private void ConnectionThread()
{
// Model related logic
connection = new ClientConnectionHandler();
process = new Process();
// Calls python training script.
process.StartInfo.FileName = @"C:\Users\Michael\AppData\Local\Microsoft\WindowsApps\python.exe";
string scriptPath = @"C:\Git\Virtual-Hand\PythonScripts\HandController.py";
// string modelName = "Real"; // TODO, remove hard coded at some point
// string modelName = "RealData15_shifted20"; // TODO, remove hard coded at some point
// string modelName = "T180_D6"; // TODO, remove hard coded at some point
string modelName = "long2"; // TODO, remove hard coded at some point
process.StartInfo.Arguments = scriptPath;
// Starts the process
print("Starting the process: " + process.StartInfo.FileName);
process.StartInfo.UseShellExecute = false;
process.StartInfo.CreateNoWindow = true;
process.Start();
System.Threading.Thread.Sleep(6000);
connection.println(modelName);
print("Started the Python process. ");
print("From_Python: '" + connection.readline() + "'");
print("From_Python: '" + connection.readline() + "'");
for (int i = 0; i < 15; i++) // TODO, remove this hard coding at some point
{
print("From Python: '" + connection.readline() + "'");
connection.println("Keep alive message.");
}
print("From_Python: '" + connection.readline() + "'");
print("From_Python: '" + connection.readline() + "'");
running = true;
while (running)
{
// Sends the command to proceed with th next frame
connection.println("next");
// Sends current limb data
connection.println(GetStringLimbData_forThread());
// Receives the velocities to apply
limb_velocities = GeneralData.string2floatArray(connection.readline());
}
}
private void RunTrainingThread()
{
/*
* Starting Sequence
*/
// Model related logic
connection = new ClientConnectionHandler();
process = new Process();
// Calls python training script.
process.StartInfo.FileName = @"C:\Users\Michael\AppData\Local\Microsoft\WindowsApps\python.exe";
string scriptPath = @"C:\Git\Virtual-Hand\PythonScripts\ModelTrainerV4.py";
string dataSetName = "RealData15_smoothed"; // To be hard-coded (for now)
string modelName = "FirstModelTest";
process.StartInfo.Arguments = scriptPath;
// Starts the process
print("Starting the process: " + process.StartInfo.FileName);
process.StartInfo.UseShellExecute = false;
process.StartInfo.CreateNoWindow = true;
process.Start();
System.Threading.Thread.Sleep(6000);
connection.println(dataSetName);
connection.println(modelName);
print("Started the Python process. ");
// Interactions with the Python Script
// string acknowledgement = stdoutReadLine();
string acknowledgement = connection.readline();
print("Acknowledgement from Python: " + acknowledgement);
if (acknowledgement.Equals("Ready") == false)
{
print("Did not receive acknowledgement from Python script.");
Quit();
}
else
{
connection.println("Ready");
// Obtains starting angles from the python script
print("Reading start angles...");
// string[] stringBaseAngles = connection.readline().Split(' ');
// for (int i = 0; i < stringBaseAngles.Length; i++)
// {
// print(stringBaseAngles[i]);
// startingAngles[i] = float.Parse(stringBaseAngles[i]);
// }
startingAngles = GeneralData.string2floatArray(connection.readline());
// startingAngles = new float[movableLimbs.Length]; // todo, remove this
print("Expecting start angles...");
foreach (var angle in startingAngles)
{
controlled_print(angle.ToString());
}
controlled_print("Python angles obtained: " + startingAngles.ToString());
// waitingForNewFrame = true;
ResetTrainingSequence_forThread(true);
Ready();
}
// Resets the system multiple times to achieve stable start position
while (positionSetupResets > 0)
{
if (positionSetupResets % 100 == 0)
{
critical_print("Positional resets remaining: " + positionSetupResets.ToString());
}
zeroPosition = true;
ResetTrainingSequence_forThread(false);
positionSetupResets = positionSetupResets - 1;
}
// Initial ready (other ready's are received upon restart)
if (connection.readline().Equals("Ready") == false)
{
critical_print("False start! (did not receive loop ready)");
Quit();
}
/*
* Process Loop
*/
while (running == true)
{
// Step Loop-0 (as per Pprotocol)
// controlled_print("Stopwatch: " + stopwatch.ElapsedMilliseconds.ToString());
// if (waitingForNewFrame == true)
// {
// controlled_print("Next will be: ");
// nextFrameTimeMs = long.Parse(connection.readline());
// controlled_print("Next time frame: " + nextFrameTimeMs);
// waitingForNewFrame = false;
// }
// else if (stopwatch.ElapsedMilliseconds >= nextFrameTimeMs) // Step Loop-1 (as per protocol)
// {
// Step Loop-2 (as per protocol)
string toSend = GetStringLimbData_forThread();
// Sends data to python script
// Step Loop-3 (as per protocol)
long current_time_ms = stopwatch.ElapsedMilliseconds;
connection.println(current_time_ms.ToString());
critical_print("Current time: " + current_time_ms.ToString());
// Step Loop-4 (as per protocol)
connection.println(toSend);
expectedAngles =
GeneralData.string2floatArray(connection
.readline()); // Obtains the expected angles from the Python Script
// Step Loop-5 (as per protocol)
string nextCommand = connection.readline();
// Step Loop-6 (as per protocol)
if (nextCommand.Equals("Reset"))
{
if (FrameViewer.earlyReset == true)
{
ResetTrainingSequence_forThread(true);
}
if (connection.readline().Equals("Ready"))
{
ResetTrainingSequence_forThread(true);
}
else
{
critical_print("We've got a big mistake. No reset Ready received.");
}
Ready();
}
else if (nextCommand.Equals("Quit"))
{
Quit();
}
else if (nextCommand.Equals("Next"))
{
// Obtains and applies torques from python script to the limbs
string stringTorques = connection.readline();
controlled_print("Received Torques length: " + stringTorques.ToString());
lock (torquesToApply_locker)
{
// for (int i = 0; i < movableLimbs.Length; i++)
// {
// torquesToApply[i] = float.Parse(stringTorques[i]);
// }
torquesToApply = GeneralData.string2floatArray(stringTorques);
}
// waitingForNewFrame = true;
Ready();
}
else
{
print(
"Unknown nextCommand sent from python script (" + nextCommand + "). Aborting program.");
Quit();
}
// }
}
}
