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));
}
}
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;
}
