public void newPredictionHandler(PredictedTargetProb m)
{
if (newPredictionEvent != null)
{
newPredictionEvent.Invoke(m);
}
}
// get new messages from the utopia-hub, and store the list of new
public List <UtopiaMessage> getNewMessages(int timeout_ms = 0)
{
if (this.client == null)
{
return(null);
}
// get any messages with predictions
this.msgs = this.client.getNewMessages();//timeout_ms);
if (timeout_ms > 0)
{
Console.WriteLine("Warning: timeout not supported yet!!");
}
// process these messages as needed & call-callbacks
if (this.msgs.Count > 0)
{
//foreach (MessageDegelateType h in this.messageHandlers) {
// h.Invoke(this.msgs);
//}
if (messageHandlers != null)
{
this.messageHandlers.Invoke(this.msgs);
}
PredictedTargetProb newPrediction = null;
foreach (UtopiaMessage m in this.msgs)
{
if (m.msgID() == PredictedTargetProb.MSGID)
{
this.lastPrediction = (PredictedTargetProb)m;
// process new prediction callbacks
//foreach (PredictionDegelateType h in this.predictionHandlers) {
// h.Invoke(newPrediction);
//}
if (predictionHandlers != null)
{
this.predictionHandlers.Invoke(this.lastPrediction);
}
}
else if (m.msgID() == Selection.MSGID)
{
// process selection callbacks
//foreach (SelectionDegelateType h in this.selectionHandlers) {
// h.Invoke(((Selection)m).objID);
//}
if (selectionHandlers != null)
{
this.selectionHandlers.Invoke(((Selection)m).objID);
}
}
else if (m.msgID() == SignalQuality.MSGID)
{
this.lastSignalQuality = (SignalQuality)m;
if (signalQualityHandlers != null)
{
this.signalQualityHandlers.Invoke(this.lastSignalQuality.signalQuality);
}
}
}
}
return(this.msgs);
}
public UtopiaController()
{
this.client = new UtopiaClient();
this.msgs = new List <UtopiaMessage>();
this.lastPrediction = null;
// callback list for new messages
//this.messageHandlers = new List<MessageDegelateType>();
// call back list for new predictions
//this.predictionHandlers = new List<PredictionDegelateType>();
// selection stuff
//this.selectionHandlers = new List<SelectionDegelateType>();
this.selectionThreshold = 0.1;
}
public void newPredictionHandler(PredictedTargetProb m)
{
int objIdx = getObjIdx(this.objIDs, m.Yest);
if (objIdx >= 0) // one of ours
{
NoisetagBehaviour obj = registeredobjIDs[objIdx];
if (obj != null)
{
obj.OnPrediction(m.Perr);
}
}
if (newPredictionEvent != null)
{
newPredictionEvent.Invoke(m);
}
}
// process a perr-message generating appropriate output.
// To avoid 'key-bounce' we use a press-release semantics, where the output is 'Pressed'
// so the output is generated when the Perr < outputPressThreshold, then further
// output is inhibited until Perr > outputReleaseThreshold.
public virtual void perrModeOutput(List <UtopiaMessage> msgs)
{
foreach (UtopiaMessage m in msgs)
{
if (!(m.msgID() == PredictedTargetProb.MSGID))
{
continue;
}
PredictedTargetProb ptp = (PredictedTargetProb)m;
//print('OutputnMode:',ptp)
if (ptp.Perr < this.outputPressThreshold && !this.outputActivated)
{
// low enough error, not already activated
this.client.sendMessage(new Selection(this.client.getTimeStamp(), ptp.Yest));
this.outputActivated = true;
this.doOutput(ptp.Yest);
}
else if (ptp.Perr > this.outputReleaseThreshold && this.outputActivated)
{
// high-enough error, already activated
this.outputActivated = false;
}
}
}
// clear the last predicted target
public void clearLastPrediction()
{
this.lastPrediction = null;
}
public UtopiaMessage decodePayload()
{
// Decode the payload
UtopiaMessage evt = null;
if ((this.msgID == StimulusEvent.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read "
+ StimulusEvent.MSGNAME + " message");
}
evt = StimulusEvent.deserialize(this.msgbuffer);
}
else if ((this.msgID == PredictedTargetProb.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read "
+ PredictedTargetProb.MSGNAME + " message");
}
evt = PredictedTargetProb.deserialize(this.msgbuffer);
}
else if ((this.msgID == ModeChange.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read " + ModeChange.MSGNAME + " message");
}
evt = ModeChange.deserialize(this.msgbuffer);
}
else if ((this.msgID == Reset.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read " + Reset.MSGNAME + " message");
}
evt = Reset.deserialize(this.msgbuffer);
}
else if ((this.msgID == NewTarget.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read " + NewTarget.MSGNAME + " message");
}
evt = NewTarget.deserialize(this.msgbuffer);
}
else if ((this.msgID == Heartbeat.MSGID))
{
if ((VERBOSITY > 2))
{
System.Console.WriteLine("Trying to read " + Heartbeat.MSGNAME + " message");
}
evt = Heartbeat.deserialize(this.msgbuffer);
}
else
{
throw new ClientException("Unsupported Message type: " + this.msgID);
}
if ((VERBOSITY > 1))
{
System.Console.WriteLine("Got message: " + evt.ToString());
}
return(evt);
}
private static void sendTestMessages(UtopiaClient utopiaClient, int offset)
{
// write some test messages..
int[] objIDs = new int[10];
for (int i = 0; (i < objIDs.Length); i++)
{
objIDs[i] = i;
}
int[] objState = new int[objIDs.Length];
// send some test StimulusEvents
for (int i = 0; (i < 5); i++)
{
for (int j = 0; (j < objState.Length); j++)
{
objState[j] = (i + offset);
}
StimulusEvent e = new StimulusEvent(utopiaClient.getTimeStamp(), objIDs, objState);
Console.WriteLine("Sending: " + e.ToString() + " -> server");
try {
utopiaClient.sendMessage(e);
}
catch (IOException ex) {
Console.WriteLine(ex);
}
System.Threading.Thread.Sleep(1000);
}
{
// PREDICTEDTARGETPROB
PredictedTargetProb e = new PredictedTargetProb(utopiaClient.getTimeStamp(), 1, ((float)(0.99)));
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
{
// PREDICTEDTARGETDIST
PredictedTargetDist e = new PredictedTargetDist(utopiaClient.getTimeStamp(), new int[] { 1, 2, 3 }, new float[] { .1f, .2f, .3f });
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
{
// HEARTBEAT V.2.0
Heartbeat e = new Heartbeat(utopiaClient.getTimeStamp(), "TestMessage");
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
// LOG
{
Log e = new Log(utopiaClient.getTimeStamp(), "ClientTest");
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
{
// MODECHANGE
ModeChange e = new ModeChange(utopiaClient.getTimeStamp(), "ClientTest");
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
{
// RESET
Reset e = new Reset(utopiaClient.getTimeStamp());
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
{
// NEWTARGET
NewTarget e = new NewTarget(utopiaClient.getTimeStamp());
Console.WriteLine("Sending: " + e.ToString() + " -> server");
utopiaClient.sendMessage(e);
System.Threading.Thread.Sleep(1000);
}
}
public static PredictedTargetProb deserialize(ByteBuffer buffer)
{
return(PredictedTargetProb.deserialize(buffer, 0));
// default to version 0 messages
}
