/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type and ID
//
experimentType = ExperimentType.TypeOne;
ExperimentSystem.SetActiveExperimentID("PhotoStage");
//
// Create data loggers
//
// Restart EMG readings
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Set EMG sensor and reference generator as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
}
public void AddVIVETracker()
{
if ((int)selectedDevice > 4)
{
// Instantiate a new VIVETracker with Player as parent.
GameObject playerGO = GameObject.FindGameObjectWithTag("Player");
if (playerGO == null)
{
throw new Exception("The player GameObject was not found.");
}
// Load VIVE Tracker prefab.
GameObject viveTrackerPrefab = Resources.Load <GameObject>("Trackers/VIVETracker");
if (viveTrackerPrefab == null)
{
throw new Exception("The requested tracker prefab was not found.");
}
// Instantiate and with the other SteamVRObjects and set device number
GameObject viveTrackerGO = Instantiate(viveTrackerPrefab, viveTrackerPrefab.transform.position, viveTrackerPrefab.transform.rotation, playerGO.transform.GetChild(0).transform);
viveTrackerGO.GetComponentInChildren <SteamVR_TrackedObject>().SetDeviceIndex((int)selectedDevice);
// Create tracker sensor and add to logger
VIVETrackerManager viveTrackerSensor = new VIVETrackerManager(viveTrackerGO.transform);
ExperimentSystem.AddSensor(viveTrackerSensor);
addExperimentSensorMenu.ReturnToSettingsMenu();
}
else
{
StartCoroutine(DisplayInformationOnLog(3.0f, "Select a valid VIVE Tracker device."));
}
}
/// <summary>
/// Loads the user data for the given userID.
/// </summary>
/// <param name="userID">The ID of the user to load the data for.</param>
/// <returns>The UserData for the requested user.</returns>
public static UserData LoadUserData(string userID)
{
UserData loadedUserData;
// Get the folder for the given user ID
string userPath = dataFolder + "/UserData/" + userID;
string loadFilePath = userPath + "/userInfo.json";
if (File.Exists(loadFilePath))
{
// Load data
string userDataAsJson = File.ReadAllText(loadFilePath);
loadedUserData = JsonUtility.FromJson <UserData>(userDataAsJson);
}
else
{
throw new System.Exception("The file :" + loadFilePath + ", could not be found.");
}
// Set as active user
activeUser = loadedUserData;
activeSaveFolder = userPath;
// Re-initialize the experiment logger for the new active user.
foreach (IExperimentLogger logger in ExperimentSystem.GetActiveLoggers())
{
logger.InitializeLog(activeSaveFolder);
}
isUserAvailable = true;
return(loadedUserData);
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
// First run the base initialisation which is needed.
base.InitialiseExperimentSystems();
// e.g. make sure that the needed objects have been set.
if (cubeGO == null || sphereGO == null)
{
throw new System.Exception("You need to add the objects in the Unity inspector!");
}
// e.g. the update their transform handle and hide the objects
cubeTransform = cubeGO.transform;
sphereTransform = sphereGO.transform;
cubeGO.SetActive(false);
sphereGO.SetActive(false);
//
// Hand tracking sensor for demo
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
VirtualPositionTracker handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
}
AstronautControlPanel()
{
CommunicationSystem comms = new CommunicationSystem();
ExperimentSystem experiment = new ExperimentSystem();
FlightControlSystem flight = new FlightControlSystem();
LifeSupportSystem lifeSupport = new LifeSupportSystem();
PowerDistributionSystem power = new PowerDistributionSystem();
}
private void InitialiseExperiment()
{
if (selectedExperiment == 0)
{
logManager.DisplayInformationOnLog(5, "Please select an experiment from the dropdown menu.");
return;
}
ExperimentSystem.SetActiveExperimentID(experimentList[selectedExperiment]);
}
public void OnEnable()
{
//Debug.Log(Application.persistentDataPath);
if (createdUser)
{
logManager.DisplayInformationOnLog(3.0f, "Created new user with ID " + SaveSystem.ActiveUser.id);
createdUser = false;
}
if (loadedUser)
{
logManager.DisplayInformationOnLog(3.0f, "Loaded user with ID " + SaveSystem.ActiveUser.id);
createdUser = false;
}
// Display active user name.
if (SaveSystem.IsUserAvailable)
{
activeUserTMP.text = "Active User: \n" + SaveSystem.ActiveUser.name + " " + SaveSystem.ActiveUser.familyName;
}
// Display available user sensors name.
if (AvatarSystem.GetActiveSensors().Count > 0)
{
sensorTMP.text = "Sensors: \n";
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
sensorTMP.text = sensorTMP.text + sensor.GetSensorType().ToString() + "\n";
}
}
// Display available experiment sensors name.
if (ExperimentSystem.GetActiveSensors().Count > 0)
{
experimentSensorsTMP.text = "Experiment Sensors: \n";
foreach (ISensor sensor in ExperimentSystem.GetActiveSensors())
{
experimentSensorsTMP.text = experimentSensorsTMP.text + sensor.GetSensorType().ToString() + "\n";
}
}
// Conditional menus
// Show avatar menu when there is an available user.
if (SaveSystem.IsUserAvailable)
{
avatarOptionsButton.SetActive(true);
}
// Show sensors menu when there is an available avatar.
if (AvatarSystem.IsPlayerAvailable && AvatarSystem.IsAvatarAvaiable)
{
sensorOptionsButton.SetActive(true);
modeSelectionButton.SetActive(true);
}
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type and ID
//
experimentType = ExperimentType.TypeOne;
ExperimentSystem.SetActiveExperimentID("template");
//
// Create data loggers
//
}
private void OnApplicationQuit()
{
// Check if WiFi sensors are available
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
udpSensor.StopSensorReading();
}
}
//
// Save and close all logs
//
ExperimentSystem.CloseAllExperimentLoggers();
}
//private ISensor sensorDebug;
public void OnEnable()
{
// Display available user sensors name.
if (AvatarSystem.GetActiveSensors().Count > 0)
{
userSensorsTMP.text = "User Sensors: \n";
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
userSensorsTMP.text = userSensorsTMP.text + sensor.GetSensorType().ToString() + "\n";
}
}
// Display available experiment sensors name.
if (ExperimentSystem.GetActiveSensors().Count > 0)
{
experimentSensorsTMP.text = "Experiment Sensors: \n";
foreach (ISensor sensor in ExperimentSystem.GetActiveSensors())
{
experimentSensorsTMP.text = experimentSensorsTMP.text + sensor.GetSensorType().ToString() + "\n";
}
}
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
// Set data format
taskDataFormat = ablebodiedDataFormat;
// Lefty sign
/*
* if (SaveSystem.ActiveUser.lefty)
* leftySign = -1.0f;
*/
// Audio
audio = GetComponent <AudioSource>();
audio.clip = testAudioClip;
#region Modify base
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
//
// Create the performance data loggers
//
performanceDataLogger = new DataStreamLogger("PerformanceData");
ExperimentSystem.AddExperimentLogger(performanceDataLogger);
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
// Send the player to the experiment centre position
TeleportToStartPosition();
#endregion
#region Initialize EMG sensors
//Initialise Delsys EMG sensor
delsysEMG.Init();
delsysEMG.Connect();
#endregion
#region Initialize motion sensors
//
// Add arm motion trackers for able-bodied case.
//
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
#endregion
//
// Target ADL poses
//
poseListManager.AddPose("Rest", restAudioClip);
poseListManager.AddPose("Reach Mug", reachMugAudioClip);
poseListManager.AddPose("Mug to Mouth", mug2MouthAudioClip);
poseListManager.AddPose("Drink with Mug", drinkAudioClip);
poseListManager.AddPose("Reach Key", reachKeyAudioClip);
poseListManager.AddPose("Turn Key", turnKeyAudioClip);
// Start EMG readings
delsysEMG.StartAcquisition();
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type configuration
//
// Type one if able-bodied subject
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
experimentType = ExperimentType.TypeOne; // Able-bodied experiment type
taskDataFormat = ablebodiedDataFormat;
performanceDataFormat = ablebodiedPerformanceDataFormat;
}
// Type two if prosthetic (Adaptive Synergy)
else if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
experimentType = ExperimentType.TypeTwo; // Able-bodied experiment type
taskDataFormat = prostheticDataFormat;
performanceDataFormat = prostheticPerformanceDataFormat;
}
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
// Restart UDP threads
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is UDPSensorManager udpSensor)
{
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Send the player to the experiment centre position
TeleportToStartPosition();
startPosPhoto.SetActive(false);
//
// Create the performance data loggers
//
performanceDataLogger = new DataStreamLogger("PerformanceData");
ExperimentSystem.AddExperimentLogger(performanceDataLogger);
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
if (SaveSystem.ActiveUser.lefty)
{
leftySign = -1.0f;
}
//
// Iterations configuration
//
// Set iterations variables for flow control.
targetNumber = gridRows * gridColumns;
for (int i = 0; i < iterationsPerSession.Count; i++)
{
iterationsPerSession[i] = targetNumber * iterationsPerTarget;
}
// Create the list of target indexes and shuffle it.
for (int i = 0; i < targetNumber; i++)
{
for (int j = 0; j < iterationsPerTarget; j++)
{
targetOrder.Add(i);
}
}
targetOrder.Shuffle();
//
// Initialize world positioning
//
// Get user physiological data.
float subjectHeight = SaveSystem.ActiveUser.height;
float subjectArmLength = SaveSystem.ActiveUser.upperArmLength + SaveSystem.ActiveUser.forearmLength + (SaveSystem.ActiveUser.handLength / 2);
// Set the grid distance from subject
gridManager.transform.position = new Vector3((-gridReachMultiplier * subjectArmLength) - 0.1f, gridHeightMultiplier * subjectHeight, 0.0f);
//
// Add arm motion trackers for able-bodied case.
//
if (experimentType == ExperimentType.TypeOne)
{
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
}
else if (experimentType == ExperimentType.TypeTwo)
{
// Get active sensors from avatar system and get the vive tracker being used for the UA
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is VIVETrackerManager)
{
upperArmTracker = (VIVETrackerManager)sensor;
}
}
if (upperArmTracker == null)
{
throw new System.NullReferenceException("The residual limb tracker was not found.");
}
// Set VIVE tracker and Linear synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
// Create the personalisation algorithm object
elbowManager.SetSynergy(theta);
float[] ditherFrequency = { Mathf.PI / 4, 2 * Mathf.PI / 4 };
float[] observerGain = { 0.3840f, 0.6067f, -0.2273f, -0.8977f, -1.0302f };
float[][] A = new float[2][];
A[0] = new float[2] {
1.3130f, -0.8546f
};
A[1] = new float[2] {
1.0f, 0.0f
};
float[] B = { 1.0f, 0.0f };
float[] C = { 0.0131f, -0.0131f };
float D = 0.0f;
personaliser = new TransCyberHPIPersonalisation(ditherAmplitude, 0, ditherFrequency, observerGain, 1, optimiserGain, 0.1f, A, B, C, D, theta, 0.1f, 3.0f);
}
if (evaluatorType == EvaluatorType.Compensation)
{
// Performance evaluation objects
evaluator = new UpperBodyCompensationMotionPM(0.5f, 0.5f);
shDataBuffer = new List <Vector3>();
c7DataBuffer = new List <Vector3>();
}
else if (evaluatorType == EvaluatorType.KinematicEnergy)
{
throw new System.NotImplementedException("KE method not yet implemented");
}
// Debug?
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
// Spawn grid
gridManager.SpawnGrid(gridRows, gridColumns, gridSpacing);
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type configuration
//
experimentType = ExperimentType.TypeOne; // Able-bodied experiment type
if (debug)
{
ExperimentSystem.SetActiveExperimentID("GridReaching2019");
}
//
// Iterations configuration
//
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
// Set iterations variables for flow control.
targetNumber = gridRows * gridColumns;
iterationsPerSession[sessionNumber] = targetNumber * iterationsPerTarget;
maxIterations = iterationsPerSession[sessionNumber] * sessions;
// Create the list of target indexes and shuffle it.
for (int i = 0; i < targetNumber; i++)
{
for (int j = 0; j < iterationsPerTarget; j++)
{
targetOrder.Add(i);
}
}
targetOrder.Shuffle();
//
// Initialize world positioning
//
// Get user physiological data.
float subjectHeight = SaveSystem.ActiveUser.height;
float subjectArmLength = SaveSystem.ActiveUser.upperArmLength + SaveSystem.ActiveUser.forearmLength + (SaveSystem.ActiveUser.handLength / 2);
// Set the grid distance from subject
gridManager.transform.position = new Vector3(0.0f, gridHeightMultiplier * subjectHeight, gridReachMultiplier * subjectArmLength);
//
// Create data loggers
//
motionLogger = new DataStreamLogger("Motion");
ExperimentSystem.AddExperimentLogger(motionLogger);
//
// Add arm and body motion trackers.
//
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
VIVETrackerManager shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
VIVETrackerManager c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
VirtualPositionTracker handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
}
private void FixedUpdate()
{
//
// Tasks performed determinalistically throughout the experiment
// E.g. data gathering.
//
switch (experimentState)
{
case ExperimentState.PerformingTask:
//
// Gather data while experiment is in progress
//
string logData = taskTime.ToString();
// Read from all user sensors
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
float[] sensorData = sensor.GetAllProcessedData();
foreach (float element in sensorData)
{
logData += "," + element.ToString();
}
}
// Read from all experiment sensors
foreach (ISensor sensor in ExperimentSystem.GetActiveSensors())
{
float[] sensorData = sensor.GetAllProcessedData();
foreach (float element in sensorData)
{
logData += "," + element.ToString();
}
}
//
// Append data to lists
//
taskTime += Time.fixedDeltaTime;
//
// Log current data
//
//motionLogger.AppendData(logData);
//
// Save log and reset flags when successfully compeleted task
//
if (IsTaskDone())
{
//
// Perform data management, such as appending data to lists for analysis
//
//
// Save logger for current experiment and change to data analysis
//
//motionLogger.CloseLog();
//
// Clear data management buffers
//
experimentState = ExperimentState.AnalizingResults;
break;
}
break;
default:
break;
}
}
// Update is called once per frame
void Update()
{
switch (experimentState)
{
/*
*************************************************
* HelloWorld
*************************************************
*/
// Welcome subject to the virtual world.
case ExperimentState.Welcome:
if (WaitFlag)
{
if (debug)
{
TeleportToStartPosition();
}
HudManager.ClearText();
experimentState = ExperimentState.Initialising;
}
else
{
HudManager.DisplayText("Welcome!");
InstructionManager.DisplayText("Hello world!");
}
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:
// Show status to subject
infoText = GetInfoText();
InstructionManager.DisplayText(infoText);
// Check if pause requested
UpdatePause();
switch (waitState)
{
// Waiting for subject to get to start position.
case WaitState.Waiting:
if (IsReadyToStart())
{
startEnable = true;
// Select target
gridManager.SelectBall(iterationNumber - 1);
waitState = WaitState.Countdown;
}
break;
// HUD countdown for reaching action.
case WaitState.Countdown:
// If all is good and haven't started counting, start.
if (startEnable && !counting && !CountdownDone)
{
// Manage countdown
HudManager.ClearText();
StopHUDCountDown();
counting = true;
HUDCountDown(3);
}
// If all is good and the countdownDone flag is raised, switch to reaching.
else if (CountdownDone)
{
// Reset flags
startEnable = false;
counting = false;
countdownDone = false;
// Continue
experimentState = ExperimentState.PerformingTask;
waitState = WaitState.Waiting;
break;
}
// If hand goes out of target reset countdown and wait for position
else if (!IsReadyToStart() && !CountdownDone)
{
StopHUDCountDown();
startEnable = false;
counting = false;
countdownDone = false;
// Clear ball
gridManager.ResetBallSelection();
// Indicate to move back
HudManager.DisplayText("Move to start", 2.0f);
waitState = WaitState.Waiting;
break;
}
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
//
iterationNumber++;
completedIterations++;
//
// 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";
}
float qShoulder = Mathf.Rad2Deg * (upperArmTracker.GetProcessedData(5) + Mathf.PI); // Offsetting to horizontal position being 0.
float qElbow = Mathf.Rad2Deg * (lowerArmTracker.GetProcessedData(5)) - qShoulder; // Offsetting to horizontal position being 0.
debugText.text += qShoulder.ToString() + "\n";
debugText.text += qElbow.ToString() + "\n";
}
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
// Check the experiment parameters
if (startAngleList.Count <= 0 || endAngleList.Count <= 0 || movementTimeList.Count <= 0)
{
throw new System.Exception("An experiment configuration list is empty.");
}
if (startAngleList.Count != endAngleList.Count)
{
throw new System.Exception("The angle lists do not match in size.");
}
//
// Set the experiment type and ID
//
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
// Check if EMG is available
bool EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Set whether emg or synergy based
if (EMGAvailable)
{
experimentType = ExperimentType.TypeTwo;
ExperimentSystem.SetActiveExperimentID("EMG_Data");
}
else
{
if (debug)
{
// DEBUG ONLY
experimentType = ExperimentType.TypeTwo;
ExperimentSystem.SetActiveExperimentID("EMG_Data");
// DEBUG ONLY
}
else
{
throw new System.Exception("An EMG measurement device is required.");
}
}
}
else
{
throw new System.NotImplementedException();
}
//
// Create data loggers
//
motionLogger = new DataStreamLogger("Motion");
ExperimentSystem.AddExperimentLogger(motionLogger);
//
// Check and add experiment sensors
//
//
// Add VIVE Trackers.
//
if (!debug)
{
GameObject motionTrackerGO = AvatarSystem.AddMotionTracker();
VIVETrackerManager upperArmTracker = new VIVETrackerManager(motionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
VIVETrackerManager shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// Set arm guide position tracking
guideManager.shoulderLocationTransform = motionTrackerGO1.transform;
}
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
// Set data format
taskDataFormat = ablebodiedDataFormat;
// Lefty sign
/*
* if (SaveSystem.ActiveUser.lefty)
* leftySign = -1.0f;
*/
// Audio
audio = GetComponent <AudioSource>();
audio.clip = testAudioClip;
#region Modify base
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
// Send the player to the experiment centre position
TeleportToStartPosition();
#endregion
#region Initialize EMG sensors
//Initialse Delsys EMG sensor
delsysEMG.Init();
delsysEMG.Connect();
delsysEMG.StartAcquisition();
#endregion
#region Initialize world positioning
// Set the subject physiological data for grid
gridManager.ConfigUserData();
gridManager.ConfigGridPositionFactors(gridCloseDistanceFactor, gridMidDistanceFactor, gridFarDistanceFactor, gridHeightFactor);
#endregion
#region Initialize motion sensors
//
// Add arm motion trackers for able-bodied case.
//
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
#endregion
}
/// <summary>
/// Checks that all the required components have been loaded and starts experiment.
/// </summary>
public void InitialiseExperiment()
{
bool EMGAvailable = false;
switch (experimentNumber)
{
case NONE:
// Check that a valid experiment has been selected
logManager.DisplayInformationOnLog(3.0f, "Please select a valid experiment.");
break;
//
// Jacobian synergy experiment
//
case JACOBIAN_SYNERGY:
// Able-bodied case
if (optionNumber == 1 && AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
KeepOnLoad();
// Load experiment.
SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
}
// EMG case
else if (optionNumber == 2 && AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
// Check that an EMG sensor is available
EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
}
else if (sensor.GetSensorType().Equals(SensorType.ThalmicMyo))
{
EMGAvailable = true;
}
}
// Load when EMG is available.
if (EMGAvailable)
{
KeepOnLoad();
// Load experiment.
//SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
// Load training
SteamVR_LoadLevel.Begin("ProsthesisTraining");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please add and configure an EMG sensor.");
}
}
// Synergy case
else if ((optionNumber == 3 || optionNumber == 4) && AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
KeepOnLoad();
// Load experiment.
// SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
if (optionNumber == 3)
{
// Set VIVE tracker and Jacobian synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to jacobian-based.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
}
else if (optionNumber == 4)
{
// Set VIVE tracker and Linear synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
// Load training
SteamVR_LoadLevel.Begin("ProsthesisTraining");
// Load experiment.
//SteamVR_LoadLevel.Begin("JacobianSynergyExperiment");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please configure the " + optionList[optionNumber] + " avatar.");
}
break;
case FEEDBACK2019:
// Check that a transradial prosthesis has been set.
if (AvatarSystem.AvatarType != AvatarType.Transradial)
{
logManager.DisplayInformationOnLog(3.0f, "Please configure the Transradial avatar.");
}
else
{
// Initialise the prosthesis
try
{
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
FakeEMGBoniHand prosthesisManager = prosthesisManagerGO.GetComponent <FakeEMGBoniHand>();
prosthesisManager.InitializeProsthesis();
// Set the name from the selected dropdown!
ExperimentSystem.SetActiveExperimentID("Feedback2019");
}
catch (Exception e)
{
logManager.DisplayInformationOnLog(10.0f, "Error encountered: " + e.Message);
}
}
break;
//
//
//
case EMG_DATA:
// Check that an EMG sensor is available
EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
}
}
// Load when EMG is available.
if (EMGAvailable)
{
KeepOnLoad();
// Load experiment.
SteamVR_LoadLevel.Begin("EMGShoulderData");
}
else
{
logManager.DisplayInformationOnLog(3.0f, "Please add and configure an EMG sensor.");
}
break;
}
}