/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type and ID
//
experimentType = ExperimentType.TypeOne;
ExperimentSystem.SetActiveExperimentID("PhotoStage");
//
// Create data loggers
//
// Restart EMG readings
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Set EMG sensor and reference generator as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
}
private void LoadDebugAvatar()
{
// Load avatar
if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Find the residual limb and change the follower
GameObject residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
LimbFollower limbFollower = residualLimbGO.GetComponent <LimbFollower>();
Destroy(limbFollower);
AngleFollower angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
instructionsText = synergyInstructions;
// Enable & configure EMG
if (emgEnable)
{
// Create and add sensor
//EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize);
ThalmicMyobandManager emgSensor = new ThalmicMyobandManager();
//emgSensor.ConfigureLimits(0, 1023, 0);
//emgSensor.ConfigureLimits(1, 1023, 0);
AvatarSystem.AddActiveSensor(emgSensor);
elbowManager.AddSensor(emgSensor);
//emgSensor.StartSensorReading();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
instructionsText = emgInstructions;
}
}
else
{
throw new System.NotImplementedException();
}
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type configuration
//
// Type one if able-bodied subject
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
experimentType = ExperimentType.TypeOne; // Able-bodied experiment type
taskDataFormat = ablebodiedDataFormat;
performanceDataFormat = ablebodiedPerformanceDataFormat;
}
// Type two if prosthetic (Adaptive Synergy)
else if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
experimentType = ExperimentType.TypeTwo; // Able-bodied experiment type
taskDataFormat = prostheticDataFormat;
performanceDataFormat = prostheticPerformanceDataFormat;
}
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
// Restart UDP threads
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is UDPSensorManager udpSensor)
{
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Send the player to the experiment centre position
TeleportToStartPosition();
startPosPhoto.SetActive(false);
//
// Create the performance data loggers
//
performanceDataLogger = new DataStreamLogger("PerformanceData");
ExperimentSystem.AddExperimentLogger(performanceDataLogger);
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
if (SaveSystem.ActiveUser.lefty)
{
leftySign = -1.0f;
}
//
// Iterations configuration
//
// Set iterations variables for flow control.
targetNumber = gridRows * gridColumns;
for (int i = 0; i < iterationsPerSession.Count; i++)
{
iterationsPerSession[i] = targetNumber * iterationsPerTarget;
}
// Create the list of target indexes and shuffle it.
for (int i = 0; i < targetNumber; i++)
{
for (int j = 0; j < iterationsPerTarget; j++)
{
targetOrder.Add(i);
}
}
targetOrder.Shuffle();
//
// Initialize world positioning
//
// Get user physiological data.
float subjectHeight = SaveSystem.ActiveUser.height;
float subjectArmLength = SaveSystem.ActiveUser.upperArmLength + SaveSystem.ActiveUser.forearmLength + (SaveSystem.ActiveUser.handLength / 2);
// Set the grid distance from subject
gridManager.transform.position = new Vector3((-gridReachMultiplier * subjectArmLength) - 0.1f, gridHeightMultiplier * subjectHeight, 0.0f);
//
// Add arm motion trackers for able-bodied case.
//
if (experimentType == ExperimentType.TypeOne)
{
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
}
else if (experimentType == ExperimentType.TypeTwo)
{
// Get active sensors from avatar system and get the vive tracker being used for the UA
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is VIVETrackerManager)
{
upperArmTracker = (VIVETrackerManager)sensor;
}
}
if (upperArmTracker == null)
{
throw new System.NullReferenceException("The residual limb tracker was not found.");
}
// Set VIVE tracker and Linear synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
// Create the personalisation algorithm object
elbowManager.SetSynergy(theta);
float[] ditherFrequency = { Mathf.PI / 4, 2 * Mathf.PI / 4 };
float[] observerGain = { 0.3840f, 0.6067f, -0.2273f, -0.8977f, -1.0302f };
float[][] A = new float[2][];
A[0] = new float[2] {
1.3130f, -0.8546f
};
A[1] = new float[2] {
1.0f, 0.0f
};
float[] B = { 1.0f, 0.0f };
float[] C = { 0.0131f, -0.0131f };
float D = 0.0f;
personaliser = new TransCyberHPIPersonalisation(ditherAmplitude, 0, ditherFrequency, observerGain, 1, optimiserGain, 0.1f, A, B, C, D, theta, 0.1f, 3.0f);
}
if (evaluatorType == EvaluatorType.Compensation)
{
// Performance evaluation objects
evaluator = new UpperBodyCompensationMotionPM(0.5f, 0.5f);
shDataBuffer = new List <Vector3>();
c7DataBuffer = new List <Vector3>();
}
else if (evaluatorType == EvaluatorType.KinematicEnergy)
{
throw new System.NotImplementedException("KE method not yet implemented");
}
// Debug?
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
// Spawn grid
gridManager.SpawnGrid(gridRows, gridColumns, gridSpacing);
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type and ID
//
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
experimentType = ExperimentType.TypeOne;
MonitorManager.DisplayText("Wrong avatar used. Please use a Transhumeral avatar.");
throw new System.Exception("Able-bodied avatar not suitable for prosthesis training.");
}
else if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
// Check if EMG is available
bool EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
udpSensor.StartSensorReading();
}
else if (sensor.GetSensorType().Equals(SensorType.ThalmicMyo))
{
EMGAvailable = true;
}
}
// Set whether emg or synergy based
if (EMGAvailable)
{
experimentType = ExperimentType.TypeTwo;
instructionsText = emgInstructions;
// Set EMG sensor and reference generator as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set active sensor and reference generator to EMG.
//elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeSensor("VAL_SENSOR_THALMYO");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
}
else
{
experimentType = ExperimentType.TypeThree;
instructionsText = synergyInstructions;
// Set VIVE tracker and Jacobian synergy as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
if (elbowManager.GetInterfaceType() == ReferenceGeneratorType.JacobianSynergy)
{
// Set the reference generator to jacobian-based.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
}
else if (elbowManager.GetInterfaceType() == ReferenceGeneratorType.LinearKinematicSynergy)
{
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
else
{
throw new System.Exception("The prosthesis interface available is not supported.");
}
}
if (!debug)
{
// Find the residual limb and change the follower
residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
limbFollower = residualLimbGO.GetComponent <LimbFollower>();
limbFollower.enabled = false;
angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
}
}
else
{
throw new System.NotImplementedException();
}
// Get Raycast Debug info
// handGO = GameObject.FindGameObjectWithTag("Hand");
// elbowGO = GameObject.FindGameObjectWithTag("Elbow_Upper");
// residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
}
// Update is called once per frame
void Update()
{
switch (experimentState)
{
/*
*************************************************
* HelloWorld
*************************************************
*/
// Welcome subject to the virtual world.
case ExperimentState.Welcome:
// Load avatar
if (avatarType == AvatarType.AbleBodied)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.AbleBodied);
}
else if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
// Enable & configure EMG
if (emgEnable)
{
// Create and add sensor
EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize);
AvatarSystem.AddActiveSensor(emgSensor);
elbowManager.AddSensor(emgSensor);
emgSensor.StartSensorReading();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
}
}
experimentState = ExperimentState.Initialising;
break;
/*
*************************************************
* InitializingApplication
*************************************************
*/
// Perform initialization functions before starting experiment.
case ExperimentState.Initialising:
//
// Perform experiment initialization procedures
//
//
// Initialize data logs
//
//
// Go to training
//
experimentState = ExperimentState.Training;
break;
/*
*************************************************
* Practice
*************************************************
*/
// Perform initialization functions before starting experiment.
case ExperimentState.Training:
//
// Guide subject through training
//
//
// Go to instructions
//
experimentState = ExperimentState.Instructions;
break;
/*
*************************************************
* GivingInstructions
*************************************************
*/
case ExperimentState.Instructions:
// Skip instructions when repeating sessions
if (SkipInstructions)
{
HudManager.DisplayText("Move to start", 2.0f);
// Turn targets clear
experimentState = ExperimentState.WaitingForStart;
break;
}
//
// Give instructions
//
//
// Go to waiting for start
//
HudManager.DisplayText("Move to start", 2.0f);
// Turn targets clear
experimentState = ExperimentState.WaitingForStart;
break;
/*
*************************************************
* WaitingForStart
*************************************************
*/
case ExperimentState.WaitingForStart:
// Check if pause requested
UpdatePause();
switch (waitState)
{
// Waiting for subject to get to start position.
case WaitState.Waiting:
SetWaitFlag(3.0f);
waitState = WaitState.Countdown;
break;
case WaitState.Countdown:
if (WaitFlag)
{
experimentState = ExperimentState.PerformingTask;
}
break;
default:
break;
}
break;
/*
*************************************************
* PerformingTask
*************************************************
*/
case ExperimentState.PerformingTask:
// Task performance is handled deterministically in FixedUpdate.
break;
/*
*************************************************
* AnalizingResults
*************************************************
*/
case ExperimentState.AnalizingResults:
// Allow 3 seconds after task end to do calculations
SetWaitFlag(3.0f);
//
// Data analysis and calculations
//
//
// System update
//
//
// Data logging
//
//
// Flow managment
//
// Rest for some time when required
if (IsRestTime())
{
SetWaitFlag(RestTime);
experimentState = ExperimentState.Resting;
}
// Check whether the new session condition is met
else if (IsEndOfSession())
{
experimentState = ExperimentState.InitializingNext;
}
// Check whether the experiment end condition is met
else if (IsEndOfExperiment())
{
experimentState = ExperimentState.End;
}
else
{
experimentState = ExperimentState.UpdatingApplication;
}
break;
/*
*************************************************
* UpdatingApplication
*************************************************
*/
case ExperimentState.UpdatingApplication:
if (WaitFlag)
{
//
// Update iterations and flow control
//
//
// Update log requirements
//
//
//
// Go to start of next iteration
experimentState = ExperimentState.WaitingForStart;
}
break;
/*
*************************************************
* InitializingNext
*************************************************
*/
case ExperimentState.InitializingNext:
//
// Perform session closure procedures
//
//
// Initialize new session variables and flow control
//
iterationNumber = 1;
sessionNumber++;
skipInstructions = true;
//
// Initialize data logging
//
//ExperimentSystem.GetActiveLogger(1).AddNewLogFile(sessionNumber, iterationNumber, "Data format");
experimentState = ExperimentState.Initialising; // Initialize next session
break;
/*
*************************************************
* Resting
*************************************************
*/
case ExperimentState.Resting:
//
// Check for session change or end request from experimenter
//
if (UpdateNext())
{
ConfigureNextSession();
break;
}
else if (UpdateEnd())
{
EndExperiment();
break;
}
//
// Restart after flag is set by wait coroutine
//
if (WaitFlag)
{
HudManager.DisplayText("Get ready to restart!", 3.0f);
SetWaitFlag(5.0f);
experimentState = ExperimentState.UpdatingApplication;
break;
}
break;
/*
*************************************************
* Paused
*************************************************
*/
case ExperimentState.Paused:
//
// Check for session change or end request from experimenter
//
UpdatePause();
if (UpdateNext())
{
ConfigureNextSession();
break;
}
else if (UpdateEnd())
{
EndExperiment();
break;
}
break;
/*
*************************************************
* End
*************************************************
*/
case ExperimentState.End:
//
// Update log data and close logs.
//
//
// Return to main menu
//
default:
break;
}
//
// Update information displayed on monitor
//
//
// Update information displayed for debugging purposes
//
if (debug)
{
debugText.text = experimentState.ToString() + "\n";
if (experimentState == ExperimentState.WaitingForStart)
{
debugText.text += waitState.ToString() + "\n";
}
}
}
/// <summary>
/// Checks that all the required components have been loaded and starts experiment.
/// </summary>
public void InitialiseExperiment()
{
bool EMGAvailable = false;
switch (experimentNumber)
{
case NONE:
// Check that a valid experiment has been selected
logManager.DisplayInformationOnLog(3.0f, "Please select a valid experiment.");
break;
//
// Jacobian synergy experiment
//
case JACOBIAN_SYNERGY:
// Able-bodied case
if (optionNumber == 1 && AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
KeepOnLoad();
// Load experiment.
SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
}
// EMG case
else if (optionNumber == 2 && AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
// Check that an EMG sensor is available
EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
}
else if (sensor.GetSensorType().Equals(SensorType.ThalmicMyo))
{
EMGAvailable = true;
}
}
// Load when EMG is available.
if (EMGAvailable)
{
KeepOnLoad();
// Load experiment.
//SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
// Load training
SteamVR_LoadLevel.Begin("ProsthesisTraining");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please add and configure an EMG sensor.");
}
}
// Synergy case
else if ((optionNumber == 3 || optionNumber == 4) && AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
KeepOnLoad();
// Load experiment.
// SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
if (optionNumber == 3)
{
// Set VIVE tracker and Jacobian synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to jacobian-based.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
}
else if (optionNumber == 4)
{
// Set VIVE tracker and Linear synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
// Load training
SteamVR_LoadLevel.Begin("ProsthesisTraining");
// Load experiment.
//SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please configure the " + optionList[optionNumber] + " avatar.");
}
break;
case FEEDBACK2019:
// Check that a transradial prosthesis has been set.
if (AvatarSystem.AvatarType != AvatarType.Transradial)
{
logManager.DisplayInformationOnLog(3.0f, "Please configure the Transradial avatar.");
}
else
{
// Initialise the prosthesis
try
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
FakeEMGBoniHand prosthesisManager = prosthesisManagerGO.GetComponent <FakeEMGBoniHand>();
prosthesisManager.InitializeProsthesis();
// Set the name from the selected dropdown!
ExperimentSystem.SetActiveExperimentID("Feedback2019");
}
catch (Exception e)
{
logManager.DisplayInformationOnLog(10.0f, "Error encountered: " + e.Message);
}
}
break;
//
//
//
case EMG_DATA:
// Check that an EMG sensor is available
EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
}
}
// Load when EMG is available.
if (EMGAvailable)
{
KeepOnLoad();
// Load experiment.
SteamVR_LoadLevel.Begin("EMGShoulderData");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please add and configure an EMG sensor.");
}
break;
}
}