environmentInfo.destinationName);
}
// Destination candidates position map
destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo destinationPositionInfo in environmentInfo.destinationsPositions)
{
GameObject destinationObj = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == destinationPositionInfo.name select destinationCandidate).First();
if (destinationObj == null)
{
throw new Exception("Destination candidate not found. name=" + destinationPositionInfo.name);
}
destinationsPositionsMap.Add(destinationPositionInfo, destinationObj);
}
}
if (this.destination.tag != TagModerator)
{
// Add Placement checker to triggers
Transform judgeTriggerOn = this.destination.transform.Find(JudgeTriggerNameOn);
Transform judgeTriggerIn = this.destination.transform.Find(JudgeTriggerNameIn);
if (judgeTriggerOn == null && judgeTriggerIn == null)
{
throw new Exception("No JudgeTrigger. name=" + this.destination.name);
}
if (judgeTriggerOn != null && judgeTriggerIn != null)
{
throw new Exception("Too many JudgeTrigger. name=" + this.destination.name);
}
if (judgeTriggerOn != null)
{
PlacementChecker placementChecker = judgeTriggerOn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.On);
}
if (judgeTriggerIn != null)
{
PlacementChecker placementChecker = judgeTriggerIn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.In);
}
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in graspablesPositionMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in destinationsPositionsMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
this.targetRoom = this.GetTargetRoom();
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.taskMessage = this.CreateTaskMessage();
this.correctedTaskMessage = string.Empty;
this.isEnvironmentNameSent = true;
}
else
{
this.taskMessage = environmentInfo.taskMessage;
this.correctedTaskMessage = environmentInfo.correctedTaskMessage;
this.isEnvironmentNameSent = environmentInfo.isEnvironmentNameSent;
}
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
SaveEnvironmentInfo(this.taskMessage, this.correctedTaskMessage, this.environmentName, this.isEnvironmentNameSent, this.graspingTarget.name, this.destination.name, graspablesPositionMap, destinationsPositionsMap);
}
this.rosConnections = SIGVerseUtils.FindObjectsOfInterface <IRosConnection>();
SIGVerseLogger.Info("ROS connection : count=" + this.rosConnections.Length);
// Set up the voice (Using External executable file)
this.speechProcess = new System.Diagnostics.Process();
this.speechProcess.StartInfo.FileName = Application.dataPath + "/" + SpeechExePath;
this.speechProcess.StartInfo.CreateNoWindow = true;
this.speechProcess.StartInfo.WindowStyle = System.Diagnostics.ProcessWindowStyle.Hidden;
this.isSpeechUsed = System.IO.File.Exists(this.speechProcess.StartInfo.FileName);
this.speechInfoQue = new Queue <SpeechInfo>();
SIGVerseLogger.Info("Text-To-Speech: " + Application.dataPath + "/" + SpeechExePath);
this.isPlacementSucceeded = null;
}
// Update is called once per frame
void Update()
{
try
{
if (this.isAllTaskFinished)
{
return;
}
if (this.interruptedReason != string.Empty && this.step != ModeratorStep.WaitForNextTask)
{
SIGVerseLogger.Info("Failed '" + this.interruptedReason + "'");
this.SendPanelNotice("Failed\n" + interruptedReason.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.GoToNextTaskTaskFailed(this.interruptedReason);
}
switch (this.step)
{
case ModeratorStep.Initialize:
{
SIGVerseLogger.Info("Initialize");
this.PreProcess();
this.step++;
break;
}
case ModeratorStep.WaitForStart:
{
if (this.stepTimer.IsTimePassed((int)this.step, 3000))
{
if (this.tool.IsPlaybackInitialized() && this.tool.IsConnectedToRos())
{
this.step++;
}
}
break;
}
case ModeratorStep.TaskStart:
{
SIGVerseLogger.Info("Task start!");
this.scoreManager.TaskStart();
this.tool.StartPlayback();
this.tool.StartAvatarMotionPlayback();
this.step++;
break;
}
case ModeratorStep.WaitForIamReady:
{
if (this.receivedMessageMap[MsgIamReady])
{
this.step++;
break;
}
if (this.stepTimer.IsTimePassed((int)this.step, SendingAreYouReadyInterval))
{
this.SendRosMessage(MsgAreYouReady, string.Empty);
this.SendRosMessage(MsgEnvironment, this.tool.GetEnvironmentName());
}
break;
}
case ModeratorStep.SendInstruction:
{
// Wait for sending tf
if (this.stepTimer.IsTimePassed((int)this.step, 1000))
{
this.SendRosMessage(MsgInstruction, this.taskMessage);
this.step++;
SIGVerseLogger.Info("Waiting for '" + MsgRoomReached + "'");
}
break;
}
case ModeratorStep.WaitForRoomReached:
{
if (this.receivedMessageMap[MsgRoomReached])
{
// Check for robot position
bool isSucceeded = this.tool.IsRoomReachedSucceeded();
if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
{
SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
isSucceeded = true;
}
if (isSucceeded)
{
SIGVerseLogger.Info("Succeeded '" + MsgRoomReached + "'");
this.SendPanelNotice("Good", 150, PanelNoticeStatus.Green);
this.scoreManager.AddScore(Score.Type.RoomReachingSuccess);
}
else
{
SIGVerseLogger.Info("Failed '" + MsgRoomReached + "'");
this.SendPanelNotice("Failed\n" + MsgRoomReached.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.scoreManager.AddScore(Score.Type.RoomReachingFailure);
this.GoToNextTaskTaskFailed(MsgRoomReached);
return;
}
this.step++;
if (this.shouldWaitDoesNotExist)
{
SIGVerseLogger.Info("Waiting for '" + MsgDoesNotExist + "'");
}
else
{
SIGVerseLogger.Info("Waiting for '" + MsgObjectGrasped + "'");
}
}
break;
}
case ModeratorStep.WaitForDoesNotExist:
{
if (!this.shouldWaitDoesNotExist)
{
this.step++;
break;
}
if (this.receivedMessageMap[MsgDoesNotExist])
{
string detail = "Send a new message";
SIGVerseLogger.Info("Succeeded '" + MsgDoesNotExist + "'");
this.SendPanelNotice("Good\n" + detail, 95, PanelNoticeStatus.Green);
this.scoreManager.AddScore(Score.Type.TargetConfirmationSuccess);
this.SendRosMessage(MsgCorrectedInstruction, this.correctedTaskMessage);
this.mainPanelController.SetTaskMessageText(this.correctedTaskMessage);
this.step++;
SIGVerseLogger.Info("Waiting for '" + MsgObjectGrasped + "'");
break;
}
if (this.receivedMessageMap[MsgObjectGrasped])
{
string detail = "Target doesn't exist";
SIGVerseLogger.Info("Failed '" + MsgDoesNotExist + "'");
this.SendPanelNotice("Failed\n" + detail, 90, PanelNoticeStatus.Red);
this.scoreManager.AddScore(Score.Type.TargetConfirmationFailure);
this.GoToNextTaskTaskFailed(MsgDoesNotExist);
return;
}
break;
}
case ModeratorStep.WaitForObjectGrasped:
{
if (!this.shouldWaitDoesNotExist)
{
if (this.receivedMessageMap[MsgDoesNotExist])
{
string detail = "The target exist";
SIGVerseLogger.Info("Failed '" + MsgObjectGrasped + "'");
this.SendPanelNotice("Failed\n" + detail, 100, PanelNoticeStatus.Red);
this.scoreManager.AddScore(Score.Type.GraspingFailure);
this.GoToNextTaskTaskFailed(detail);
return;
}
}
if (this.receivedMessageMap[MsgObjectGrasped])
{
// Check for grasping
bool isSucceeded = this.tool.IsObjectGraspedSucceeded();
if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
{
SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
isSucceeded = true;
}
if (isSucceeded)
{
SIGVerseLogger.Info("Succeeded '" + MsgObjectGrasped + "'");
this.SendPanelNotice("Good", 150, PanelNoticeStatus.Green);
this.scoreManager.AddScore(Score.Type.GraspingSuccess);
}
else
{
SIGVerseLogger.Info("Failed '" + MsgObjectGrasped + "'");
this.SendPanelNotice("Failed\n" + MsgObjectGrasped.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.scoreManager.AddScore(Score.Type.GraspingFailure);
this.GoToNextTaskTaskFailed(MsgObjectGrasped);
return;
}
this.step++;
SIGVerseLogger.Info("Waiting for '" + MsgTaskFinished + "'");
break;
}
break;
}
case ModeratorStep.WaitForTaskFinished:
{
if (this.receivedMessageMap[MsgTaskFinished])
{
StartCoroutine(this.tool.UpdatePlacementStatus(this));
this.step++;
}
break;
}
case ModeratorStep.Judgement:
{
if (this.tool.IsPlacementCheckFinished())
{
bool isSucceeded = this.tool.IsPlacementSucceeded();
if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
{
SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
isSucceeded = true;
}
if (isSucceeded)
{
SIGVerseLogger.Info("Succeeded '" + MsgTaskFinished + "'");
this.SendPanelNotice("Succeeded!", 150, PanelNoticeStatus.Green);
this.scoreManager.AddScore(Score.Type.PlacementSuccess);
this.GoToNextTaskTaskSucceeded();
}
else
{
SIGVerseLogger.Info("Failed '" + MsgTaskFinished + "'");
this.SendPanelNotice("Failed\n" + MsgTaskFinished.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.scoreManager.AddScore(Score.Type.PlacementFailure);
this.GoToNextTaskTaskFailed(MsgTaskFinished);
}
}
break;
}
case ModeratorStep.WaitForNextTask:
{
if (this.stepTimer.IsTimePassed((int)this.step, 5000))
{
if (!this.tool.IsPlaybackFinished())
{
break;
}
SceneManager.LoadScene(SceneManager.GetActiveScene().name);
}
break;
}
}
}
catch (Exception exception)
{
Debug.LogError(exception);
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
protected override void SubscribeMessageCallback(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
{
SIGVerseLogger.Info("Received message :" + humanNaviMsg.message);
this.punRpcManager.ForwardSubRosMessage(humanNaviMsg);
}
// Update is called once per frame
void Update()
{
try {
if (this.isAllTaskFinished)
{
return;
}
switch (this.step)
{
case PlacingStep.Initialize:
//Configure everything just the first time
if (tool.IsConnectedToRos())
{
this.step++;
}
break;
case PlacingStep.WaitForIamReady:
//Send Are you ready? message and wait for answer
this.SendRosMessage(MsgAreYouReady, string.Empty);
break;
case PlacingStep.SetUpScene:
//Cycle goes back here to start new scene
this.scorePlacing = "";
if (this.fakeCount < numOfScenes)
{
//Scene configuration and showing
this.setUpScene();
this.fakeCount++;
this.step++;
sceneNumber++;
this.scoreValText.text = "XXX";
this.sceneValText.text = sceneNumber.ToString();
this.strategy = UnityEngine.Random.Range(1, numStrategies + 1);
}
else
{
//When finishing the number of scenes configured goes to last step
this.step = PlacingStep.Stoping;
}
break;
case PlacingStep.WaitForImagesCaptured:
string cameraHeigth;
if (PlacingTools.typeLower)
{
cameraHeigth = "L-";
}
else
{
cameraHeigth = "U-";
}
//Send Setting completed message and wait for Images captured message from robot
//Sending camera height for metadata file
cameraHeigth += tool.getFurnitureID();
//Sending strategy number from 1 to max strategies number
cameraHeigth += "-" + this.strategy;
this.SendRosMessage(MsgSettingCompleted, cameraHeigth);
break;
//While robot is placing object on table, unity starts scoring manager for scene
case PlacingStep.ExcecutePlacing:
tool.startPlacing();
break;
//When receiving Object Placed message calculates score
case PlacingStep.CalculateScore:
this.scorePlacing = tool.finishPlacing();
this.step++;
break;
//Send score and wait for Score Saved message, finally goes back to WaitForIamReady
case PlacingStep.WaitForNextTask:
string sc = this.scorePlacing;
this.scoreValText.text = this.scorePlacing.Split(':')[0];
sc += "-" + tool.getTargetID();
this.SendRosMessage(MsgScore, sc);
tool.resetRobot();
break;
//When finished all scenes send Stop Process message
case PlacingStep.Stoping:
this.scenes.moveHouse();
this.scoreValText.text = "XXX";
this.SendRosMessage(MsgStopProcess, string.Empty);
this.isAllTaskFinished = true;
Start();
break;
case PlacingStep.Final:
this.sceneValText.text = "FINISHED";
this.SendRosMessage(MsgStopProcess, string.Empty);
this.isAllTaskFinished = true;
break;
}
} catch (Exception exception) {
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
private void GetGameObjects(GameObject avatarMotionPlayback, GameObject worldPlayback)
{
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrBaseFootPrint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.BaseFootPrintName);
this.hsrGraspingDetector = this.robot.GetComponentInChildren <HSRGraspingDetector>();
GameObject moderator = GameObject.FindGameObjectWithTag(TagModerator);
// Get grasping candidates
this.graspingCandidates = GameObject.FindGameObjectsWithTag(TagGraspingCandidates).ToList <GameObject>();
if (this.graspingCandidates.Count == 0)
{
throw new Exception("Count of GraspingCandidates is zero.");
}
// List<GameObject> dummyGraspingCandidates = GameObject.FindGameObjectsWithTag(TagDummyGraspingCandidates).ToList<GameObject>();
this.graspables = new List <GameObject>();
this.graspables.AddRange(this.graspingCandidates);
// this.graspables.AddRange(dummyGraspingCandidates);
// Check the name conflict of graspables.
if (this.graspables.Count != (from graspable in this.graspables select graspable.name).Distinct().Count())
{
throw new Exception("There is the name conflict of graspable objects.");
}
SIGVerseLogger.Info("Count of Graspables = " + this.graspables.Count);
this.bedRoomArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameBedRoom);
this.kitchenArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameKitchen);
this.livingArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLiving);
this.lobbyArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLobby);
// Get grasping candidates positions
this.graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition).ToList <GameObject>();
if (this.graspables.Count > this.graspingCandidatesPositions.Count)
{
throw new Exception("graspables.Count > graspingCandidatesPositions.Count.");
}
else
{
SIGVerseLogger.Info("Count of GraspingCandidatesPosition = " + this.graspingCandidatesPositions.Count);
}
this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();
this.destinationCandidates.Add(moderator); // Treat moderator as a destination candidate
if (this.destinationCandidates.Count == 0)
{
throw new Exception("Count of DestinationCandidates is zero.");
}
// Check the name conflict of destination candidates.
if (this.destinationCandidates.Count != (from destinations in this.destinationCandidates select destinations.name).Distinct().Count())
{
throw new Exception("There is the name conflict of destination candidates objects.");
}
SIGVerseLogger.Info("Count of Destinations = " + this.destinationCandidates.Count);
this.avatarMotionPlayer = avatarMotionPlayback.GetComponent <HandymanAvatarMotionPlayer>();
this.avatarMotionRecorder = avatarMotionPlayback.GetComponent <HandymanAvatarMotionRecorder>();
this.playbackRecorder = worldPlayback.GetComponent <HandymanPlaybackRecorder>();
}
/// <summary>
/// Robot -> Human Avatar
/// </summary>
public void OnReceiveRosStringMsg(RosBridge.std_msgs.String rosMsg)
{
this.SendChatMessage(rosMsg.data);
SIGVerseLogger.Info("Robot: Sent a message. sender=" + this.transform.root.name + ", message=" + rosMsg.data);
}
private void InsertMotionsToMySQL()
{
MySqlConnection mysqlConn = null;
MySqlCommand mysqlCommand = null;
try
{
string connString =
"server =" + this.mysqlIpInputField.text + ";" +
"port =" + this.mysqlPortInputField.text + ";" +
"database=" + MysqlSchemaName + ";" +
"userid =" + this.mysqlUserInputField.text + ";" +
"password="******"Inserted " + "1" + " records.");
// Write motion data
int cnt = 0;
insertSql = string.Empty;
foreach (string savedMotionString in this.savedMotionStrings)
{
this.CreateInsertQuery(ref insertSql, savedMotionString);
cnt++;
// Execute the insert query every 100 times.
if (cnt == 100)
{
mysqlCommand = new MySqlCommand(insertSql, mysqlConn);
mysqlCommand.ExecuteNonQuery();
cnt = 0;
insertSql = string.Empty;
}
}
if (cnt != 0)
{
mysqlCommand = new MySqlCommand(insertSql, mysqlConn);
mysqlCommand.ExecuteNonQuery();
}
SIGVerseLogger.Info("Inserted " + savedMotionStrings.Count + " records.");
mysqlCommand.Dispose();
mysqlConn.Close();
this.isWriting = false;
}
catch (Exception ex)
{
SIGVerseLogger.Error(ex.Message);
SIGVerseLogger.Error(ex.StackTrace);
if (mysqlConn != null)
{
mysqlConn.Close();
}
Application.Quit();
}
}
//void OnDestroy()
//{
// this.CloseRosConnections();
//}
// Update is called once per frame
void Update()
{
try
{
if (this.isAllTaskFinished)
{
return;
}
if (this.interruptedReason != string.Empty && this.step != Step.WaitForNextTrial)
{
SIGVerseLogger.Info("Failed '" + this.interruptedReason + "'");
this.SendPanelNotice("Failed\n" + interruptedReason.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.TimeIsUp();
}
if (OVRInput.GetDown(OVRInput.RawButton.X) && this.isDuringTrial)
{
if (!this.sessionManager.GetSeechRunState())
{
this.SendRosHumanNaviMessage(MsgRequest, "");
}
}
switch (this.step)
{
case Step.Initialize:
{
if (this.isCompetitionStarted)
{
this.PreProcess();
this.step++;
}
break;
}
case Step.InitializePlayback: // Need to wait for an update to finish instantiating objects to record
{
this.InitializePlayback();
this.step++;
break;
}
case Step.WaitForStart:
{
if (this.stepTimer.IsTimePassed((int)this.step, 3000))
{
if (this.IsPlaybackInitialized() && this.IsConnectedToRos())
{
this.step++;
}
}
break;
}
case Step.TrialStart:
{
this.goToNextTrialPanel.SetActive(false);
SIGVerseLogger.Info("Trial start!");
this.RecordEventLog("Trial_start");
this.scoreManager.TaskStart();
this.SendPanelNotice("Trial start!", 100, PanelNoticeStatus.Green);
base.StartCoroutine(this.ShowNoticeMessagePanelForAvatar("Trial start!", 3.0f));
this.isDuringTrial = true;
this.step++;
break;
}
case Step.WaitForIamReady:
{
if (this.receivedMessageMap[MsgIamReady])
{
this.StartPlaybackRecord();
this.step++;
break;
}
this.SendMessageAtIntervals(MsgAreYouReady, "", SendingAreYouReadyInterval);
break;
}
case Step.SendTaskInfo:
{
this.SendRosTaskInfoMessage(this.taskInfoForRobot);
SIGVerseLogger.Info("Waiting for end of trial");
this.step++;
break;
}
case Step.WaitForEndOfSession:
{
this.CheckHandInteraction(this.LeftHand);
this.CheckHandInteraction(this.rightHand);
break;
}
case Step.WaitForNextTrial:
{
if (this.goNextTrial)
{
SIGVerseLogger.Info("Go to next trial");
this.RecordEventLog("Go_to_next_trial");
this.SendRosHumanNaviMessage(MsgGoToNextTrial, "");
this.step = Step.Initialize;
}
break;
}
}
}
catch (Exception exception)
{
Debug.LogError(exception);
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
protected virtual void InitializeTargetTransforms()
{
// Transform
this.targetTransforms = new List <Transform>();
switch (this.targetType)
{
case TargetType.AllObjects:
{
this.targetTransforms = FindObjectsOfType <Transform>().ToList(); // High Load
break;
}
case TargetType.ObjectsWithRigidbodyAndItsChildObjects:
{
HashSet <Transform> targetHashSet = new HashSet <Transform>();
Rigidbody[] rigidbodies = FindObjectsOfType <Rigidbody>(); // High Load
foreach (Rigidbody rb in rigidbodies)
{
targetHashSet.UnionWith(rb.gameObject.GetComponentsInChildren <Transform>());
}
this.targetTransforms = targetHashSet.ToList();
break;
}
case TargetType.ObjectsWithRigidbody:
{
Rigidbody[] rigidbodies = FindObjectsOfType <Rigidbody>(); // High Load
this.targetTransforms = rigidbodies.Select(x => x.transform).ToList();
break;
}
}
// Exclude some objects.
foreach (GameObject rootObjectToExclude in this.exclusionTargets)
{
Transform[] transformsToExclude = rootObjectToExclude.GetComponentsInChildren <Transform>(true);
foreach (Transform transformToExclude in transformsToExclude)
{
this.targetTransforms.Remove(transformToExclude);
}
}
int targetTransformCountBefore = this.targetTransforms.Count;
foreach (String exclusionTargetNameRegex in this.exclusionTargetNameRegexs)
{
this.targetTransforms = this.targetTransforms.Where(x => !Regex.IsMatch(x.name, exclusionTargetNameRegex)).ToList();
}
if (this.targetTransforms.Count != targetTransformCountBefore)
{
SIGVerseLogger.Info("The number excluded by name is " + (targetTransformCountBefore - this.targetTransforms.Count));
}
}
//--------------------------------------------------
protected override void SubscribeMessageCallback(RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg)
{
SIGVerseLogger.Info("Received guide message: " + guidaneMsg.message + ", display type: " + guidaneMsg.display_type + ", source lang: " + guidaneMsg.source_language + ", target lang: " + guidaneMsg.target_language);
this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidaneMsg);
}
private void Initialize(EnvironmentInfo environmentInfo, HandymanScoreManager scoreManager)
{
List <GameObject> objectCollisionDestinations = new List <GameObject>();
objectCollisionDestinations.Add(scoreManager.gameObject);
objectCollisionDestinations.Add(this.playbackRecorder.gameObject);
foreach (GameObject graspable in this.graspables)
{
CollisionTransferer collisionTransferer = graspable.AddComponent <CollisionTransferer>();
collisionTransferer.Initialize(objectCollisionDestinations, Score.GetObjectCollisionVeloticyThreshold());
}
Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap = null; //key:GraspablePositionInfo, value:Graspables
Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = null; //key:DestinationPositionInfo, value:DestinationCandidate
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.graspingTarget = this.DecideGraspingTarget();
this.destination = this.DecideDestination();
graspablesPositionMap = this.CreateGraspablesPositionMap();
destinationsPositionsMap = this.CreateDestinationsPositionsMap();
}
else
{
this.DeactivateGraspingCandidatesPositions();
this.graspingTarget = (from graspable in this.graspables where graspable.name == environmentInfo.graspingTargetName select graspable).First();
if (this.graspingTarget == null)
{
throw new Exception("Grasping target not found. name=" + environmentInfo.graspingTargetName);
}
graspablesPositionMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo graspablePositionInfo in environmentInfo.graspablesPositions)
{
GameObject graspableObj = (from graspable in this.graspables where graspable.name == graspablePositionInfo.name select graspable).First();
if (graspableObj == null)
{
throw new Exception("Graspable object not found. name=" + graspablePositionInfo.name);
}
graspablesPositionMap.Add(graspablePositionInfo, graspableObj);
}
// Destination object
this.destination = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == environmentInfo.destinationName select destinationCandidate).First();
if (this.destination == null)
{
throw new Exception("Destination not found. name=" + environmentInfo.destinationName);
}
// Destination candidates position map
destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo destinationPositionInfo in environmentInfo.destinationsPositions)
{
GameObject destinationObj = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == destinationPositionInfo.name select destinationCandidate).First();
if (destinationObj == null)
{
throw new Exception("Destination candidate not found. name=" + destinationPositionInfo.name);
}
destinationsPositionsMap.Add(destinationPositionInfo, destinationObj);
}
}
if (this.destination.tag != TagModerator)
{
// Add Placement checker to triggers
Transform judgeTriggersTransform = this.destination.transform.Find(JudgeTriggersName);
if (judgeTriggersTransform == null)
{
throw new Exception("No Judge Triggers object");
}
judgeTriggersTransform.gameObject.AddComponent <PlacementChecker>();
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in graspablesPositionMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in destinationsPositionsMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
this.targetRoom = this.GetTargetRoom();
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.taskMessage = this.CreateTaskMessage();
this.correctedTaskMessage = string.Empty;
this.isEnvironmentNameSent = true;
}
else
{
this.taskMessage = environmentInfo.taskMessage;
this.correctedTaskMessage = environmentInfo.correctedTaskMessage;
this.isEnvironmentNameSent = environmentInfo.isEnvironmentNameSent;
}
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
SaveEnvironmentInfo(this.taskMessage, this.correctedTaskMessage, this.environmentName, this.isEnvironmentNameSent, this.graspingTarget.name, this.destination.name, graspablesPositionMap, destinationsPositionsMap);
}
this.rosConnections = SIGVerseUtils.FindObjectsOfInterface <IRosConnection>();
SIGVerseLogger.Info("ROS connection : count=" + this.rosConnections.Length);
this.isPlacementSucceeded = null;
}
public void OnReceiveChatMessage(string senderName, string message)
{
SIGVerseLogger.Info("Receive ChatMessage on ChatManager. user="******", message=" + message);
this.photonView.RPC("ForwardMessage", RpcTarget.All, senderName, message);
}
protected virtual void StopPlaying()
{
SIGVerseLogger.Info("( Stop the world playback playing )");
this.step = Step.Waiting;
}
