/// <summary>
/// Callback for the co-simulation event handler
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CoSimulator_MSimulationEventHandler(object sender, MSimulationEvent e)
{
Debug.Log(e.Reference + " " + e.Name + " " + e.Type);
//If Queue is finished abort all instructions and raise event
if (e.Name.Equals("FinishedQueue"))
{
CoSimulator.Abort();
QueueFinished?.Invoke();
}
}
/// <summary>
/// Play list of instructions
/// </summary>
/// <param name="list">Instructions to play</param>
public void RunInstruction(List <MInstruction> list)
{
//IdleInstruction to ensure a underlying instruction to fall back
string idleInstructionID = MInstructionFactory.GenerateID();
MInstruction idleInstruction = new MInstruction(idleInstructionID, "Idle", "Pose/Idle");
//Add Event handler
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
//Instruction for signal an finished queue
MInstruction defaultInstruction = new MInstruction(MInstructionFactory.GenerateID(), "FinishedQueue", "Pose/Idle")
{
StartCondition = list[list.Count - 1].ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.1",
Properties = PropertiesCreator.Create(CoSimTopic.OnStart,
idleInstructionID + ":" + CoSimAction.EndInstruction)
};
list.Add(defaultInstruction);
for (int i = 0; i < list.Count; i++)
{
if (i > 0)
{
if (list[i - 1].Name.Equals("carry object"))
{
list[i].StartCondition = list[i - 1].ID + ":" + "PositioningFinished + 0.1";
}
else if (list[i - 1].Name.Equals("Move Fingers"))
{
list[i].StartCondition = list[i - 1].ID + ":" + "FingersPositioned + 0.1";
}
else if (list[i - 1].Name.Equals("Release Fingers"))
{
list[i].StartCondition = list[i - 1].StartCondition;
//list[i].StartCondition = list[i - 1].ID + ":" + "FingersPositioned + 0.1";
}
else
{
list[i].StartCondition = list[i - 1].ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.1";
}
}
}
//Assign default idle
CoSimulator.AssignInstruction(idleInstruction,
new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
//Assign instruction from list
foreach (var t in list)
{
CoSimulator.AssignInstruction(t,
new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
}
/// <summary>
/// Abort all running instructions
/// </summary>
public void Abort()
{
CoSimulator.Abort();
QueueFinished?.Invoke();
}
