public void SendRobotUtterance(string utteranceCategory, bool interrupt, int pieceType1, int pieceType2, int pieceType3, int pieceType4)
{
if (robotUtterances.ContainsKey(utteranceCategory))
{
int randIndex = Random.Range(0, robotUtterances [utteranceCategory].Count - 1);
List <string> chosenUtterance = robotUtterances [utteranceCategory] [randIndex];
foreach (string chosenUtteranceSection in chosenUtterance)
{
// first prepare the utterance for sending
string preparedUtterance = Utilities.PrepareUtteranceForSending(chosenUtteranceSection, true);
preparedUtterance = Utilities.replaceTypeUtterances(preparedUtterance, pieceType1, pieceType2, pieceType3, pieceType4);
Logger.Log(preparedUtterance);
//Logger.Log(preparedUtterance);
// string topic, int command, string id, bool interrupt, string robotActionAndSpeech
if (sendReceiveROSMessages)
{
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishRobotCommandMsg(
Constants.ROBOT_CMD_ROSTOPIC,
Constants.ROBOT_COMMAND_DO,
"",
interrupt,
preparedUtterance
));
}
}
}
else
{
Debug.Log("Utterance category not found in robotUtterances");
return;
}
}
public void sendPerformanceMetrics()
{
if (sendReceiveROSMessages)
{
performanceMetricsOrderErrors = 1 - performanceMetricsOrderErrors;
performanceMetricsTrainErrors = 1 - performanceMetricsTrainErrors;
Dictionary <string, float> PerformanceMetrics = new Dictionary <string, float>();
PerformanceMetrics.Add("train-piece-errors", performanceMetricsTrainErrors);
PerformanceMetrics.Add("train-order-errors", performanceMetricsOrderErrors);
clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishGameStateMsg(Constants.STATE_ROSTOPIC, Constants.GAME_STATE_END, PerformanceMetrics));
}
}
/// <summary>
/// Handle OnMessage events, which occur when we receive a message
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">E.</param>
void HandleOnMessage(object sender, MessageEventArgs e)
{
Logger.Log("[websocket] Received message: " + e.Data);
// use rosbridge utilities to decode and parse message
int game = -1;
int command = -1;
int level = -1;
RosbridgeUtilities.DecodeROSJsonCommand(e.Data, out game, out command, out level);
// fire event indicating that we received a message
if (this.receivedMsgEvent != null)
{
// only send subset of msg that is actual message
this.receivedMsgEvent(this, game, command, level);
}
}
void HandleClientSocketReceivedMsgEvent(object sender, int game, int command, int level)
{
Logger.Log("MSG received from remote: " + game.ToString() + ", " + command.ToString() + ", " + level.ToString());
if (this.clientSocket != null)
{
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishStringMsg(
Constants.LOG_ROSTOPIC, "got message"));
}
if (game != Constants.SAR_GAME_IDENTITY)
{
Debug.Log("Received a game command message for another game - command unhandled");
return;
}
if (command == Constants.GAME_COMMAND_START)
{
if (level > 4 || level < 0)
{
Debug.Log("Game level must be provided on game start and must be within the range 1-4");
return;
}
else
{
if (!(currentScene == Constants.START_SCENE))
{
Debug.Log("Game must be in the start scene to start the game");
return;
}
else
{
// set the level
levelNumber = level;
// and indicate that we can start the game
internalGameState = Constants.START_GAME;
}
}
}
else if (command == Constants.GAME_COMMAND_END)
{
internalGameState = Constants.END_GAME;
}
}
void Update()
{
if (internalGameState == Constants.END_GAME)
{
SendRobotUtterance("end-game", false, -1, -1, -1, -1);
sendPerformanceMetrics();
Logger.Log("GoingToQuit");
Application.Quit();
}
if ((sendReceiveROSMessages) && (internalGameState == Constants.START_GAME))
{
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishGameStateMsg(
Constants.STATE_ROSTOPIC, Constants.GAME_STATE_START, new Dictionary <string, float>()));
}
if ((sendReceiveROSMessages) && (internalGameState == Constants.TUTORIAL))
{
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishGameStateMsg(Constants.STATE_ROSTOPIC, Constants.TUTORIAL, new Dictionary <string, float>()));
internalGameState = Constants.STARTED_GAME;
}
if (internalGameState == Constants.START_GAME)
{
// set the explainerMode to building
explainerMode = Constants.EXPLAINER_BUILDING;
if (firstRound)
{
// robot utterance that introduces the game
SendRobotUtterance("game-start", true, -1, -1, -1, -1);
// no longer the first round (after this round)
firstRound = false;
}
//SceneManager.LoadScene("Builder_L1");
SceneManager.LoadScene("Start_menu");
internalGameState = Constants.STARTED_GAME;
}
}
void Start()
{
// set up rosbridge websocket client
// note: does not attempt to reconnect if connection fails!
if (this.clientSocket == null && sendReceiveROSMessages)
{
// load file
if (this.gameConfig.server.Equals("") || this.gameConfig.port.Equals(""))
{
Logger.LogWarning("Do not have opal configuration... trying hardcoded IP 192.168.1.254 and port 9090");
this.clientSocket = new RosbridgeWebSocketClient(
"192.168.1.254", // server, // can pass hostname or IP address
"9090"); //port);
}
else
{
this.clientSocket = new RosbridgeWebSocketClient(
this.gameConfig.server, // can pass hostname or IP address
this.gameConfig.port);
}
if (this.clientSocket.SetupSocket())
{
this.clientSocket.receivedMsgEvent +=
new ReceivedMessageEventHandler(HandleClientSocketReceivedMsgEvent);
// advertise that we will publish log messages
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.LOG_ROSTOPIC, Constants.LOG_ROSMSG_TYPE));
// advertise that we'll publish game state messages
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STATE_ROSTOPIC, Constants.STATE_ROSMSG_TYPE));
// advertise that we'll publish robot command messages
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.ROBOT_CMD_ROSTOPIC, Constants.ROBOT_CMD_ROSMSG_TYPE));
// subscribe to opal command messages
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.CMD_ROSTOPIC, Constants.CMD_ROSMSG_TYPE));
}
else
{
Logger.LogError("Could not set up websocket!");
}
}
// Send ROS message to show that game is ready
if (sendReceiveROSMessages)
{
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishGameStateMsg(
Constants.STATE_ROSTOPIC, Constants.GAME_STATE_READY, new Dictionary <string, float>()));
}
// if we're not sending/receiving ROS messages, then we'll start the game right away
else if (!sendReceiveROSMessages)
{
internalGameState = Constants.START_GAME;
}
saveLevel = levelNumber;
}
