private HandleSample GetExecutionSamplerHandlerForExercise(int exID)
{
return((Sample sample) =>
{
LimbExercise ex = _exercises[exID];
EvaluationResults results = (ex.exerciseConfig.isRealTimeSampling) ?
ex.aiManager.EvaluateExerciseStep(sample.sampleDataForExercise[exID].UnwrapFromSensors(), sample.idealDataForExercise[exID].UnwrapFromSensors()) :
ex.aiManager.EvaluateExerciseStep(sample.sampleDataForExercise[exID].UnwrapFromSensors());
ex.exerciseConfig.ProvideExerciseResults(results);
});
}
/// <summary>
/// Used to setup a new limb exercise
/// </summary>
/// <param name="config">Configuration of the limb that has to perform the exercise</param>
public void ExerciseSetup(ExerciseConfiguration config)
{
LimbExercise exercise = new LimbExercise();
exercise.exerciseConfig = config;
ArticolationTollerance[] tollerance = new ArticolationTollerance[config.limbConfiguration.sensors.Length];
for (int i = 0; i < config.limbConfiguration.sensors.Length; i++)
{
tollerance[i] = config.limbConfiguration.sensors[i].sensorTollerance;
}
exercise.aiManager.ExerciseTollerance = tollerance;
_exercises.Add(exercise);
}
/// <summary>
/// Use this to start evaluating the recorded exercises
/// </summary>
public void StartEvaluation()
{
executionSampleHandlers = new HandleSample[_exercises.Count];
for (int exID = 0; exID < _exercises.Count; exID++)
{
LimbExercise exercise = _exercises[exID];
exercise.realStepsSampling.Clear();
if (exercise.exerciseConfig.isRealTimeSampling)
{
exercise.idealStepsSampling.Clear();
}
exercise.aiManager.StartExercise(exercise.exerciseConfig.isRealTimeSampling);
executionSampleHandlers[exID] = GetExecutionSamplerHandlerForExercise(exID);
OnSampleTaken += executionSampleHandlers[exID];
}
StartSampling(timingBetweenSamples);
}
private void SampleSensors()
{
Sample sample = new Sample();
sample.sampleDataForExercise = new LimbData[_exercises.Count];
sample.idealDataForExercise = new LimbData[_exercises.Count];
for (int exID = 0; exID < _exercises.Count; exID++)
{
LimbExercise exercise = _exercises[exID];
sample.sampleDataForExercise[exID] = exercise.exerciseConfig.limbConfiguration.ExtractLimbData();
if (exercise.exerciseConfig.isRealTimeSampling)
{
sample.idealDataForExercise[exID] = exercise.exerciseConfig.ghostLimbConfiguration.ExtractLimbData();
}
}
if (OnSampleTaken != null)
{
OnSampleTaken(sample);
}
}
/// <summary>
/// Start recording exercise steps for the set up exercise (ExerciseSetup method)
/// </summary>
public void StartSetup()
{
setupSampleHandlers = new HandleSample[_exercises.Count];
for (int exID = 0; exID < _exercises.Count; exID++)
{
LimbExercise exercise = _exercises[exID];
if (!exercise.exerciseConfig.isRealTimeSampling)
{
// need setup
setupSampleHandlers[exID] = GetIdealSamplerHandlerForExercise(exID);
OnSampleTaken += setupSampleHandlers[exID];
}
else
{
// no need of setup
exercise.isTemporary = false;
exercise.aiManager.CreateExerciseSession(timingBetweenSamples); // creating a session without tranining set
}
}
StartSampling(timingBetweenSamples);
}
