/// <summary>
/// Add a new EMG sensor
/// </summary>
public void AddSensor()
{
if (ip == null || ip == string.Empty || port == 0 || channelSize <= 0)
{
StartCoroutine(DisplayInformationOnLog(3.0f, "The provided sensor info is invalid."));
}
try
{
// Create and add sensor
EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize, isRaw);
AvatarSystem.AddActiveSensor(emgSensor);
// Get prosthesis and add sensor when tH
if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
elbowManager.AddSensor(emgSensor);
}
else if (AvatarSystem.AvatarType == AvatarType.Transradial)
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
FakeEMGBoniHand prosthesisManager = prosthesisManagerGO.GetComponent <FakeEMGBoniHand>();
prosthesisManager.InitialiseInputSystem(emgSensor);
}
// Return to settings menu.
addSensorMenu.ReturnToSettingsMenu();
}
// 10048 address duplicate
catch (SocketException e) when(e.ErrorCode == 10048)
{
StartCoroutine(DisplayInformationOnLog(3.0f, "IP address already in use."));
}
// 10045 port duplicate
catch (SocketException e) when(e.ErrorCode == 10045)
{
StartCoroutine(DisplayInformationOnLog(3.0f, "Port already in use."));
}
catch (System.Exception e)
{
StartCoroutine(DisplayInformationOnLog(3.0f, "An error occured while adding the sensor.\nError message: " + e.Message));
}
}
/// <summary>
/// Sets the sensor that is going to be configured and initializes parameters.
/// </summary>
/// <param name="sensor">The EMG WiFi sensor to be configured.</param>
public void SetSensorToConfigure(EMGWiFiManager sensor)
{
// Clear sliders and values first.
foreach (GameObject slider in sliders)
{
Destroy(slider);
}
sliders.Clear();
maxValues.Clear();
minValues.Clear();
// Create new sliders and attach sensor.
for (int i = 0; i < sensor.ChannelSize; i++)
{
// Create sliders and initialize configuration parameters
GameObject slider = Instantiate(sliderPrefab, transform.position + sliderPrefab.transform.position + new Vector3(i * 200.0f, 0.0f, 0.0f), sliderPrefab.transform.rotation, transform);
sliders.Add(slider);
maxValues.Add(0.0f);
minValues.Add(1023.0f);
}
this.sensor = sensor;
}
// 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";
}
}
}
